Publication

Formation preserving path finding in 3-D terrains

Ali Galip Bayrak
2012
Journal Articles

Abstract

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 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 waypoint to the successive one on the optimal path generated at the previous stage, preserving the formation and avoiding collision. Software was developed to test the methods discussed here.

Official source

https://infoscience.epfl.ch/entities/publication/d9806c0b-484b-4ceb-a435-a275f89673e1

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Ali Galip Bayrak
2012
Journal Articles

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/d9806c0b-484b-4ceb-a435-a275f89673e1

About this result

Related concepts (28)

Directed graph

In mathematics, and more specifically in graph theory, a directed graph (or digraph) is a graph that is made up of a set of vertices connected by directed edges, often called arcs. In formal terms, a directed graph is an ordered pair where V is a set whose elements are called vertices, nodes, or points; A is a set of ordered pairs of vertices, called arcs, directed edges (sometimes simply edges with the corresponding set named E instead of A), arrows, or directed lines.

Line graph

In the mathematical discipline of graph theory, the line graph of an undirected graph G is another graph L(G) that represents the adjacencies between edges of G. L(G) is constructed in the following way: for each edge in G, make a vertex in L(G); for every two edges in G that have a vertex in common, make an edge between their corresponding vertices in L(G). The name line graph comes from a paper by although both and used the construction before this.

Glossary of graph theory

This is a glossary of graph theory. Graph theory is the study of graphs, systems of nodes or vertices connected in pairs by lines or edges.

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