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Crowd formation via hierarchical planning:

, In: Proceedings of the 15th ACM SIGGRAPH Conference on Virtual-Reality Continuum and Its Applications in Industry - Volume 1,
Wang, Xingce ; Liu, Na ; Liu, Shaolong... - p. 251-260 , 2016
Link: https://dl.acm.org/doi/10.1145/3013971.3013978