research-article

ClearPath: highly parallel collision avoidance for multi-agent simulation

Authors:

Stephen. J. Guy,

Jatin Chhugani,

Nadathur Satish,

Dinesh Manocha,

Pradeep DubeyAuthors Info & Claims

SCA '09: Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation

Pages 177 - 187

https://doi.org/10.1145/1599470.1599494

Published: 01 August 2009 Publication History

Abstract

We present a new local collision avoidance algorithm between multiple agents for real-time simulations. Our approach extends the notion of velocity obstacles from robotics and formulates the conditions for collision free navigation as a quadratic optimization problem. We use a discrete optimization method to efficiently compute the motion of each agent. This resulting algorithm can be parallelized by exploiting data-parallelism and thread-level parallelism. The overall approach, ClearPath, is general and can robustly handle dense scenarios with tens or hundreds of thousands of heterogeneous agents in a few milli-seconds. As compared to prior collision avoidance algorithms, we observe more than an order of magnitude performance improvement.

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Cited By

Talukdar BZhang YWeiss T(2024)Learning Crowd Motion Dynamics with CrowdsProceedings of the ACM on Computer Graphics and Interactive Techniques10.1145/36513027:1(1-17)Online publication date: 13-May-2024
https://dl.acm.org/doi/10.1145/3651302
Yu BYe JOu D(2024)Consideration of Human Vision in Crowd SimulationsIEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2024.340177425:10(13364-13374)Online publication date: Oct-2024
https://doi.org/10.1109/TITS.2024.3401774
Lin XHuang YChen FEnglot B(2024)Decentralized Multi-Robot Navigation for Autonomous Surface Vehicles with Distributional Reinforcement Learning2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10611668(8327-8333)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10611668
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Published In

cover image ACM Conferences

SCA '09: Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation

August 2009

258 pages

ISBN:9781605586106

DOI:10.1145/1599470

Conference Chairs:
Bobby Bodenheimer
Vanderbilt University
,
Rasmus Tamstorf
Walt Disney Animation Studios
,
Editors:
Dieter Fellner
TU Darmstadt & Fraunhofer IGD, Germany
,
Stephen Spencer
The University of Washington
,
Program Chairs:
Eitan Grinspun
Columbia University
,
Jessica Hodgins
Carnegie Mellon University

Copyright © 2009 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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SIGGRAPH: ACM Special Interest Group on Computer Graphics and Interactive Techniques
EUROGRAPHICS: The European Association for Computer Graphics

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 01 August 2009

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SCA '09: The ACM SIGGRAPH / Eurographics Symposium on Computer Animation

August 1 - 2, 2009

Louisiana, New Orleans

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Overall Acceptance Rate 183 of 487 submissions, 38%

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Cited By

Talukdar BZhang YWeiss T(2024)Learning Crowd Motion Dynamics with CrowdsProceedings of the ACM on Computer Graphics and Interactive Techniques10.1145/36513027:1(1-17)Online publication date: 13-May-2024
https://dl.acm.org/doi/10.1145/3651302
Yu BYe JOu D(2024)Consideration of Human Vision in Crowd SimulationsIEEE Transactions on Intelligent Transportation Systems10.1109/TITS.2024.340177425:10(13364-13374)Online publication date: Oct-2024
https://doi.org/10.1109/TITS.2024.3401774
Lin XHuang YChen FEnglot B(2024)Decentralized Multi-Robot Navigation for Autonomous Surface Vehicles with Distributional Reinforcement Learning2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10611668(8327-8333)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10611668
Dang HGaudou BVerstaevel N(2024)A literature review of dense crowd simulationSimulation Modelling Practice and Theory10.1016/j.simpat.2024.102955134(102955)Online publication date: Jul-2024
https://doi.org/10.1016/j.simpat.2024.102955
Vesentini FMuradore RFiorini P(2024)A survey on Velocity Obstacle paradigmRobotics and Autonomous Systems10.1016/j.robot.2024.104645174(104645)Online publication date: Apr-2024
https://doi.org/10.1016/j.robot.2024.104645
Piccinelli NVesentini FMuradore R(2023)MPC Based Motion Planning For Mobile Robots Using Velocity Obstacle Paradigm2023 European Control Conference (ECC)10.23919/ECC57647.2023.10178219(1-6)Online publication date: 13-Jun-2023
https://doi.org/10.23919/ECC57647.2023.10178219
Weiss T(2023)Fast Position-based Multi-Agent Group DynamicsProceedings of the ACM on Computer Graphics and Interactive Techniques10.1145/35855076:1(1-15)Online publication date: 16-May-2023
https://dl.acm.org/doi/10.1145/3585507
Mavrogiannis CBaldini FWang AZhao DTrautman PSteinfeld AOh J(2023)Core Challenges of Social Robot Navigation: A SurveyACM Transactions on Human-Robot Interaction10.1145/358374112:3(1-39)Online publication date: 24-Apr-2023
https://dl.acm.org/doi/10.1145/3583741
Xue JZhang MYin H(2023)A Personality-based Model of Emotional Contagion and Control in Crowd Queuing SimulationsACM Transactions on Modeling and Computer Simulation10.1145/357758933:1-2(1-23)Online publication date: 28-Feb-2023
https://dl.acm.org/doi/10.1145/3577589
Mathew CBenes BAliaga D(2023)Sketching Vocabulary for Crowd MotionComputer Graphics Forum10.1111/cgf.1462941:8(119-130)Online publication date: 20-Mar-2023
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