Motion of Crowds Benson Limketkai - Romain Thibaux Swarms of Rational Agents with Conflicting Goals

Agents are… Intelligent It involves… Adaptable Planning

Agents are… Intelligent It involves… Adaptable Planning Re-planning

Agents are… Intelligent It involves… Adaptable Numerous Planning Re-planning Local Interactions

Planning Probabilistic RoadmapProbabilistic Roadmap A* searchA* search Single Agent

Danger Detection Bounds on Collision TimeBounds on Collision Time Heap of BoundsHeap of Bounds Heap of Bounds T Soon Later

Danger Detection Bounds on Collision TimeBounds on Collision Time Heap of BoundsHeap of Bounds Heap of Bounds Soon Later

Danger Detection Bounds on Collision TimeBounds on Collision Time Detection ThresholdDetection Threshold List of Neighbors Heap of BoundsHeap of Bounds Heap of Bounds Soon Later

Heap of BoundsHeap of Bounds Heap of Bounds Danger Detection Bounds on Collision TimeBounds on Collision Time Detection ThresholdDetection Threshold List of Neighbors Soon Later

Heap of BoundsHeap of Bounds Heap of Bounds Danger Detection Bounds on Collision TimeBounds on Collision Time Detection ThresholdDetection Threshold List of Neighbors Soon Later

Can Be Wrong !Can Be Wrong ! Intention Guessing Motion ExtrapolationMotion Extrapolation Mistakes Later DetectedMistakes Later Detected Mistake detected only when reaches.

Cylinder IntersectionsCylinder Intersections Replanning A* in Space + TimeA* in Space + Time Agents can « Wait »Agents can « Wait » Time

Demonstration