Behavioural simulation in voxel space

In this paper we present a framework for behavioural simulation. A uniform voxel space representation is used to implement the environment mechanism of the framework. An example environment is presented where actors with olfactory sensors are able to direct their motions according to a scent of the chemicals in the voxel space based on mass transfer theory. Objects in the enviroment are scan converted to the voxel representation to facilitate collision detection. An example of using the framework to simulate the behaviour of a group of arti cial butter ies is used to demonstrate the ideas of this research.