Related papers: Group Chase and Escape
In this paper, we investigate a pursuit-evasion game in which a mobile observer tries to track a target in an environment containing obstacles. We formulate the game as an optimal control problem with state inequality constraint in a simple…
The pursuit-evasion game is studied for two adversarial active agents, modelled as a deterministic self-steering pursuer and a stochastic, cognitive evader. The pursuer chases the evader by reorienting its propulsion direction with limited…
This paper examines the degree to which an evader seeking a safe and efficient path to a target location can benefit from increasing levels of knowledge regarding one or more range-limited pursuers seeking to intercept it. Unlike previous…
The quest on how to collectively self-organize in order to maximize the survival chances of the members of a social group requires finding an optimal compromise between maximizing the well-being of an individual and that of the group. Here…
We propose a minimal model of predator-swarm interactions which captures many of the essential dynamics observed in nature. Different outcomes are observed depending on the predator strength. For a "weak" predator, the swarm is able to…
Group behavior has received much attention as a test case of self-organization. There has been much written in recent years to investigate interactions within groups of agents. These agents can be animals moving in an interactive way, such…
We present modeling strategies that describe the motion and interaction of groups of pedestrians in obscured spaces. We start off with an approach based on balance equations in terms of measures and then we exploit the descriptive power of…
Moving animal groups consist of many distinct individuals but can operate and function as one unit when performing different tasks. Effectively evading unexpected predator attacks is one primary task for many moving groups. The current…
We address the problem of tracking and detecting interactions between the different groups of runners that form during a race. In athletic races control points are set to monitor the progress of athletes over the course. Intuitively, a {\it…
In this chapter, we discuss the mathematical modeling of egressing pedestrians in an unknown environment with multiple exits. We investigate different control problems to enhance the evacuation time of a crowd of agents, by few informed…
This paper presents an approach to detect and track groups of people in video-surveillance applications, and to automatically recognize their behavior. This method keeps track of individuals moving together by maintaining a spacial and…
Pedestrian crowds often include social groups, i.e. pedestrians that walk together because of social relationships. They show characteristic configurations and influence the dynamics of the entire crowd. In order to investigate the impact…
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…
This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics,…
This contribution describes efforts to model the behavior of individual pedestrians and their interactions in crowds, which generate certain kinds of self-organized patterns of motion. Moreover, this article focusses on the dynamics of…
A planar herding problem is considered, where a superior pursuer herds a flock of non-cooperative, inferior evaders around a predefined target point. An inverse square law of repulsion is assumed between the pursuer and each evader. Two…
Suppose an unpredictable evader is free to move around in a polygonal environment of arbitrary complexity that is under full camera surveillance. How many pursuers, each with the same maximum speed as the evader, are necessary and…
Pedestrians are often encountered walking in the company of some social relations, rather than alone. The social groups thus formed, in variable proportions depending on the context, are not randomly organised but exhibit distinct features,…
In this work a robust and scalable cooperative multi-agent searching and tracking framework is proposed. Specifically, we study the problem of cooperative searching and tracking of multiple moving targets by a group of autonomous mobile…
Sets of moving entities can form groups which travel together for significant amounts of time. Tracking such groups is an important analysis task in a variety of areas, such as wildlife ecology, urban transport, or sports analysis.…