• No results found

Efficient Path Matching Motion Generation Algorithm for Multi Agent Environment

N/A
N/A
Protected

Academic year: 2022

Share "Efficient Path Matching Motion Generation Algorithm for Multi Agent Environment"

Copied!
6
0
0

Laster.... (Se fulltekst nå)

Fulltekst

(1)

!" # $ % & '"&

()&((* ")&((* ")&((* "+)&((*

, - , - . / 0

" +1 !""2 (3

4

#" ""

" "

+&( # "

" 1 "" "

" ( # * +& "

(

5 "" +& " &

( # " "

" " " " "

"

"( " "

" & " &

" * "( # "! *

" &" " ""( &

& " " "

" " "

"( #& " " +

+" " "(

" "

"* + "( 6 " +

"* +(

7 8 $

"&"" " " + "

+& & " "" & &"(

" "&"" 9##:;

'#;< =:> " +

* "( #" " "

& +& * "( $

" " "

" "( %" " "

* " + * +&

" "(

% " +" "&""(

+" " " " +&

" ( ! "

+ " 9%#5;? $&;<>( 5 "

" 9 %;@>( #" ""

" +" ++" "

" " & ""&

" " ""( # +&

1" " "&""" "

& ""& "" "

(

' A

5 ""

"&"(

& " " 2 "

" * "( #" " "

" "((* *((" "

" " "

+ " " ?(?(

" " " + "

"" ( + "

" " " 1 "( " 3

""" " "(

(2)

'4

# " " "

" B "C( #

" " + "

"+ " "( #" "

+" + +*" ( )

" +"2 "

" & &( # *

" + " " B6*C( #

" " + B C( #

"((* " " "

& " B C & " B6*C( #

*((" " " " "&

(

# " "

+ ( % + + " + " "

( 6 "

*

; ; ; ;

0 , ,

0

+ DE

" & + ""( $ " "" " & "

+ ( # " + "" "( #

" " " ""(

" " "

" " + " ( #

& + " " + ( " " ""

" " (

4

7

5 + "&"" "

" " &( "

" "

* & "* (

" "" "

" " "* 9#;3>(

! + " " <(<

" + "

" "( #

"* + + """ "

<(<(

# " "" " "

9%!&;"> " "(

"

&( # "

" " " ""&

"( # " " " " &

( 6 " DE " "

" &( # + "

" "

" + "" # "

( # " " & ( # & " + " "

" & (

# + "" "

+ " "

( ' ""

+ ( " "

" "

"

" "( # "

" + + +&

#1$" 9#F"> "

"( # " "

" & "

"(

5 + + "

+ "" &

"( + "

"" & " "

( " + " "

" " &

(

% &

# "&"" + < ""2

( ! *

"( &"" *

?( "

<( " "* +

# "+ "" "+ " ""

"(

(3)

%4 '(

" "&" " &

" " ( # " "

" " "

& ( ! " " &

& "( " + " " 9)&::> " "

+" " D" " "E & +" " D" "

+ "E & ( # "

"&" "

& " ( # "

* (

7

"&"* " &"

+" " " + & ( # " (

5" & "

(

%7 + '(

# * " " "

( " + " + " "

" " # D"E(

; ;

; G

E

D

D"E

,

" + ( # " "

" " +&

2

H ; I ,-.

I ; I ,/0

" &

( " " " & " " "

* "( 6 * " " " +

" " "( # "" " " "

" " " " "

" " " " + * "( "+

" + # +&

" " * " "

*( " " +* * ""

+ + * "( "

* "" " " (

# & " "# + (

%

%

6 "# " "" "

"* " " "

""( # " "" "

"" " " " " "(

# " * " "

" " "

( )* " ""& +"

" "&* "#(

"&* " + * + &

+"( # * " "

" " @(

# +1 " " "

"# "(

" " " - " " " (

$" " " "

" & "

"( # " " " +

" "

"( $ "

" +& +

" "( "" """

" + ""(

(4)

1 ,

# "+"" """ ""

" ( # "

" " + 2 + 2(

%4 &

* " "

" "( & " &

" (

%7 " " "#

" "( #" #&

" " " "

# ( " # "

" " " " ( #"

" " ""& ""(

Θ 3 Θ 3

# #& " " " "

"( 6 & "

( """ D?E "

" " & #&

(

4

2 2 D?E

5 4 3 6

5" "

" " (

# " " " "

" "# " " "

" "( " " D?E " " "

" " " " "(

5 " * "

"# " "#

" " " "#

(

%

"

"# " " ( #

" + "

"#( +&

+ " "

" " " "

"( #" #& " "

"+" " "

" ( #" " " ""&

""(

Θ 3 Θ 3 0

6 & " "

( D<E " "" " "

"#(

42 2 D<E

5 4 3 6

" """

D<E " "

"# " (

%% ( " "

" " " &

& + # " ( # " & " " ( #" + + " +& 1" "

+ "(

6 " + 9;=>(

#" " " "" " "" ( # " * " " "" "

+ "* + "

" ( 6 " " +" " " "

& 2

(5)

# + + " "" &

J

# + " "

" J

# + *"

& " " "(

# + *" " "( #"

" " "

" ( # "

" " " + " "*

"* "" " "* * "* ( # "*

"* " ( # +& " + +& + # +& " + * "

"( # " "

" " ( # " "

" ( # "" "

" " + "2

* " * "

+ " * " (

6 "" "

9% !;"> "" K +

+ " "( 6

" 9;=> +" "

" " ( 1 8

6 "

"&"( 6 ?; "

"&"( # "

?;; "( # " " + ; "

@;; "(

+

" " 6

" +

""

; "(:=K" ;(?K" (;;

" ; ;(;;K" ;(;;K" (;;

? ; "(@K" ;("<K" <(;;

< ;; "(F3K" ;(@@K" ("?

@ ;; (FFK" ;(F<K" <(@3 3 @;; (<K" (?FK" <(=

4 0 7 -8 "

5 "

;L ;;L

" ;L ;;L

? ;L ;;L

< ;L ;;L

@ ;L ;;L

3 ;L ;;L

7 0 7 8

#+ #+ " " " " "(

# " 3; "" "( #

" " "

"( # 6 " "

+ "

" "

"( " # D@E

2

D@E

5 3 5 3

5 3

3 6

# + "" "

+ " "" "( #

" "

" "

" ""( # "

" "

+& + ""(

< "

" ( "

" " "

" " "( " "

+ " & " "

" * " " ( < " "

( # " &

" " " "

"( " " " " & "

" "" * ( " " +

+ " " " ("?( #

" " + " &

+" " " *

" " ( " " "

" ( # & " " "

" " " " (

# " I ; +" " +

" " ;(

? @ 3 "

* " * " "( "

+" " "

" +" ""( #" + " " "

+ ""( # " ""

+ "" "" " +

" ""( # " " & +

" " + (

" " + " """ &

" "

+& + "" ( #

" "" " "

" &( " """ &

" "

(6)

""( # " ""

" & ""(

5 " "* +& 1"

" + "( # "

" " * " ( 9

" " + & "" * "

" "( " " "

&" " " "

1 " "( "

* " "

1 " "( " &""

* * " " +

&"" " "

"" " " 1 " ""( #

"" #

" & & " "(

""+ " "

+ "" +&( # " "

+&( 6 #&

" &

& ""

"( # #& B * &C B" &C

( 8

9#5;?> )% 5( #5) M#$ !( ( 5N) O( #(2

"&"" "( :4 ? D";;?E <;"P<;=(

9##:;> 5' )( !# #$ (

#$ !(2 + *

* "( Q : . 3 D::;E

?<<P?@=(

9'#;<> 5' )( 'M ( #$ !(2

;" * ( < 0 - D";;<E(

9=:> )'!) ( ;)# #(2 !

& *( :4

,!/= ->?> DO & :=:E "

!!)&$ ( "??P"<"(

9!;> !$) (2 ( !"0 .@-0

@@- ! "0 D";;E ( :@P";"(

9!):3> !'5 ( )5)! O(2

" +"

" (

, : , A>.

D( ::3E ( :@P;F(

9$!&;<> $ ' ( !#)M ( &5&5;R O(2 +" ( @@1 :4

,!/=B , : D";;<E ( 3:PFF(

9#;3> %5#5 ( )% 5( #5) M#$ !(2

% & ( !"0 [email protected] @@. ! "0 D";;3E ( <:P@?(

9%!&;"> %5;) ( !$) ( &!$ #(2

"( #"" !" " ? D";;"E

<F?P<="(

9% !;"> %5;) ( $)) O( !$) (2

#"* ( :4 ,!/= : ( :FP;<( &"" ";;"(

9%;@> ' ( %'##) O( O(2 ( ,: .@20 @@2 :4 ,!/=B : " "FP"=; ";;@(

9;=> ' ( ' ( $56 ( &(2

"&"" ( :

! 5 @@?( # ( 9;3> %( $( $5 ( !( O(2 "2

+ + *" "

( :4 2 ? D";;3E (=:=P:;3(

9$&;@> ' ( %( $)#S ( &5&5; S(2

&"" +" "& "

*( ,!/= .@20 :4 ,!/= @@2 " ;FP;= ";;@(

9& ;<> &)% ( ( $ $( O( $ ( M(2 5 + ( : Q , -2 D";;<E (

"@P?=(

9& ;?> &##)T O( '5! O( &( T5 #(2 "

"" "( ,: A@"0

@@" :4 ,!/=B , : D";;?E ( "@=P"3<(

9)&::> )M5! ( 6(2 +"

" "( 0 : ::: F3?PF="(

9 $&;<> #55; ( $5!! O( %( &5)! (

%(2 &"* &" & "

" + " ""( ,!/= .@10

:4 ,!/= @@1 D";;<E ( @<P@"(

9 %!;@> '! ( %5;) !$) (2 #"

"&"" "( ,:

.@20 @@2 :4 ,!/=B

: ( ":P?;; ";;@(

9#F"> #)O )(2 ! " "

"( ,!4 < : - " D:F"E (

<3P3;(

Referanser

RELATERTE DOKUMENTER

Transitioning between different behaviors shows whether the behaviors may be used as behavior primitives. The transitions between the selected controllers are examined using

Using this measure in ipp, paths can be generated to maximize the expected number of targets to be observed during the full duration of all agent’s flights, i.e., the integral of

The traffic and path planning case studies clearly demon- strate the effectiveness of proxy simulations for reducing the cost of motion generation, suggesting that a proxy simula-

This work was concretized in the development of the EsQUIsE software prototype, a program for the drawing, analysis and interpretation of architectural design sketches

Our hybrid method restricts drawing shadow polygons to the silhouette pixels, shaded green in (b); these pixels cover just 5% of the image.. The image on the right (c) illustrates

The key component of our system is an algorithm for efficient decomposition of HDR video environment map captured over hemisphere into a set of representative directional light

During training, the system simply stores the paired motion data. During generation, the algorithm compares the run- time situation between the main and reacting character to

In [AMCO08] a fast and robust technique is introduced for pairwise registration based on the alignment between copla- nar and congruent 4-points sets randomly extracted from the