Related papers: Solving the Direction Field for Discrete Agent Mot…

We consider a single-facility location problem, where agents are positioned on the real line and are partitioned into multiple disjoint districts. The goal is to choose a location (where a public facility is to be built) so as to minimize…

Traditionally, Euclidean geometry is treated by scientists as a priori and objective. However, when we take the position of an agent, the problem of selecting a best route should also factor in the abilities of the agent, its embodiment and…

Multi-agent pathfinding (MAPF) is concerned with planning collision-free paths for a team of agents from their start to goal locations in an environment cluttered with obstacles. Typical approaches for MAPF consider the locations of…

In this paper, we investigate the distributed shortest distance optimization problem for a multi-agent network to cooperatively minimize the sum of the quadratic distances from some convex sets, where each set is only associated with one…

Given a convex quadratic potential of which its minimum is the agent's goal and a Euclidean space populated with ellipsoidal obstacles, one can construct a Rimon-Koditschek (RK) artificial potential to navigate. Its negative gradient…

Building agents that can explore their environments intelligently is a challenging open problem. In this paper, we make a step towards understanding how a hierarchical design of the agent's policy can affect its exploration capabilities.…

This paper proposes a decentralized approach for solving the problem of moving a swarm of agents into a desired formation. We propose a decentralized assignment algorithm which prescribes goals to each agent using only local information.…

For the planning of large pedestrian facilities, the movement of pedestrians in various situations has to be modelled. Many tools for pedestrian planning are based on cellular automata (CA), discrete in space and time, some use self driven…

We introduce a new route-finding problem which considers perception and travel costs simultaneously. Specifically, we consider the problem of finding the shortest tour such that all objects of interest can be detected successfully. To…

This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…

The interdiction of escaping adversaries in urban networks is a critical security challenge. State-of-the-art game-theoretic models, such as the Escape Interdiction Game (EIG), provide comprehensive frameworks but assume a highly dynamic…

We consider the general problem of geometric task allocation, wherein a large, decentralised swarm of simple mobile agents must detect the locations of tasks in the plane and position themselves nearby. The tasks are represented by an a…

Accurate prediction of driving scene is a challenging task due to uncertainty in sensor data, the complex behaviors of agents, and the possibility of multiple feasible futures. Existing prediction methods using occupancy grid maps primarily…

We present a scalable and effective multi-agent safe motion planner that enables a group of agents to move to their desired locations while avoiding collisions with obstacles and other agents, with the presence of rich obstacles,…

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…

Robust agent-based models for pedestrian dynamics, which can predict the motion of pedestrians in various situations without specific adjustment of the model or its parameters, are highly desirable. But the modeller's task is challenging,…

We present an approach for identifying the most walkable direction for navigation using a hand-held camera. Our approach extracts semantically rich contextual information from the scene using a custom encoder-decoder architecture for…

This paper considers a two-dimensional persistent monitoring problem by controlling movements of second-order agents to minimize some uncertainty metric associated with targets in a dynamic environment. In contrast to common sensing models…

In this paper, we consider the general problem of obstacle avoidance based on dynamical system. The modulation matrix is developed by introducing orthogonal coordinates, which makes the modulation matrix more reasonable. The new…

This paper addresses to the problem of finding the (minimum) Euclidean distance between two linear varieties. This problem is, usually, solved minimising a target function. We propose a novel approach: to use the Moore-Penrose generalised…