Related papers: Applications of the Dynamic Distance Potential Fie…

This contribution investigates situations in pedestrian dynamics, where trying to walk the shortest path leads to largely different results than trying to walk the quickest path. A heuristic one-shot method to model the influence of the…

The distance from a given position toward one or more destinations, exits, and way points is a more or less important input variable in most models of pedestrian dynamics. Except for the special case when there are no obstacles in a concave…

A generic method for dynamic assignment used with microsimulation of pedestrian dynamics is introduced. As pedestrians - unlike vehicles - do not move on a network, but on areas they in principle can choose among an infinite number of…

The problem of mixed static and dynamic obstacle avoidance is essential for path planning in highly dynamic environment. However, the paths formed by grid edges can be longer than the true shortest paths in the terrain since their headings…

Autonomous ground vehicle systems have found extensive potential and practical applications in the modern world. The development of an autonomous ground vehicle poses a significant challenge, particularly in identifying the best path plan,…

This paper deals with a mathematical model of a pedestrian movement. A stochastic cellular automata (CA) approach is used here. The Floor Field (FF) model is a basis model. FF models imply that virtual people follow the shortest path…

This contribution proposes a method to make agents in a microscopic simulation of pedestrian traffic walk approximately along a path of estimated minimal remaining travel time to their destination. Usually models of pedestrian dynamics are…

Multidimensional fitting (MDF) method is a multivariate data analysis method recently developed and based on the fitting of distances. Two matrices are available: one contains the coordinates of the points and the second contains the…

Differential Dynamic Programming (DDP) is an efficient trajectory optimization algorithm relying on second-order approximations of a system's dynamics and cost function, and has recently been applied to optimize systems with time-invariant…

When a large group of pedestrians moves around a corner, most pedestrians do not follow the shortest path, which is to stay as close as possible to the inner wall, but try to minimize the travel time. For this they accept to move on a…

Multi-robot collaboration has become a needed component in unknown environment exploration due to its ability to accomplish various challenging situations. Potential-field-based methods are widely used for autonomous exploration because of…

We present a novel framework for motion planning in dynamic environments that accounts for the predicted trajectories of moving objects in the scene. We explore the use of composite signed-distance fields in motion planning and detail how…

This paper proposes a unified decision making and local trajectory planning framework based on Time-Varying Artificial Potential Fields (TVAPFs). The TVAPF explicitly models the predicted motion via bounded uncertainty of dynamic obstacles…

Modeling and simulation of pedestrian behavior is used in applications such as planning large buildings, disaster management, or urban planning. Realistically simulating pedestrian behavior is challenging, due to the complexity of…

In this paper, we study path planning algorithms of resource constrained mobile agents in unknown cluttered environments, which include but are not limited to various terrestrial missions e.g., search and rescue missions by drones in…

In reinforcement learning, reward shaping is an efficient way to guide the learning process of an agent, as the reward can indicate the optimal policy of the task. The potential-based reward shaping framework was proposed to guarantee…

Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios. However, achieving practical RPF remains challenging due to…

Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…

Models for pedestrian dynamics are often based on microscopic approaches allowing for individual agent navigation. To reach a given destination, the agent has to consider environmental obstacles. We propose a direction field calculated on a…

An extended social force model with a dynamic navigation field is proposed to study bidirectional pedestrian movement. The dynamic navigation field is introduced to describe the desired direction of pedestrian motion resulting from the…