Formation preserving navigation of agent teams in 3-d terrains

Download
2008
Bayrak, Ali Galip
Navigation of a group of autonomous agents that are needed to maintain a formation is a challenging task which has not been studied much in especially 3-D terrains. This thesis presents a novel approach to collision free path finding of multiple agents preserving a predefined formation in a 3-D terrain. The proposed method could be used in many areas like navigation of semi-automated forces (SAF) at unit level in military simulations and non player characters (NPC) in computer games. The proposed path finding algorithm first computes an optimal path from an initial point to a target point after analyzing the 3-D terrain data from which it constructs a weighted graph. Then, it employs a real-time path finding algorithm specifically designed to realize the navigation of the group from one way point to the successive one on the optimal path generated at the previous stage, preserving the formation and avoiding collision both. A software was developed to test the methods discussed here.

Suggestions

Formation preserving path finding in 3-D terrains
Bayrak, Ali Galip; Polat, Faruk (Springer Science and Business Media LLC, 2012-03-01)
Navigation of a group of autonomous agents that are required to maintain a formation is a challenging task which has not been studied much especially in 3-D terrains. This paper presents a novel approach to collision free path finding of multiple agents preserving a predefined formation in 3-D terrains. The proposed method could be used in many areas like navigation of semi-automated forces (SAF) at unit level in military simulations and non-player characters (NPC) in computer games. The proposed path findi...
Multiresolution formation preserving path planning in 3-D virtual environments
Hoşgör, Can; Polat, Faruk; Department of Computer Engineering (2011)
The complexity of the path finding and navigation problem increases when multiple agents are involved and these agents have to maintain a predefined formation while moving on a 3-D terrain. In this thesis, a novel approach for multiresolution formation representation is proposed, that allows hierarchical formations of arbitrary depth to be defined using different referencing schemes. This formation representation approach is then utilized to find and realize a collision free optimal path from an initial loc...
Control of a mobile robot swarm via informed robots
Çelikkanat, Hande; Şahin, Erol; Department of Computer Engineering (2008)
In this thesis, we study how and to what extent a self-organized mobile robot flock can be guided by informing some of the robots within the flock about a preferred direction of motion. Specifically, we extend a flocking behavior that was shown to maneuver a swarm of mobile robots as a cohesive group in free space, avoiding obstacles. In its original form, this behavior does not have a preferred direction and the flock would wander aimlessly. In this study, we incorporate a preference for a goal direction i...
A bdi-based multiagent simulation framework
Yükselen, Murat; Polat, Faruk; Department of Computer Engineering (2008)
Modeling and simulation of military operations are becoming popular with the widespread application of artificial intelligence methods. As the decision makers would like to analyze the results of the simulations in greater details, entity-level simulation of physical world and activities of actors (soldiers, tanks, etc) is unavoidable. In this thesis, a multiagent framework for simulating task driven autonomous activities of actors or group of actors is proposed. The framework is based on BDI-architecture w...
Resource based plan revision in dynamic multi-agent environments
Erdoğdu, Utku; Polat, Faruk; Department of Computer Engineering (2004)
Planning framework is commonly used to represent intelligent agents effectively and to model complex behavior. In planning framework, resource-based perspective is interesting in the sense that in a multi-agent environment, exchange of resources can form a cooperative interaction. In resource based plan coordination, each agent constructs an individual plan, then plans are examined by a central plan revision unit for possibilities of removing actions. Domain of this work is the classical postmen domain that...
Citation Formats
A. G. Bayrak, “Formation preserving navigation of agent teams in 3-d terrains,” M.S. - Master of Science, Middle East Technical University, 2008.