Related papers: Solving the Direction Field for Discrete Agent Mot…
This paper presents a minimum displacement motion planning problem wherein obstacles are displaced by a minimum amount to find a feasible path. We define a metric for robot-obstacle intersection that measures the extent of the intersection…
We introduce a framework to navigate agents in buildings, inspired by the concept of "the cognitive map". It allows to route agents depending on their spacial knowledge. With help of an event-driven mechanism, agents acquire new information…
Forecasting long-term human motion is a challenging task due to the non-linearity, multi-modality and inherent uncertainty in future trajectories. The underlying scene and past motion of agents can provide useful cues to predict their…
Predicting an agent's future trajectory is a challenging task given the complicated stimuli (environmental/inertial/social) of motion. Prior works learn individual stimulus from different modules and fuse the representations in an…
This paper is concerned with determining the shortest path for a pursuer aiming to intercept a moving target travelling at a constant speed. To address this challenge, we introduce an efficient mathematical model outlined as an optimal…
We design a controller for an agent whose mission is to reach a stationary target while avoiding a family of obstacles which are not known a-priori. The agent moves in the two dimensional plane with non-trivial double integrator dynamics…
In any spatially discrete model of pedestrian motion which uses a regular lattice as basis, there is the question of how the symmetry between the different directions of motion can be restored as far as possible but with limited…
In this paper, we study the problem of distributed multi-agent optimization over a network, where each agent possesses a local cost function that is smooth and strongly convex. The global objective is to find a common solution that…
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…
When a team of agents, such as unmanned aerial/underwater vehicles, are operating in $3$-dimensional space, their coordinated action in pursuit of a cooperative task generally requires all agents to either share a common coordinate system…
In this study, we propose an algorithmic framework for solving a class of optimal control problems. This class is associated with the minimum-time interception of moving target problems, where a plant with a given state equation must…
A mobile agent has to reach a target in the Euclidean plane. Both the agent and the target are modeled as points. In the beginning, the agent is at distance at most $D>0$ from the target. Reaching the target means that the agent gets at a…
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the…
The problem of finding conflict-free trajectories for multiple agents of identical circular shape, operating in shared 2D workspace, is addressed in the paper and decoupled, e.g., prioritized, approach is used to solve this problem. Agents'…
We consider a distributed voting problem with a set of agents that are partitioned into disjoint groups and a set of obnoxious alternatives. Agents and alternatives are represented by points in a metric space. The goal is to compute the…
Discrete pedestrian simulation models are viable alternatives to particle based approaches based on a continuous spatial representation. The effects of discretisation, however, also imply some difficulties in modelling certain phenomena…
We provide a complete motion-planning mechanism that ensures target tracking and obstacle avoidance in a cluttered environment. For a given polyhedral decomposition of the feasible space, we adopt a novel procedure that constrains the agent…
In this paper, we propose a new method for path planning to a point for robot in environment with obstacles. The resulting algorithm is implemented as a simple variation of Dijkstra's algorithm. By adding a constraint to the shortest-path,…
Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…
Consider a small group of mobile agents whose goal is to locate a certain cell in a two-dimensional infinite grid. The agents operate in an asynchronous environment, where in each discrete time step, an arbitrary subset of the agents…