Willemsen Peter, Kearney Joseph K, Wang Hongling
Department of Computer Science, University of Minnesota, Duluth 55812-2496, USA.
IEEE Trans Vis Comput Graph. 2006 May-Jun;12(3):331-42. doi: 10.1109/TVCG.2006.53.
This paper presents the Environment Description Framework (EDF) for modeling complex networks of intersecting roads and pathways in virtual environments. EDF represents information about the layout of streets and sidewalks, the rules that govern behavior on roads and walkways, and the locations of agents with respect to navigable structures. The framework serves as the substrate on which behavior programs for autonomous vehicles and pedestrians are built. Pathways are modeled as ribbons in space. The ribbon structure provides a natural coordinate frame for defining the local geometry of navigable surfaces. EDF includes a powerful runtime interface supported by robust and efficient code for locating objects on the ribbon network, for mapping between Cartesian and ribbon coordinates, and for determining behavioral constraints imposed by the environment.
