BIOL 4605/7220 GPT Lectures Cailin Xu November 9, 2011 CH 20.1 Correlation.
Don’t Crowd Me Summary of and comments on Brogan and Hodgins’ Group Behaviors for Systems with...
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![Page 1: Don’t Crowd Me Summary of and comments on Brogan and Hodgins’ Group Behaviors for Systems with Significant Dynamics Cailin K. Andruss Virginia Commonwealth.](https://reader035.fdocuments.net/reader035/viewer/2022062504/5a4d1b4e7f8b9ab0599a6886/html5/thumbnails/1.jpg)
Don’t Crowd MeDon’t Crowd MeSummary of and comments on Brogan and Hodgins’Summary of and comments on Brogan and Hodgins’
Group Behaviors for Systems with Significant DynamicsGroup Behaviors for Systems with Significant Dynamics
Cailin K. AndrussCailin K. AndrussVirginia Commonwealth UniversityVirginia Commonwealth University
NSF BBSI Program 2005 - 2006NSF BBSI Program 2005 - 2006
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IntroductionIntroduction
• To move as a group, animals must To move as a group, animals must – Maintain close proximityMaintain close proximity– Avoid collisionsAvoid collisions– Compensate for significant dynamicsCompensate for significant dynamics
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Significant DynamicsSignificant Dynamics
• Significant Dynamics: the motion of Significant Dynamics: the motion of an individual is significantly affected an individual is significantly affected by its dynamic properties.by its dynamic properties.– AccelerationAcceleration– VelocityVelocity– Turning radiusTurning radius
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The GoalThe Goal
• An algorithm An algorithm – Natural looking low-level behaviorsNatural looking low-level behaviors
• Walking, running, bicycling, etc.Walking, running, bicycling, etc.– Realistic interaction with an Realistic interaction with an
unpredictable environmentunpredictable environment• Obstacle avoidance, grouping, rough Obstacle avoidance, grouping, rough
terrain locomotion, etc.terrain locomotion, etc.
• Can be applied to physical robots Can be applied to physical robots performing useful tasksperforming useful tasks
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The AlgorithmThe Algorithm
PerceptionPerception
PlacementPlacement Obstacle Obstacle
AvoidanceAvoidance
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The AgentsThe Agents
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The AgentsThe Agents
• One-legged RobotsOne-legged Robots
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The AgentsThe Agents
• One-legged RobotsOne-legged Robots
• Rigid-body model of Rigid-body model of human riding bicyclehuman riding bicycle
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The AgentsThe Agents
• One-legged RobotsOne-legged Robots
• Rigid-body model of Rigid-body model of human riding bicyclehuman riding bicycle
• Point-mass systemPoint-mass system
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ResultsResults
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ResultsResults
GroupingGrouping
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ResultsResults
TurningTurning
(Click here for movie)
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ResultsResults
Obstacle AvoidanceObstacle Avoidance
(Click)
(Click)
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ResultsResults
Obstacle AvoidanceObstacle Avoidance
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Results SummaryResults Summary• Point-masses: moved more tightly Point-masses: moved more tightly
under changes in velocity because of under changes in velocity because of the more exact control of velocity.the more exact control of velocity.
• Robots: more variability and motion Robots: more variability and motion within the group. Separation distance within the group. Separation distance was made larger to prevent collisions was made larger to prevent collisions between members. between members.
• Bicyclists: the control system was not Bicyclists: the control system was not as robust, and the they were not able as robust, and the they were not able to perform as well on the turning test.to perform as well on the turning test.
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LimitationsLimitations
• Reflexive reactions to collisionsReflexive reactions to collisions
• Information about other individuals Information about other individuals is too accurateis too accurate
• Models are simplified Models are simplified
• Heterogeneous populationHeterogeneous population
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ReferencesReferences
Brogan, D.C., Hodgins, J. K., 1997. Brogan, D.C., Hodgins, J. K., 1997. Group Group Behaviors for Systems with Significant Behaviors for Systems with Significant DynamicsDynamics. . Autonomous Robots Autonomous Robots 4, 4, p. 137-153.p. 137-153.