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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've supervised 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.

List of supervised MSc theses

  • Christian Oliveros. Crowd Simulation in Generated Multi-Layered Environments From Building Information Models. July 2022.
  • Damir Kalender. Walkable Area Extraction and Crowd Simulation in generated Multi-Layered Environments From Building Information Models. May 2022.
  • Marga van der Kroon. Using simulations to stimulate higher-order thinking in the solving complex problems. January 2022.
  • Noud Savenije. Studying the effectiveness and algorithms of digital simulations on an interactive AR crowd simulation table. December 2021.
  • Yunia Guo Towards. Real-Time and Interactive Crowd Simulations as a Service. October 2021.
  • Felix Buenen. Towards Real-Time and Interactive Crowd Simulations as a Service. July 2021.
  • Stijn Herfst. Optimizing k-NN Queries for Dense Interactive Real-time Crowd Simulations. January 2021.
  • Ymke Wegereef. Constructing a Navigaton Mesh by Triangulating the Walkable Area. January 2021.
  • Mèir Noordermeer. Minimizing Memory Costs of Real-Time Interactive Crowd Simulation. December 2020.
  • Wouter van der Waal. High Level Planning in Crowd Simulation. October 2020.
  • Floris de Vries. Processing of Building Information Models for crowd simulations. October 2020.
  • Dimas Tichelaar. Crowd Simulation Environment Generation From GIS Data. August 2020.
  • Nick Brouwer. User-centric authoring tool for pedestrian simulation. December 2019.
  • Ricky van den Waardenburg. Parallelization and optimization of the walkable area mesh generating pipeline. March 2019.
  • Chrit Hameleers. Crowd Simulation as a Service: A scalable, real-time architecture. February 2019.
  • Karim Machlab. Large-scale distributed crowd simulation in real-time. February 2019.
  • Irena Cirkovic. EvoEnvi: A Collaborative Serious Game Played On An Interactive Table For Teaching Evolution Using Genetic Algorithms. July 2018.
  • Marjolein Zwerver. Improved Deadlock Detection and Detours: An extension for MIRAN. September 2018.
  • Jeroen Huisen. Scalable Informed Environments using Hierarchical Data Structures and Building Blocks. August 2018.
  • Yiran Zhao. Verification and validation of the evacuation model. February 2018.
  • 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.