Associate/Assistant Professor in Artificial Intelligence for Space-Enabled Technologies, Durham University

We are looking for applicants in Artificial Intelligence, Computer Vision, Edge Computing, Digital Twins, Human Computer Interaction, User Modelling, Robotics or Resilient Computing with potentials/achievements in informing space applications.

The post hoder will enjoy 1) a permanent (equivalent to US tenured) position at a top 100 university, 2) significantly reduced teaching, 3) a fully-funded PhD, 4) travel budget, 5) chance for a 2-year fully-funded Post-Doc.

Interactive Formation Control in Complex Environments

Joseph Henry, Hubert P. H. Shum and Taku Komura
IEEE Transactions on Visualization and Computer Graphics (TVCG), 2014

REF 2021 Submitted Output Impact Factor: 5.2 Top 25% Journal in Computer Science, Software Engineering# Citation: 28#

Interactive Formation Control in Complex Environments
# According to Google Scholar 2023"


The degrees of freedom of a crowd is much higher than that provided by a standard user input device. Typically, crowd control systems require multiple passes to design crowd movements by specifying waypoints, and then defining character trajectories and crowd formation. Such multi-pass control would spoil the responsiveness and excitement of real-time control systems. In this paper, we propose a single-pass algorithm to control a crowd in complex environments. We observe that low level details in crowd movement are related to interactions between characters and the environment, such as diverging/merging at cross points, or climbing over obstacles. Therefore, we simplify the problem by representing the crowd with a deformable mesh, and allow the user, via multi-touch input, to specify high level movements and formations that are important for context delivery. To help prevent congestion, our system dynamically reassigns characters in the formation by employing a mass transport solver to minimise their overall movement. The solver uses a cost function to evaluate the impact from the environment, including obstacles and areas affecting movement speed. Experimental results show realistic crowd movement created with minimal high-level user inputs. Our algorithm is particularly useful for real-time applications including strategy games and interactive animation creation.





 author={Henry, Joseph and Shum, Hubert P. H. and Komura, Taku},
 journal={IEEE Transactions on Visualization and Computer Graphics},
 title={Interactive Formation Control in Complex Environments},


AU  - Henry, Joseph
AU  - Shum, Hubert P. H.
AU  - Komura, Taku
T2  - IEEE Transactions on Visualization and Computer Graphics
TI  - Interactive Formation Control in Complex Environments
PY  - 2014
Y1  - 2 2014
VL  - 20
IS  - 2
SP  - 211
EP  - 222
DO  - 10.1109/TVCG.2013.116
SN  - 1077-2626
ER  - 

Plain Text

Joseph Henry, Hubert P. H. Shum and Taku Komura, "Interactive Formation Control in Complex Environments," IEEE Transactions on Visualization and Computer Graphics, vol. 20, no. 2, pp. 211-222, IEEE, Feb 2014.

Supporting Grants

Northumbria University

Capital Expenditure for Research Equipment (Ref: 2013: 510227, 2014: 510536, 2015: 511276 & 511671, 2016: 511988, 2017: 512820): £134,000, Principal Investigator ()
Received from Faculty of Engineering and Environment, Northumbria University, UK, 2013-2018
Project Page

Similar Research

Joseph Henry, Hubert P. H. Shum and Taku Komura, "Environment-Aware Real-Time Crowd Control", Proceedings of the 2012 ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA), 2012
Yijun Shen, Joseph Henry, He Wang, Edmond S. L. Ho, Taku Komura and Hubert P. H. Shum, "Data-Driven Crowd Motion Control with Multi-Touch Gestures", Computer Graphics Forum (CGF), 2018
Adam Barnett, Hubert P. H. Shum and Taku Komura, "Coordinated Crowd Simulation with Topological Scene Analysis", Computer Graphics Forum (CGF), 2016



Last updated on 17 February 2024
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