ABSTRACT
We present a novel algorithm to model density-dependent behaviours in crowd simulation. Previous work has shown that density is a key factor in governing how pedestrians adapt their behaviour. This paper specifically examines, through analysis of real pedestrian data, how density affects how agents control their rate of change of bearing angle with respect to one another. We extend upon existing synthetic vision based approaches to local collision avoidance and generate pedestrian trajectories that more faithfully represent how real people avoid each other. Our approach is capable of producing realistic human behaviours, particularly in dense, complex scenarios where the amount of time for agents to make decisions is limited.
Supplemental Material
- Berg, J., Guy, S., Lin, M., and Manocha, D. 2011. Reciprocal n-body collision avoidance. In Robotics Research, C. Pradalier, R. Siegwart, and G. Hirzinger, Eds., vol. 70 of Springer Tracts in Advanced Robotics. Springer Berlin Heidelberg, 3--19.Google Scholar
- Best, A., Narang, S., Curtis, S., and Manocha, D. 2014. Densesense: Interactive crowd simulation using density-dependent filters. In Symposium on Computer Animation, 97--102.Google Scholar
- Bruneau, J., Dutra, T. B., and Pettré, J. 2014. Following behaviors: A model for computing following distances based on prediction. In Proceedings of the Seventh International Conference on Motion in Games, ACM, New York, NY, USA, MIG '14, 17--24. Google ScholarDigital Library
- Charalambous, P., and Chrysanthou, Y. 2014. The pag crowd: A graph based approach for efficient data-driven crowd simulation. Comput. Graph. Forum 33, 8 (Dec.), 95--108. Google ScholarDigital Library
- Cutting, J. E., Vishton, P. M., and Braren, P. A. 1995. How we avoid collisions with stationary and with moving obstacles. Psychological Review 102, 627--651.Google ScholarCross Ref
- Dutra, T. B., Priem, G., Cavalcante-Neto, J. B., Vidal, C. A., and Pettré, J. 2014. Synthetic Vision-based Crowd Simulation: Reactive vs. Reactive Planning Approaches. In Proceedings of the 27th Conference on Computer Animation and Social Agents (CASA 2014).Google Scholar
- Fiorini, P., and Shillert, Z. 1998. Motion planning in dynamic environments using velocity obstacles. International Journal of Robotics Research 17, 760--772.Google ScholarCross Ref
- Golas, A., Narain, R., and Lin, M. 2013. Hybrid long-range collision avoidance for crowd simulation. In Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games, ACM, New York, NY, USA, I3D '13, 29--36. Google ScholarDigital Library
- Guy, S. J., Chhugani, J., Kim, C., Satish, N., Lin, M., Manocha, D., and Dubey, P. 2009. Clearpath: highly parallel collision avoidance for multi-agent simulation. In Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, ACM, New York, NY, USA, SCA '09, 177--187. Google ScholarDigital Library
- Guy, S. J., Chhugani, J., Curtis, S., Dubey, P., Lin, M., and Manocha, D. 2010. Pledestrians: a least-effort approach to crowd simulation. In Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, Eurographics Association, Aire-la-Ville, Switzerland, Switzerland, SCA '10, 119--128. Google ScholarDigital Library
- He, L., and van den Berg, J. 2013. Meso-scale planning for multi-agent navigation. In 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6--10, 2013, 2839--2844.Google Scholar
- Helbing, D., and Molnár, P. 1995. Social force model for pedestrian dynamics. Phys. Rev. E 51 (May), 4282--4286.Google ScholarCross Ref
- Helbing, D., Farkas, I., and Vicsek, T. 2000. Simulating dynamical features of escape panic. Nature, 2000.Google Scholar
- Kapadia, M., Singh, S., Hewlett, W., and Faloutsos, P. 2009. Egocentric affordance fields in pedestrian steering. In Proceedings of the 2009 Symposium on Interactive 3D Graphics and Games, ACM, New York, NY, USA, I3D '09, 215--223. Google ScholarDigital Library
- Karamouzas, I., Skinner, B., and Guy, S. J. 2014. Universal power law governing pedestrian interactions. Phys. Rev. Lett. 113 (Dec), 238701.Google ScholarCross Ref
- Kim, S., Guy, S. J., and Manocha, D. 2013. Velocity-based modeling of physical interactions in multi-agent simulations. In Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation, ACM, New York, NY, USA, SCA '13, 125--133. Google ScholarDigital Library
- Lee, K. H., Choi, M. G., Hong, Q., and Lee, J. 2007. Group behavior from video: a data-driven approach to crowd simulation. In Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation, Eurographics Association, Aire-la-Ville, Switzerland, Switzerland, SCA '07, 109--118. Google ScholarDigital Library
- Lemercier, S., Jelic, A., Kulpa, R., Hua, J., Fehrenbach, J., Degond, P., Appert-Rolland, C., Donikian, S., and Pettré, J. 2012. Realistic following behaviors for crowd simulation. Comp. Graph. Forum 31, 2pt2 (May), 489--498. Google ScholarDigital Library
- Lerner, A., Chrysanthou, Y., and Lischinski, D. 2007. Crowds by example. Comput. Graph. Forum 26, 3, 655--664.Google ScholarCross Ref
- Ondřej, J., Pettré, J., Olivier, A.-H., and Donikian, S. 2010. A synthetic-vision based steering approach for crowd simulation. In ACM SIGGRAPH 2010 papers, ACM, New York, NY, USA, SIGGRAPH '10, 123:1--123:9. Google ScholarDigital Library
- Pelechano, N., Allbeck, J. M., and Badler, N. I. 2007. Controlling individual agents in high-density crowd simulation. In Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation, Eurographics Association, Aire-la-Ville, Switzerland, Switzerland, SCA '07, 99--108. Google ScholarDigital Library
- Pettré, J., Ondřej, J., Olivier, A.-H., Cretual, A., and Donikian, S. 2009. Experiment-based modeling, simulation and validation of interactions between virtual walkers. In Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, ACM, New York, NY, USA, SCA '09, 189--198. Google ScholarDigital Library
- Reynolds, C., 1999. Steering behaviors for autonomous characters.Google Scholar
- Singh, S., Kapadia, M., Hewlett, B., Reinman, G., and Faloutsos, P. 2011. A modular framework for adaptive agent-based steering. In Symposium on Interactive 3D Graphics and Games, ACM, New York, NY, USA, I3D '11, 141--150. Google ScholarDigital Library
- Singh, S., Kapadia, M., Reinman, G., and Faloutsos, P. 2011. Footstep navigation for dynamic crowds. In Symposium on Interactive 3D Graphics and Games, ACM, New York, NY, USA, I3D '11, 203--203. Google ScholarDigital Library
- Snape, J., van den Berg, J., Guy, S., and Manocha, D. 2011. The hybrid reciprocal velocity obstacle. Robotics, IEEE Transactions on 27, 4, 696--706. Google ScholarDigital Library
- Treuille, A., Cooper, S., and Popović, Z. 2006. Continuum crowds. In ACM SIGGRAPH 2006 Papers, ACM, New York, NY, USA, SIGGRAPH '06, 1160--1168. Google ScholarDigital Library
- van den Berg, J., Lin, M. C., and Manocha, D. 2008. Reciprocal velocity obstacles for real-time multi-agent navigation. In IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, IEEE, 1928--1935.Google Scholar
- van Toll, W. G., Cook, IV, A. F., and Geraerts, R. 2012. Real-time density-based crowd simulation. Comput. Animat. Virtual Worlds 23, 1 (Feb.), 59--69. Google ScholarDigital Library
- Weidmann, U. 1993. Transporttechnik der Fussgänger: transporttechnische Eigenschaften des Fussgängerverkehrs; Literaturauswertung. Schriftenreihe des IVT. IVT.Google Scholar
- Wolff, M. 1973. Notes on the behavior of pedestrians. People In Places: The Sociology Of The Familiar., 35--48.Google Scholar
- Wu, Q., Ji, Q., Du, J., and Li, X. 2013. Simulating the local behavior of small pedestrian groups using synthetic-vision based steering approach. In Proceedings of the 12th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and Its Applications in Industry, ACM, New York, NY, USA, VRCAI '13, 41--50. Google ScholarDigital Library
Index Terms
- DAVIS: density-adaptive synthetic-vision based steering for virtual crowds
Recommendations
Modeling collision avoidance behavior for virtual humans
AAMAS '10: Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 2 - Volume 2In this paper, we present a new trajectory planning algorithm for virtual humans. Our approach focuses on implicit cooperation between multiple virtual agents in order to share the work of avoiding collisions with each other. Specifically, we extend ...
A Real-Time Reconfigurable Collision Avoidance System for Robot Manipulation
ICMRE 2017: Proceedings of the 3rd International Conference on Mechatronics and Robotics EngineeringIntelligent robotic systems are becoming fundamental actors in industrial and hazardous facilities scenarios. Aiming to increase personnel safety and machine availability, robots can help perform repetitive and dangerous tasks which humans either prefer ...
Simulating CALUMA CAssino Low-cost hUMAnoid robot carrying a load
In this paper, the operation of CALUMA CAssino Low-cost hUMAnoid robot has been investigated for a task while carrying a load. CALUMA robot is the result of a design project that has been elaborated for designing and building a low-cost easy-operation ...
Comments