Center for Human Modeling and Simulation

Document Type

Conference Paper

Date of this Version


Publication Source

Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation

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This paper presents a real-time planning framework for multicharacter navigation that enables the use of multiple heterogeneous problem domains of differing complexities for navigation in large, complex, dynamic virtual environments. The original navigation problem is decomposed into a set of smaller problems that are distributed across planning tasks working in these different domains. An anytime dynamic planner is used to efficiently compute and repair plans for each of these tasks, while using plans in one domain to focus and accelerate searches in more complex domains. We demonstrate the benefits of our framework by solving many challenging multi-agent scenarios in complex dynamic environments requiring space-time precision and explicit coordination between interacting agents, by accounting for dynamic information at all stages of the decision-making process.

Copyright/Permission Statement

© ACM 2013. This is the author's version of the work. It is posted here for your personal use. Not for redistribution. The definitive Version of Record was published in Eurographics Symposium of Computer Animation (SCA),


real-time navigation, space-time planning, multiple problem domains, crowd simulation



Date Posted: 13 January 2016