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We study how we can automatically create a data structure that represents the walkable surfaces in virtual environments, and how it can be updated dynamically and efficiently when it changes. We refer to this structure as a navigation mesh. This mesh enables efficient crowd simulation, which is our next topic of research. We study and develop a crowd simulation framework and its components, which ranges from global (AI) planning to local animation. We create models for realistic crowd behaviors, which includes studying how (groups of) people move and avoid collisions in such environments, based on agent profiles and semantics (such as terrain annotations).


Monthly crowd simulation research meeting crowdsimulatie meeting (6 juli 2015).

Monthly crowd simulation research meeting

PhD students

I have supervised the following PhD students:

PhD Thesis cover Norman Jaklin.

PhD Thesis Norman Jaklin

PhD Thesis cover Wouter van Toll.

PhD Thesis Wouter van Toll

I'm currently supervising the following PhD student:

Many pictures and movies on this website are made by them!

Scientific programmers

I have supervised the following scientific programmers:

Presentation of our augmented-reality crowd simulation table at the Betweterfestival in TivoliVredenburg by Angelos Kremyzas. (c) Roswitha de Boer.

Presentation of our augmented-reality crowd simulation table at the Betweterfestival in TivoliVredenburg by Angelos Kremyzas. (c) Roswitha de Boer.

Monthly meetings with MSc and PhD students

I organize a monthly crowd simulation meeting for all people that deal with path planning and crowd simulation research. They take place in the Buys Ballotgebouw, Princetonplein 5, Utrecht. See this website (log on using your SolisID) for more information.

List of supervised MSc theses

  • Nick Roumimper. Mesh Navigation Through Jumping. March 2017.
  • Jordi Vermeulen. Bridging gaps in walkable environments. March 2017.
  • Pieter van de Kerkhof. Navigating Jumping Agents Through Virtual Environments. July 2016.
  • Martijn Koenis. Impact of Pedestrians Bringing Along Their Bicycles on Evacuation Times of Subway Stations. June 2016.
  • Mihai Polak. Extracting walkable areas from 3D environments. February 2016.
  • Marijn van der Zwan. The Impact of Density Measurement on the Fundamental Diagram. January 2016.
  • Thijs de Goeij. Background Traffic Agents for Driving Simulators - Simulating Traffic in Multiple Environments. December 2015.
  • Simon Rosman. Path planning for cyclists - Simulating bicycles in urban environments. August 2015.
  • Angelos Kremyzas. Social Group Behavior and Path Planning. January 2015.
  • Roy Triesscheijn. A Comparative Study of Navigation Meshes. December 2014.
  • Martijn Bloemheuvel. Creating Dynamic and Density Dependent Indicative Routes for Crowd Simulation. September 2014.
  • Tessa Verbruggen. Maintaining formations in high-density crowds. July 2014.
  • Mark Tibboel. Creating high quality indicative routes in heterogeneous virtual environments. August 2013.
  • Rudi Bonfiglioli. Computing High Resolution Explicit Corridor Maps using Parallel Technologies. July 2013.
  • Andrei Cibotaru. Alternative algorithms for computing Explicit Corridor Maps using exact and topology-oriented paradigms. May 2013.
  • David Weterings. Path planning for agents with a variable radius and height. May 2013.
  • Arne Hillebrand. Separating a polygonal environment into a multi-layered environment. November 2012.
  • Arthur van Goethem. A Stream algorithm for crowd simulation to improve crowd coordination at all densities. August 2012.
  • Wouter Saaltink. Partitioning polygonal environments into multi-layered environments. January 2012.
  • Wouter van Toll. A navigation mesh for efficient density-based crowd simulation in multi-layered environments. August 2011.
  • Corien Prins. Multi-unit pathfinding and column generation. August 2010.
  • Erik Schager. Stealth-based path planning in virtual environments. August 2009.
  • Didier Caron. Rhythmic Animations Synthesizing Salsa. August 2009.
  • Jeff Ouwerkerk. Path planning for coherent groups using the Corridor Map Method. October 2008.
  • Olaf Jansen. Path Planning with Scripts. June 2007.