SPA: Verbal Interactions between Agents and Avatars in Shared Virtual Environments using Propositional Planning
Table 2: Benchmark comparisons with and without NL-I. This table compares performance of our algorithm with and without NL-I. We find that agents who are able to communicate accomplish their goals more quickly and benefit from nearby communication of other agents.
['Scene', 'Agents', 'Planning Time', 'Replans', 'Replan Time (S)', 'Solution Time(S)']
Overall we find that our approach decreases the overall solution time with a small increase in replanning times. Specific details on the number of agents and desires in each benchmark can be found in the supplemental material. A group of 10 agents approach a junction and must choose one of two passageways to reach their goals. Each agent randomly selects its desired passageway. Unknown to the agents, the right passageway is obstructed due to a fire breakout. As the agents approach the junction, an agent acting as a first-responder redirects them to the leftmost passageway using verbal communication. Without our algorithm, agents are unable to communicate and some take the rightmost passageaway forcing them to retreat.