List of Figures

• Artificial fishes in their physics-based world.
• Mating behavior. Female (top) is courted by larger male.
• Predator shark stalking school of prey fish.
• Differentiating action selection from motor control in design.
• System overview of the artificial fish.
• The motor system of an artificial fish.
• The top and side view of the outline of the fish model at rest.
• Top-front view of an artificial fish during caudal swimming motion.
• The steering map.
• The turning motion of the artificial fish.
• The pectoral fin geometry.
• The local coordinate system of a fish.
• Digital images of real fish.
• The shaded NURBS surface of the left half of a fish body.
• Control-point mesh fish models.
• Texture mapped 3D fish models.
• The subdivision of the faces of the dynamic fish.
• The geometric NURBS surface fish deforms with the dynamic fish.
• Snapshots of the pectoral flapping motion.
• The perception system in an artificial fish.
• Fisheye view of the world showing fishing line.
• Fisheye view of the world showing hooked fish.
• Swimming fishes avoiding collisions with cylindrical obstacles.
• The fish's collision sensitivity region.
• Analogues of intrinsic images.
• The behavior system in an artificial fish.
• The form of the stimulus functions and .
• A peaceful marine world.
• The smell of danger.
• The intention generator of a predator.
• The angle .
• A hungry predator ingesting prey.
• Portion of intention generator of prey.
• Schooling behavior routine.
• A small school of angelfish.
• An inceptive school.
• School scatters in terror.
• Fleeing from predator.
• Two males (larger) vying for the attention of a female.
• A clownfish displays opportunism in behavior.
• The seaweed responds to hydrodynamic forces produced by a passing fish.
• The general control panel.
• The fishview control panel and the rendered identity maps from fish `1'.
• Denizens of the virtual marine world happily feeding on plankton.
• A large predator hunting small prey fishes while pacifist fishes, untroubled by the predator, feed on plankton.
• Locomotion learning center in the brain of the artificial fish.
• Visualization of pectoral fin motion.

Xiaoyuan Tu

January 1996