Dynamically stable control of articulated crowds
The synthesis of realistic complex body movements in real-time is a difficult problem in computer graphics and in robotics. High realism requires the accurate modeling of the details of the trajectories for a large number of degrees of freedom. At the same time, real-time animation necessitates flex...
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Elsevier
2016
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| Online Access: | http://hdl.handle.net/1721.1/103869 https://orcid.org/0000-0002-7161-7812 |
| _version_ | 1826195446257680384 |
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| author | Mukovskiy, Albert Slotine, Jean-Jacques E. Giese, Martin A. |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Mukovskiy, Albert Slotine, Jean-Jacques E. Giese, Martin A. |
| author_sort | Mukovskiy, Albert |
| collection | MIT |
| description | The synthesis of realistic complex body movements in real-time is a difficult problem in computer graphics and in robotics. High realism requires the accurate modeling of the details of the trajectories for a large number of degrees of freedom. At the same time, real-time animation necessitates flexible systems that can adapt and react in an online fashion to changing external constraints. Such behaviors can be modeled with nonlinear dynamical systems in combination with appropriate learning methods. The resulting mathematical models have manageable mathematical complexity, allowing to study and design the dynamics of multi-agent systems. We introduce Contraction Theory as a tool to treat the stability properties of such highly nonlinear systems. For a number of scenarios we derive conditions that guarantee the global stability and minimal convergence rates for the formation of coordinated behaviors of crowds. In this way we suggest a new approach for the analysis and design of stable collective behaviors in crowd simulation. |
| first_indexed | 2024-09-23T10:12:49Z |
| format | Article |
| id | mit-1721.1/103869 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T10:12:49Z |
| publishDate | 2016 |
| publisher | Elsevier |
| record_format | dspace |
| spelling | mit-1721.1/1038692022-09-26T16:31:18Z Dynamically stable control of articulated crowds Mukovskiy, Albert Slotine, Jean-Jacques E. Giese, Martin A. Massachusetts Institute of Technology. Department of Mechanical Engineering Slotine, Jean-Jacques E. The synthesis of realistic complex body movements in real-time is a difficult problem in computer graphics and in robotics. High realism requires the accurate modeling of the details of the trajectories for a large number of degrees of freedom. At the same time, real-time animation necessitates flexible systems that can adapt and react in an online fashion to changing external constraints. Such behaviors can be modeled with nonlinear dynamical systems in combination with appropriate learning methods. The resulting mathematical models have manageable mathematical complexity, allowing to study and design the dynamics of multi-agent systems. We introduce Contraction Theory as a tool to treat the stability properties of such highly nonlinear systems. For a number of scenarios we derive conditions that guarantee the global stability and minimal convergence rates for the formation of coordinated behaviors of crowds. In this way we suggest a new approach for the analysis and design of stable collective behaviors in crowd simulation. Deutsche Forschungsgemeinschaft (DFG Forschergruppe ‘Perceptual Graphics’ (GZ: GI 305/2-2)) European Commission (EC FP7 project FP7-ICT-248311 ‘AMARSi’) European Commission (FP7- ICT-249858 ‘TANGO’) Hermann und Lilly Schilling-Stiftung 2016-08-08T20:40:30Z 2016-08-08T20:40:30Z 2012-08 2012-07 Article http://purl.org/eprint/type/JournalArticle 18777503 http://hdl.handle.net/1721.1/103869 Mukovskiy, Albert, Jean-Jacques E. Slotine, and Martin A. Giese. “Dynamically Stable Control of Articulated Crowds.” Journal of Computational Science 4, no. 4 (July 2013): 304–310. https://orcid.org/0000-0002-7161-7812 en_US http://dx.doi.org/10.1016/j.jocs.2012.08.019 Journal of Computational Science Creative Commons Attribution-NonCommercial-NoDerivs License http://creativecommons.org/licenses/by-nc-nd/4.0/ application/pdf Elsevier Other univ. web domain |
| spellingShingle | Mukovskiy, Albert Slotine, Jean-Jacques E. Giese, Martin A. Dynamically stable control of articulated crowds |
| title | Dynamically stable control of articulated crowds |
| title_full | Dynamically stable control of articulated crowds |
| title_fullStr | Dynamically stable control of articulated crowds |
| title_full_unstemmed | Dynamically stable control of articulated crowds |
| title_short | Dynamically stable control of articulated crowds |
| title_sort | dynamically stable control of articulated crowds |
| url | http://hdl.handle.net/1721.1/103869 https://orcid.org/0000-0002-7161-7812 |
| work_keys_str_mv | AT mukovskiyalbert dynamicallystablecontrolofarticulatedcrowds AT slotinejeanjacquese dynamicallystablecontrolofarticulatedcrowds AT giesemartina dynamicallystablecontrolofarticulatedcrowds |