| Summary: | 碩士 === 國立交通大學 === 多媒體工程研究所 === 106 === In computer graphics and robotics, the simulation of cooperative tasks in agent-based crowd simulation is important. In this thesis, we present techniques to transport polygonal objects along user-sketched guidance paths in environments with static obstacles. The transportation is manipulated by two-agent cooperation, and two push-manipulations are applied: straight-push and rotate-push. The two agents can change the faces of the polygonal objects for pushing in the process of transportation. Our approach has two major stages. The first stage is a path simplification method for sketched guidance paths. The second stage computes the refined guidance paths and the plans for pushing the polygonal objects. The refined guidance paths are computed based on two objective costs which are rotation and displacement costs. The polygonal objects can be pushed based on the plans along the refined guidance paths while collision
avoidance can be achieved for the surrounding static obstacles. Furthermore, the agents may change their formation to push different faces of the polygonal objects. We applied our method for transporting triangle objects, quadrilateral objects, and pentagon objects in environments with static box-shaped obstacles.
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