group modeling, multi-agent simulation, optimal reciprocal collision avoidance, reciprocal velocity obstacle, Technology, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999

Simulating groups and their behaviors have been one of the important topics recently. This paper proposes a novel velocity-based method to simulate the realistic behavior of groups moving in a specific formation in a virtual environment including other groups and obstacles. The proposed algorithm, we called “DGB—Discretionary Group Behavior”, takes advantage of ORCA (Optimal Reciprocal Collision Avoidance) half-planes for both grouping and collision avoidance strategy. By considering new half-planes for each agent, we can have more reasonable and intelligent behavior in front of challenging obstacles and other agents. Unlike recent similar works, independent members in a group do not have predefined connections to each other even though they can keep the group’s formation while moving and trying to follow their best neighbors discretionarily in critical situations. Through experiments, we found that the proposed algorithm can yield more human-like group behavior in a crowd of agents.