CS 326 A: Motion Planning

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CS 326 A Motion Planning

• http//robotics.stanford.edu/latombe/cs326/2002
• Motion Planning for Digital Actors

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Digital Actor/Character
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Digital Actor/Character
Leo Sibille
Ron Fedkiw
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Some Applications
Completely Autonomous
Urban / Factory Simulation
Video Game Adversaries
Historical Narratives
Virtual Tour Guides
Digital Actors
Autonomy
Semi-Autonomous Characters
Key-frame Animation Systems
Web Avatars
User-controlled
Off-line
Real-time
Interactivity
Kuffner, 99
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Some Projects
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Digital Actor as Virtual Robot!
Virtual Control Loop
Plan
Sense
Act
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Synthetic Vision
Computing Visibility via Hardware

• Segment environment
• Render false-color scene off-screen (e.g.
  200x200)
• Scan pixels record IDs

Actor camera image
Synthetic Vision vs. Robot Vision

• Distance detection
• Image segmentation
• Noisy data

Vision module image
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Perception-Based Navigation
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Treadmill Method Motion Planning Motion
Capture
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Path Tracking
TRACKING DETAIL
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Multiple Characters

• Following pursuit behaviors
• Maintaining formations

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Manipulation
Reach
Return
Transfer
Grab
Release
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Classes of Motion
Cloth (Georgia Tech)
Primary (active) motion gross body
movements, facial animation
Secondary (passive) motion clothes, skin,
hair, environmental effectsIndividual vs. crowd
motion