Better group behaviors using rule-based roadmaps

O. Burchan Bayazit, Jyh Ming Lien, Nancy M. Amato

Research output: Chapter in Book/Report/Conference proceedingConference contribution


While techniques exist for simulating group behaviors, these methods usually only provide simplistic navigation and planning capabilities. In this work, we explore the benefits of integrating roadmap-based path planning methods with flocking techniques. We show how group behaviors such as exploring can be facilitated by using dynamic roadmaps (e.g., modifying edge weights) as an implicit means of communication between flock members. Extending ideas from cognitive modeling, we embed behavior rules in individual flock members and in the roadmap. These behavior rules enable the flock members to modify their actions based on their current location and state. We propose new techniques for three distinct group behaviors: homing, exploring (covering and goal searching) and passing through narrow areas. Animations of these behaviors can be viewed at

Original languageEnglish (US)
Title of host publicationAlgorithmic Foundations of Robotics V
Number of pages17
StatePublished - 2004
Externally publishedYes
Event5th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2002 - Nice, France
Duration: Dec 15 2002Dec 17 2002

Publication series

NameSpringer Tracts in Advanced Robotics
Volume7 STAR
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Other5th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2002

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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