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

2. Agents are… Intelligent It involves… Adaptable Planning

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

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

5. Planning Probabilistic RoadmapProbabilistic Roadmap A* searchA* search Single Agent

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

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

8. 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

9. 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

10. 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

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

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

13. Demonstration