Multi-Domain Real-time Planning in Dynamic Environments
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Date
2013
Journal Title
Journal ISSN
Volume Title
Publisher
ACM SIGGRAPH / Eurographics Association
Abstract
This paper presents a real-time planning framework for multicharacter navigation that enables the use of multiple heterogeneous problem domains of differing complexities for navigation in large, complex, dynamic virtual environments. The original navigation problem is decomposed into a set of smaller problems that are distributed across planning tasks working in these different domains. An anytime dynamic planner is used to efficiently compute and repair plans for each of these tasks, while using plans in one domain to focus and accelerate searches in more complex domains. We demonstrate the benefits of our framework by solving many challenging multi-agent scenarios in complex dynamic environments requiring space-time precision and explicit coordination between interacting agents, by accounting for dynamic information at all stages of the decision-making process.
Description
@inproceedings{10.1145:2485895.2485909,
booktitle = {Eurographics/ ACM SIGGRAPH Symposium on Computer Animation},
editor = {Theodore Kim and Robert Sumner},
title = {{Multi-Domain Real-time Planning in Dynamic Environments}},
author = {Kapadia, Mubbasir and Beacco, Alejandro and Garcia, Francisco and Reddy, Vivek and Pelechano, Nuria and Badler, Norman I.},
year = {2013},
publisher = {ACM SIGGRAPH / Eurographics Association},
ISSN = {1727-5288},
ISBN = {978-1-4503-2132-7},
DOI = {10.1145/2485895.2485909}
}