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Thesis Rests with Its Author University of Bath PHD Building Robust Real-Time Game AI Simplifying & Automating Integral Process Steps in Multi-Platform Design Gaudl, Swen Award date: 2016 Awarding institution: University of Bath Link to publication Alternative formats If you require this document in an alternative format, please contact: [email protected] General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights. • Users may download and print one copy of any publication from the public portal for the purpose of private study or research. • You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal ? Take down policy If you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediately and investigate your claim. Download date: 06. Oct. 2021 Building Robust Real-Time Game AI: Simplifying & Automating Integral Process Steps in Multi-Platform Design submitted by Swen Gaudl for the degree of Doctor of Philosophy of the University of Bath Department of Computer Sciences May 2016 COPYRIGHT Attention is drawn to the fact that copyright of this thesis rests with its author. This copy of the thesis has been supplied on the condition that anyone who consults it is understood to recognise that its copyright rests with its author and that no quotation from the thesis and no information derived from it may be published without the prior written consent of the author. This thesis may be made available for consultation within the University Library and may be photocopied or lent to other libraries for the purposes of consultation. Signature of Author . Swen Gaudl Acknowledgements After nearly four years of work and continuous learning, reading, programming and experimenting and iterating this cycle, the thesis is finally complete. Driven by my desire to understand and advance the development of agents for highly demanding domains such as digital games, I explored many scientific fields. I ventured into robotics, cognitive science and biology to understand modelling approaches for sophisticated agents. Now, this journey comes to an end, and the cumulated knowledge I gained is collected within this thesis. During those four years, I could concentrate full-time on my research due to the support I received from the University of Bath and the Department of Computer Sci- ence. Due to my University scholarship, I could focus and dive deeper into research than I initially had hoped. I enjoyed teaching and the interaction with graduate and undergraduate students. I was able to visit the University of California, Santa Cruz, because of the University travel grant which I am thankful for. I would also like to thank my supervisor Joanna J. Bryson for giving me the opportunity to undertake my studies in the first place and also for initiating my research visit. I would like to thank Michael Mateas and Noah Wardrip-Fruin for integrating me into their research group for that short period of time and for spending the time to dis- cuss my research. I want to thank April Grow, Joseph C. Osborn for their collaboration and time. Additionally, I want to thank James Ryan and his wife Nina for taking care of me in Santa Cruz; James on top of that for our research discussions and his feedback on my research. I wish I could have stayed longer. They and all other researchers I met at UCSC allowed me to expand my understanding on games and games research a lot. 1 I would like to thank Leon Watts, a lot, for our continuous conversations on research over coffee and tea and for listening and discussing my research ideas in great detail. I want to thank Rob Wortham and Andreas Theodorou for their feedback and our conversations on action selection and the philosophy of computation and complexity. A special thanks to Paul Rauwolf and Dominic Mitchell for our long conversations and our discussions on research rigour and how to survive a PhD. I am also grateful for the tremendous amount of work Eliza Shaw and Michael Wright undertook, helping me to enhance the understanding and readability of my thesis. I do feel that my writing skills got better because of you and your feedback. I am forever indebted to my partner Denise Lengyel, especially for the last eight months when I spent most of my time writing, eating and brooding over this work ignoring most other things. Without our conversations and your support and patience, this would not have been possible. I would like to thank my family for not giving up on me when I was too busy to reply or answer calls and for their moral support and encouragement. Lastly, I want to thank the numerous people I did not manage to name and those I met during my PhD at conferences and workshops which gave feedback to my research and thus took part in shaping it. 2 Summary Digital games are part of our culture and have gained significant attention over the last decade. The growing capabilities of home computers, gaming consoles and mobile phones allow current games to visualise 3D virtual worlds, photo-realistic characters and the inclusion of complex physical simulations. The growing computational power of those devices enables the usage of complex algorithms while visualising data. Therefore, opportunities arise for developers of interactive products such as digital games which introduce new, challenging and exciting elements to the next generation of highly inter- active software systems. Two of those challenges, which current systems do not address adequately, are design support for creating Interactive Virtual Agents (IVAs) and more believable non-player characters for immersive game-play. We start in this thesis by addressing the agent design support first and then extend the research, addressing the second challenge. The main contributions of this thesis are: • The posh-sharp sytem is a framework for the development of game agents. The platform is modular, extendable, offers multi-platform support and advanced soft- ware development features such as behaviour inspection and behaviour versioning. The framework additionally integrates an advanced information exchange mech- anism supporting loose behaviour coupling. • The Agile behaviour design methodology integrates agile software development and agent design. To guide users, the approach presents a work-flow for agent design and guiding heuristics for their development. • The action selection augmentation ERGo introduces a \white-box" solution to altering existing agent frameworks, making their agents less deterministic. It augments selected behaviours with a bio-mimetic memory to track and adjust their activation over time. With the new approach to agent design, the development of deeper agent behaviour for digital adversaries and advanced tools supporting their design is given. Such mech- anisms should enable developers to build robust non-player characters that act more human-like in an efficient and robust manner. Within this thesis, different strategies are identified to support the design of agents in a more robust manner and to guide developers. These discussed mechanisms are then evolved to develop and design IVAs. Because humans are still the best measurement for human-likeness, the evolutionary cycle involves feedback given by human players. 3 Related Publications • Grow, A., Gaudl, S. E., Gomes, P. F., Mateas, M., and Wardrip-Fruin, N. (2014). A methodology for requirements analysis of ai architecture authoring tools. In Foundations of Digital Games 2014. Society for the Advancement of the Science of Digital Games • Gaudl, S. E., Davies, S., and Bryson, J. J. (2013). Behaviour oriented design for real-time-strategy games { an approach on iterative development for starcraft ai. In Proceedings of the Foundations of Digital Games, pages 198{205. Society for the Advancement of Science of Digital Games • Gaudl, S. E. and Bryson, J. J. (2014). Extended ramp goal module: Low- cost behaviour arbitration for real-time controllers based on biological models of dopamine cells. In Computational Intelligence and Games (CIG), 2014 IEEE Conference on, pages 1{8. IEEE • Gaudl, S. E., Osborn, J. C., and Bryson, J. J. (2015). Learning from play: Fa- cilitating character design through genetic programming and human mimicry. In Progress in Artificial Intelligence, pages 292{297. Springer International Publish- ing 4 Contents 1 Introduction 9 1.1 Motivation . .9 1.2 How to Build Games and Agents Therein? . 11 1.2.1 Game Development . 11 1.2.2 Developing Game Agents . 15 1.3 Identifying Critical Points in Game Development . 18 1.4 Motivation for Providing a New Approach to Agent Design . 21 1.5 A New Integrated Process of Agent Design . 23 1.5.1 Research Question . 24 1.5.2 Contributions . 24 1.6 Overview of the Thesis . 26 2 Background 29 2.1 Fundamental Game AI Techniques . 31 2.1.1 Decision Modelling . 33 2.1.2 Spatially Centred Approaches . 50 2.1.3 Evolutionary & Learning Approaches . 62 2.1.4 Summary of Approaches to Game AI . 72 2.2 Agents and Agent Design . 72 2.2.1 Agent Design . 73 2.2.2 Behaviour-Based Artificial Intelligence . 76 2.2.3 Goal-Driven Autonomy (GDA) . 78 2.2.4 Goal Oriented Planning (GOAP) . 81 2.2.5 Heavy Cognitive Architectures . 84 2.2.6 ICARUS . 88 2.2.7 MIT cX agent architecture . 90 2.2.8 A Behavior Language (ABL) . 95 2.2.9 Behavior-Oriented-Design (BOD) . 98 5 2.2.10 Generative Agent Design . 104 2.2.11 Summarising Agent Design Approaches .
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