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<p><b>Abstract</b>—We present a versatile, behavioral, and rule-based animation system that includes autonomous humanoid actors whose behavior is based on synthetic sensors that are used for perceiving the virtual environment. We combine the following in a consistent approach: L-systems, a behavioral production rule system; a particle system; an acoustic environment model, including a speech recognition module; a virtual life network; and a humanoid library. Together, these systems create a real-time-structured virtual environment that both high-level autonomous humanoids and interactive users can easily share.</p>
Behavioral animation, L-systems, synthetic sensors, synthetic vision, virtual humans, virtual environments.

H. Noser and D. Thalmann, "A Rule-Based Interactive Behavioral Animation System for Humanoids," in IEEE Transactions on Visualization & Computer Graphics, vol. 5, no. , pp. 281-307, 1999.
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