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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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?
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?
The Secret:The Secret:The NeighborhoodThe Neighborhood
Based on a Diagram by Craig Reynolds
Acceleration RequestsAcceleration Requests
• Collision Avoidance: Collision Avoidance: Stay clear Stay clear
Acceleration RequestsAcceleration Requests
• Velocity Matching: Velocity Matching: Stay on track Stay on track
• Collision Avoidance: Collision Avoidance: Stay clear Stay clear
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
The Brick WallThe Brick Wall
The Brick WallThe Brick Wall
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.
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.
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.
The ResultThe Result
(click here for movie)
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
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. .
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