Spatially distributed lane planning for navigation in 3D environments
نویسندگان
چکیده
This article introduces the new problem of planning spatially distributed lanes for supporting multi-agent navigation applications in 3D environments. Our proposed approach computes max-flow a medial axis representation environment order to globally compute collision-free exploring entire free space volumetric scene. method addresses agent clearance and path dispersion provide comprehensive solution be used by multiple agents By selecting desired lane our offers an intuitive powerful way explore variations computed collections lanes. Dispersion is addressed with combination techniques based on max flow computation, clearance-based separation, adaptive shortcut-based smoothing.
منابع مشابه
Lane Detection in Unstructured Environments for Autonomous Navigation Systems
Automatic lane detection is an essential component for autonomous navigation systems. It is a challenging task in unstructured environments where lanes vary significantly in appearance and are not indicated by painted markers. This paper proposes a new method to detect pedestrian lanes that have no painted markers in indoor and outdoor scenes, under different illumination conditions. Our method...
متن کاملSpatially Distributed Multiagent Path Planning
Multiagent path planning is important in a variety of fields, ranging from games to robotics and warehouse management. Although centralized control in the joint action space can provide optimal plans, this often is computationally infeasible. Decoupled planning is much more scalable. Traditional decoupled approaches perform a unit-centric decomposition, replacing a multi-agent search with a ser...
متن کاملPlanning Biped Navigation Strategies in Complex Environments
We present an algorithm for planning goal-directed footstep navigation strategies for biped robots through obstacle-filled environments and uneven ground. Planning footsteps is more general than most existing navigation methods designed for wheeled robots, since the options of stepping over or upon obstacles are available. Given a height map of the terrain and a discrete set of possible footste...
متن کاملCapacity Planning in Distributed Environments
Capacity Planning has been a discipline practiced by IT since before the invention of the mainframe. It encompasses different measurement, analysis, modeling and reporting techniques and strategies. But with the advent of distributed computing, with hardware resources competing in what may be termed a commodities market, should Capacity Planning be treated with the same reverence as in the past...
متن کاملSketch-Based Navigation in 3D Virtual Environments
Navigation represents the fundamental interaction technique in 3D virtual environments (3D VEs) as it enables the users to explore the 3D world and to interact with its objects. Efficient navigation strategies and techniques are required, which take account of the users and their goals and avoid problems of general navigation methods, such as “getting-lost” situations and confusing view configu...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Computer Animation and Virtual Worlds
سال: 2023
ISSN: ['1546-427X', '1546-4261']
DOI: https://doi.org/10.1002/cav.2162