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Mechanismus výběru akcí pro animata
Plch, Tomáš ; Brom, Cyril (advisor) ; Surynek, Pavel (referee)
In this thesis we study the method of reactive planning, which is very popular for modeling behavior of virtual beings. Advantage of this approach is in the simplicity of design, its speed and believable behavior of agents in dynamic and complex environments. Thanks to the simplicity of the concept, it is rather difficult to model complex forms of behavior in a way, that the resulting behavior is believable and perceived intelligent. This thesis is focused on the expanding the concept of reactive planning in such a fashion, to compensate for observed limitations, preserving the basic concepts. The thesis contains proposals for various improvements to the basic structure of reactive plans - the reactive plan. In the presented work, we analyze practical problem of action selection used in reactive planning. Part of the thesis is a simple prototype, which is used to present some of the tackled limitations of reactive planning.
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Prostředí pro vývoj modulárních řídících systémů v robotice
Petrůšek, Tomáš ; Obdržálek, David (advisor) ; Plch, Tomáš (referee)
The subject of the thesis is the design and implementation of a modular control system environment, which could be used in robotics. Both autonomous and guided robots are supported. The higher-level software com- ponents like localization, steering, decision making, etc. are effectively sepa- rated from the underlying hardware devices and their communication protocols in the environment. Based on the layered design, hardware-independent algo- rithms can be implemented. These can run on different hardware platforms just by exchanging specific device drivers. Written in C++ using standard libraries, the final software is highly portable and extensible. Support for new platforms and hardware modules can be implemented easily. The whole sys- tem was tested on two robots and the particular instances of the systems built using this development environment are included in the solution and partially described in the thesis.
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Turn-based strategy
Poljak, Štěpán ; Zavoral, Filip (advisor) ; Plch, Tomáš (referee)
The aim of this thesis is the design and implementation of a network turn-based strategy for two and more players where every single player governs his towns, armies, resources and units, fights against other players and develops his heroes. Game contains 2D graphic interface and provides a possibility to play over local network based on client-server architecture. Program also contains artificial intelligence for computer player. Thesis also contains comparison with similar existing projects, description of possible aprroaches to solution of artificial intelligence in area of decision making and analysis of implementation problems, especially in area of network communication and artificial intelligence.
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Belieavable decision making in large scale open world games for ambient characters
Plch, Tomáš ; Brom, Cyril (advisor)
] Title: Believable Decision Making in Large Scale Open World Games for Ambient Characters Author: Tomáš Plch Department / Institute: Department of Software and Computer Science Education Supervisor of the doctoral thesis: Mgr. Cyril Brom, Ph. D., Department of Software and Computer Science Education Abstract: Large scale open worlds for computer games are inhabited by populations of Non- Player Characters (NPC). Believability of these NPCs is key in presenting immersive gameplay to the player. Managing complexity of NPC behaviors is a fundamental game development problem. This thesis is focused on increasing believability of NPCs' behaviors by providing an enhanced language for specifying action selection for these characters. The language is based on the Behavior Tree paradigm combined with object-oriented programming. We introduce our language's mechanisms that enable a developer to create complex, yet maintainable behaviors for individual NPCs. Second, we introduce our mechanism called Intelligent Environment aimed at maintaining a believable game environment able to adapt to player's actions and NPC's behaviors. Thirdly, we present our Smart construct concept which provides NPCs with context relevant behaviors from dedicated behavior containers to employ them when present at locations, using objects,...
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Belieavable decision making in large scale open world games for ambient characters
Plch, Tomáš ; Brom, Cyril (advisor)
] Title: Believable Decision Making in Large Scale Open World Games for Ambient Characters Author: Tomáš Plch Department / Institute: Department of Software and Computer Science Education Supervisor of the doctoral thesis: Mgr. Cyril Brom, Ph. D., Department of Software and Computer Science Education Abstract: Large scale open worlds for computer games are inhabited by populations of Non- Player Characters (NPC). Believability of these NPCs is key in presenting immersive gameplay to the player. Managing complexity of NPC behaviors is a fundamental game development problem. This thesis is focused on increasing believability of NPCs' behaviors by providing an enhanced language for specifying action selection for these characters. The language is based on the Behavior Tree paradigm combined with object-oriented programming. We introduce our language's mechanisms that enable a developer to create complex, yet maintainable behaviors for individual NPCs. Second, we introduce our mechanism called Intelligent Environment aimed at maintaining a believable game environment able to adapt to player's actions and NPC's behaviors. Thirdly, we present our Smart construct concept which provides NPCs with context relevant behaviors from dedicated behavior containers to employ them when present at locations, using objects,...
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Belieavable decision making in large scale open world games for ambient characters
Plch, Tomáš ; Brom, Cyril (advisor) ; Hindriks, Koen (referee) ; Čertický, Michal (referee)
] Title: Believable Decision Making in Large Scale Open World Games for Ambient Characters Author: Tomáš Plch Department / Institute: Department of Software and Computer Science Education Supervisor of the doctoral thesis: Mgr. Cyril Brom, Ph. D., Department of Software and Computer Science Education Abstract: Large scale open worlds for computer games are inhabited by populations of Non- Player Characters (NPC). Believability of these NPCs is key in presenting immersive gameplay to the player. Managing complexity of NPC behaviors is a fundamental game development problem. This thesis is focused on increasing believability of NPCs' behaviors by providing an enhanced language for specifying action selection for these characters. The language is based on the Behavior Tree paradigm combined with object-oriented programming. We introduce our language's mechanisms that enable a developer to create complex, yet maintainable behaviors for individual NPCs. Second, we introduce our mechanism called Intelligent Environment aimed at maintaining a believable game environment able to adapt to player's actions and NPC's behaviors. Thirdly, we present our Smart construct concept which provides NPCs with context relevant behaviors from dedicated behavior containers to employ them when present at locations, using objects,...
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Quadrotor 3D Intuitive Flying
Husák, Robert ; Plch, Tomáš (advisor) ; Obdržálek, David (referee)
The Rotor-based Unmanned Aerial Vehicle (R-UAV) is a robotic aerial plat- form capable of Vertical Take-Off and Landing. It is commonly controlled by a "two stick" interface common to radio controlled models of ships and airplanes. However, this method of control proves to be difficult to learn and master in the domain of R-UAV. Therefore, we examined other control devices: smartphone, gamepad, joystick, 3DConnection SpaceNavigator and Novint Falcon. They were used by 19 volunteers to perform two simple navigation scenarios with AR.Drone, a small R-UAV from Parrot. We separated the pilots into two groups, based on their experience with the R-UAV remote control. We measured the time needed for each device to fulfill every task, including the number of unwanted collisions with obstacles, as well as the pilot's satisfaction with it. According to the results of the experiment, joystick and smartphone proved to be less intuitive and effec- tive among all pilots, especially the inexperienced. Gamepad seemed to be most usable for experienced pilots, although the inexperienced had problems distribut- ing control between two hands, as we expected. 3DConnexion, SpaceNavigator and Novint Falcon were rated the best devices for inexperienced users.
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Simulation of Multi-UAV Cooperative Surveillance Using Pogamut and USARSim
Dufek, Jan ; Plch, Tomáš (advisor) ; Čermák, Miroslav (referee)
The main objective of this thesis is to introduce a simulation platform, which has been developed utilizing Pogamut and USARSim, for cooperative aerial surveillance using multiple unmanned aerial vehicles (UAVs). The graphical user interface (GUI) of the simulator contains the automatically created bird's eye view of a 3D virtual environment. This is used to enter locations and parameters of objects (UAVs, charging stations and areas) and also to visualize the process of a simulation. The thesis proposes a system for the analysis of the quality of surveillance, whose results are presented in the GUI in the form of a time graph and a heat map. Part of the proposed platform is a UAV objective-based control system including charging stations scheduling. A total of seven algorithms for cooperative surveillance has been implemented, tested in three different scenarios and analyzed for coverage quality. Powered by TCPDF (www.tcpdf.org)
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Pathfinding within a Hierarchical Navmesh Based on Geometry Analysis
Chomut, Miroslav ; Plch, Tomáš (advisor) ; Bída, Michal (referee)
Title: Pathfinding within a Hierarchical Navmesh Based on Geometry Analysis Author: Miroslav Chomut Department / Institute: Department of Software and Computer Science Education Supervisor of the master thesis: Mgr. Tomáš Plch, Media and Communications Office Abstract: Pathfinding is a common problem in the computer science dealing with navigation from a starting point to a destination point. Common algorithms today are mostly based on A* search on a graph representation of navigated world. Another common approach is creation of navigation structure of convex navigation meshes and navigating on them. Our goal is to propose pathfinding algorithm on hierarchical navigation meshes, based on the terrain geometry, which benefits from complexity of hierarchical search yet provides paths comparable in length to reference ones. This thesis analyses and describes our proposed approach of navigation including generation of the navigation structure. Keywords: navmesh, pathfinding, A*, hierarchy, terrain analysis, geometry
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