2004 | OriginalPaper | Buchkapitel
Better Group Behaviors Using Rule-Based Roadmaps
verfasst von : O. Burchan Bayazit, Jyh-Ming Lien, Nancy M. Amato
Erschienen in: Algorithmic Foundations of Robotics V
Verlag: Springer Berlin Heidelberg
Enthalten in: Professional Book Archive
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While techniques exist for simulating group behaviors, these methods usually only provide simplistic navigation and planning capabilities. In this work, we explore the benefits of integrating roadmap-based path planning methods with flocking techniques. We show how group behaviors such as exploring can be facilitated by using dynamic roadmaps (e.g., modifying edge weights) as an implicit means of communication between flock members. Extending ideas from cognitive modeling, we embed behavior rules in individual flock members and in the roadmap. These behavior rules enable the flock members to modify their actions based on their current location and state. We propose new techniques for three distinct group behaviors: homing, exploring (covering and goal searching) and passing through narrow areas. Animations of these behaviors can be viewed at http://parasol.tamu.edu/dsmft.