Abstract
Real-time large-scale crowd simulations with realistic behavior, are important for many application areas. On CPUs, the ORCA pedestrian steering model is often used for agent-based pedestrian simulations. This paper introduces a technique for running the ORCA pedestrian steering model on the GPU. Performance improvements of up to 30 times greater than a multi-core CPU model are demonstrated. This improvement is achieved through a specialized linear program solver on the GPU and spatial partitioning of information sharing. This allows over 100,000 people to be simulated in real time (60 frames per second).
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Abe, Y., Yoshiki, M.: Collision avoidance method for multiple autonomous mobile agents by implicit cooperation. In: Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No. 01CH37180), vol. 3, pp. 1207–1212, October 2001. https://doi.org/10.1109/IROS.2001.977147
Barut, O., Haciomeroglu, M., Sezer, E.A.: Combining GPU-generated linear trajectory segments to create collision-free paths for real-time ambient crowds. Graph. Models 99, 31–45 (2018). https://doi.org/10.1016/j.gmod.2018.07.002
van den Berg, J., Lin, M., Manocha, D.: Reciprocal velocity obstacles for real-time multi-agent navigation. In: 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, pp. 1928–1935, May 2008. https://doi.org/10.1109/ROBOT.2008.4543489
van den Berg, J., Guy, S.J., Lin, M., Manocha, D.: Reciprocal n-body collision avoidance. In: Pradalier, C., Siegwart, R., Hirzinger, G. (eds.) Robotics Research. Springer Tracts in Advanced Robotics, vol. 70, pp. 3–19. Springer, Heidelberg (2011). https://doi.org/10.1007/978-3-642-19457-3_1
Bleiweiss, A.: Multi agent navigation on the GPU. White paper, GDC, vol. 9 (2009)
Blue, V., Adler, J.: Emergent fundamental pedestrian flows from cellular automata microsimulation—request PDF. Transp. Res. Rec. J. Transp. Res. Board 1644, 29–36 (1998). https://doi.org/10.3141/1644-04
Blue, V., Adler, J.: Cellular automata microsimulation of bidirectional pedestrian flows. Transp. Res. Rec. J. Transp. Res. Board 1678, 135–141 (1999). https://doi.org/10.3141/1678-17
Charlton, J., Maddock, S., Richmond, P.: Two-dimensional batch linear programming on the GPU. J. Parallel Distrib. Comput. 126, 152–160 (2019). https://doi.org/10.1016/j.jpdc.2019.01.001
Fickett, M., Zarko, L.: GPU Continuum Crowds. CIS Final Project Final report, University of Pennsylvania (2007)
Fiorini, P., Shiller, Z.: Motion planning in dynamic environments using velocity obstacles. Int. J. Rob. Res. 17(7), 760–772 (1998). https://doi.org/10.1177/027836499801700706
Fulgenzi, C., Spalanzani, A., Laugier, C.: Dynamic obstacle avoidance in uncertain environment combining PVOs and occupancy grid. In: Proceedings 2007 IEEE International Conference on Robotics and Automation, pp. 1610–1616. IEEE, Rome, April 2007. https://doi.org/10.1109/ROBOT.2007.363554
Guy, S.J., et al.: ClearPath: highly parallel collision avoidance for multi-agent simulation. In: Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, SCA 2009, pp. 177–187. ACM, New York (2009). https://doi.org/10.1145/1599470.1599494
He, L., Pan, J., Narang, S., Wang, W., Manocha, D.: Dynamic Group Behaviors for Interactive Crowd Simulation. arXiv:1602.03623 [cs], February 2016
Helbing, D., Molnár, P.: Social force model for pedestrian dynamics. Phys. Rev. E 51(5), 4282–4286 (1995). https://doi.org/10.1103/PhysRevE.51.4282
Karmakharm, T., Richmond, P.: Agent-based large scale simulation of pedestrians with adaptive realistic navigation vector fields. EG UK Theor. Pract. Comput. Graph. 10, 67–74 (2010)
Kluge, B., Prassler, E.: Recursive probabilistic velocity obstacles for reflective navigation. In: Yuta, S., Asama, H., Prassler, E., Tsubouchi, T., Thrun, S. (eds.) Field and Service Robotics: Recent Advances in Research and Applications. Springer Tracts in Advanced Robotics, vol. 24, pp. 71–79. Springer, Berlin (2006). https://doi.org/10.1007/10991459_8
Li, B., Mukundan, R.: A Comparative Analysis of Spatial Partitioning Methods for Large-Scale, Real-Time Crowd Simulation. Václav Skala - UNION Agency (2013)
Narain, R., Golas, A., Curtis, S., Lin, M.C.: Aggregate dynamics for dense crowd simulation. In: ACM SIGGRAPH Asia 2009 Papers, SIGGRAPH Asia 2009, pp. 122:1–122:8. ACM, New York (2009). https://doi.org/10.1145/1661412.1618468
Nvidia: Tuning CUDA Applications for Maxwell (2018). http://docs.nvidia.com/cuda/maxwell-tuning-guide/index.html
Pettré, J., Kallmann, M., Lin, M.C.: Motion planning and autonomy for virtual humans. In: ACM SIGGRAPH 2008 Classes, SIGGRAPH 2008, pp. 42:1–42:31. ACM, New York (2008). https://doi.org/10.1145/1401132.1401193
Pettré, J., Pelechano, N.: Introduction to crowd simulation. In: Bousseau, A., Gutierrez, D. (eds.) EG 2017 - Tutorials. The Eurographics Association (2017). https://doi.org/10.2312/egt.20171029
Richmond, P.: Flame GPU Technical Report and User Guide. Department of Computer Science Technical report CS-11-03, University of Sheffield (2011)
Richmond, P., Romano, D.M.: A high performance framework for agent based pedestrian dynamics on GPU hardware. In: Proceedings of EUROSIS ESM 2008 (2008)
Schönfisch, B., de Roos, A.: Synchronous and asynchronous updating in cellular automata. Biosystems 51(3), 123–143 (1999). https://doi.org/10.1016/S0303-2647(99)00025-8
Seidel, R.: Small-dimensional linear programming and convex hulls made easy. Discrete Comput. Geom. 6(3), 423–434 (1991). https://doi.org/10.1007/BF02574699
Snape, J.: Optimal Reciprocal Collision Avoidance (C++). Contribute to snape/RVO2 development by creating an account on GitHub, March 2019
Thalmann, D.: Populating virtual environments with crowds. In: Proceedings of the 2006 ACM International Conference on Virtual Reality Continuum and Its Applications, VRCIA 2006, p. 11. ACM, New York (2006). https://doi.org/10.1145/1128923.1128925
Wang, Y., Davidson, A., Pan, Y., Wu, Y., Riffel, A., Owens, J.D.: Gunrock: a high-performance graph processing library on the GPU. In: Proceedings of the 21st ACM SIGPLAN Symposium on Principles and Practice of Parallel Programming, p. 11. ACM (2016)
Xu, M.L., Jiang, H., Jin, X., Deng, Z.: Crowd simulation and its applications: recent advances. J. Comput. Sci. Technol. 29, 799–811 (2014). https://doi.org/10.1007/s11390-014-1469-y
Yang, Z., Pan, J., Wang, W., Manocha, D.: Proxemic group behaviors using reciprocal multi-agent navigation. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 292–297 (2016). https://doi.org/10.1109/ICRA.2016.7487147
Acknowledgements
This research was supported by the Transport Systems Catapult and the National Council of Science and Technology in Mexico (Consejo Nacional de Ciencia y Tecnología, CONACYT).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Charlton, J., Gonzalez, L.R.M., Maddock, S., Richmond, P. (2019). Fast Simulation of Crowd Collision Avoidance. In: Gavrilova, M., Chang, J., Thalmann, N., Hitzer, E., Ishikawa, H. (eds) Advances in Computer Graphics. CGI 2019. Lecture Notes in Computer Science(), vol 11542. Springer, Cham. https://doi.org/10.1007/978-3-030-22514-8_22
Download citation
DOI: https://doi.org/10.1007/978-3-030-22514-8_22
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-22513-1
Online ISBN: 978-3-030-22514-8
eBook Packages: Computer ScienceComputer Science (R0)