Behavior Animation

Steering Behaviors

Agent/Vehicle Dynamics

Individual

• Seek/Flee
• Pursuit/Evasion
• Offset Pursuit
• Arrival/Departure
• Obstacle Avoidance
• Wander

Group Behavior

• Primitives

  • Separation
  • Align
  • Coherence

• Behaviors

• Flocking

  • Follow Leader

Final:: ask what to use to produce the results

Sense Control Act Loop

Sense control act simulation paradigm

• Sense
• Control
• Act
• Render
• Network

Seek/Flee Behavior

Pursuit/Evasion Behavior

Target Predictor - Velocity

Evade

Avoidance Steering behavior

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Collision Avoidance

Detect potential collision as follows:

$d^0=p^0_{obstacle}-p^0$

Normal Velocity Field

Wander Steer: random change it's direction

Add Random Velocity vector

Wander: noise generator

Collision Avoidance

Ray Cast

Multi Ray Cast

Path Following Steering bahavior

Vector field

Behavior Blending and Arbitration Schemes

Alignment

Separation Behavior

Cohesion

Queueing Steering Behavior

Fixed Priority

For example,

Neural Net

Coordinated Movement

Emergent formations

2 level formations

breadth first: ensure shortest but exhausted

best first: do not ensure shortest but fast