DocumentCode :
3521546
Title :
Meso-scale planning for multi-agent navigation
Author :
Liang He ; van den Berg, Jan
Author_Institution :
Sch. of Comput., Univ. of Utah, Salt Lake City, UT, USA
fYear :
2013
fDate :
6-10 May 2013
Firstpage :
2839
Lastpage :
2844
Abstract :
We introduce a new concept; meso-scale planning in real-time multi-agent navigation. Whereas many traditional approaches to multi-agent navigation typically consist of two-levels - a macro-scale level providing agents with a global direction of motion around (large) static obstacles, and a micro-scale level in which agents seek to avoid collision with other agents - our approach adds a meso-scale level to give agents realistic behavior in scenarios where groups of other agents (e.g. families or crowds in a virtual world) form coherent entities. Rather than moving straight through such groups, our approach lets agents move around them. Our formulation considers each agent as an individual that may perceive sets of other agents as a group, and plans its motion accordingly. We base our approach on the velocity obstacle concept, and we show using simulation results that our method dramatically improves the quality of the trajectories computed for the agents.
Keywords :
collision avoidance; mobile robots; motion control; multi-robot systems; trajectory control; velocity control; agent motion; agent trajectories; collision avoidance; global motion direction; macro-scale level; meso-scale level; meso-scale planning; microscale level; real-time multiagent navigation; realistic behavior; static obstacles; velocity obstacle concept; Collision avoidance; Computational modeling; Navigation; Planning; Real-time systems; Shape; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
ISSN :
1050-4729
Print_ISBN :
978-1-4673-5641-1
Type :
conf
DOI :
10.1109/ICRA.2013.6630970
Filename :
6630970
Link To Document :
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