flying free comments on craig w. reynolds’ flocks, herds, and schools: a distributed behavioral...
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Flying FreeFlying FreeComments on Craig W. Reynolds’Comments on Craig W. Reynolds’
Flocks, Herds, and Schools: A Distributed Behavioral ModelFlocks, Herds, and Schools: A Distributed Behavioral Model
Cailin K. AndrussCailin K. AndrussVirginia Commonwealth UniversityVirginia Commonwealth University
NSF BBSI Program 2005 - 2006NSF BBSI Program 2005 - 2006
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ExampleExample
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Can a flock of birds be Can a flock of birds be modeled without modeled without
individually individually programming each programming each
bird’s path?bird’s path?
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Natural FlockingNatural Flocking
• Millions of herring can travel in Millions of herring can travel in schools spanning 17 miles just as schools spanning 17 miles just as easily as a dozen birds can form a easily as a dozen birds can form a flock for a brief flight.flock for a brief flight.
• If flocking ability is independent of If flocking ability is independent of flock size, how do the flocks flock size, how do the flocks coordinate?coordinate?
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The Secret:The Secret:The NeighborhoodThe Neighborhood
Based on a Diagram by Craig Reynolds
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Acceleration RequestsAcceleration Requests
• Collision Avoidance: Collision Avoidance: Stay clear Stay clear
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Acceleration RequestsAcceleration Requests
• Velocity Matching: Velocity Matching: Stay on track Stay on track
• Collision Avoidance: Collision Avoidance: Stay clear Stay clear
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Acceleration RequestsAcceleration Requests
• Velocity Matching: Velocity Matching: Stay on track Stay on track
• Flock Centering:Flock Centering: Stay close Stay close
• Collision Avoidance: Collision Avoidance: Stay clear Stay clear
Diagrams by Craig Reynolds
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The Brick WallThe Brick Wall
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The Brick WallThe Brick Wall
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The Brick WallThe Brick Wall• Prioritize the acceleration requests.Prioritize the acceleration requests.• Set a maximum acceleration.Set a maximum acceleration.• Allow acceleration up to the maximum Allow acceleration up to the maximum
with the highest priority request getting with the highest priority request getting first dibs.first dibs.
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The Brick WallThe Brick Wall• Prioritize the acceleration requests.Prioritize the acceleration requests.• Set a maximum acceleration.Set a maximum acceleration.• Allow acceleration up to the maximum Allow acceleration up to the maximum
with the highest priority request getting with the highest priority request getting first dibs.first dibs.
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The Brick WallThe Brick Wall• Prioritize the acceleration requests.Prioritize the acceleration requests.• Set a maximum acceleration.Set a maximum acceleration.• Allow acceleration up to the maximum Allow acceleration up to the maximum
with the highest priority request getting with the highest priority request getting first dibs.first dibs.
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The ResultThe Result
(click here for movie)
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Take Home MessageTake Home Message
• The secret: The secret: Limit vision of boid to neighborhood Limit vision of boid to neighborhood
• Boids follow three rules:Boids follow three rules: 1. Collision avoidance 1. Collision avoidance 2. Velocity matching 2. Velocity matching 3. Flock centering 3. Flock centering
• More urgent rules receive priorityMore urgent rules receive priority
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Application to VPPApplication to VPP
• The Virtual Parasite Project uses The Virtual Parasite Project uses swarming to model parasite activity.swarming to model parasite activity.
• The accuracy of theories about their The accuracy of theories about their activity can be tested. activity can be tested.
• Experiments can be performed more Experiments can be performed more quickly quickly in silicoin silico than than in vitroin vitro. .
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ReferencesReferences
Reynolds, C. W. (1987) Flocks, Herds, and Schools: A Reynolds, C. W. (1987) Flocks, Herds, and Schools: A Distributed Behavioral Model, in Computer Graphics, Distributed Behavioral Model, in Computer Graphics, 21(4) (SIGGRAPH '87 Conference Proceedings) p. 25-21(4) (SIGGRAPH '87 Conference Proceedings) p. 25-34.34.
Acceleration Request diagrams from Craig Reynold’s Acceleration Request diagrams from Craig Reynold’s Boid’s Page: http://www.red3d.com/cwr/boids/Boid’s Page: http://www.red3d.com/cwr/boids/
Thanks to Jeff Elhai for help with dewordificationThanks to Jeff Elhai for help with dewordification