Related papers: User Equilibrium Route Assignment for Microscopic …
This work proposes an algorithm to bound the minimum distance between points on trajectories of a dynamical system and points on an unsafe set. Prior work on certifying safety of trajectories includes barrier and density methods, which do…
Applications to support pedestrian mobility in urban areas require a complete, and routable graph representation of the built environment. Globally available information, including aerial imagery provides a scalable source for constructing…
We propose a novel method for planning shortest length piecewise-linear motions through complex environments punctured with static, moving, or even morphing obstacles. Using a moment optimization approach, we formulate a hierarchy of…
Navigation tasks often cannot be defined in terms of a target, either because global position information is unavailable or unreliable or because target location is not explicitly known a priori. This task is then often defined indirectly…
Experiments with pedestrians revealed that the geometry of the domain, as well as the incentive of pedestrians to reach a target as fast as possible have a strong influence on the overall dynamics. In this paper, we propose and validate…
Optimizing paths on networks is crucial for many applications, from subway traffic to Internet communication. As global path optimization that takes account of all path-choices simultaneously is computationally hard, most existing routing…
The application of routing algorithms to real-world situations is a widely studied research topic. Despite this, routing algorithms and applications are usually developed for a general purpose, meaning that certain groups, such as ageing…
One of the objectives of understanding pedestrian behavior is to predict the effect of proposed changes in the design or evaluation of pedestrian facilities. We want to know the impact to the user of the facilities, as the design of the…
People with limited mobility in the U.S. (defined as having difficulty or inability to walk a quarter of a mile without help and without the use of special equipment) face a growing informational gap: while pedestrian routing algorithms are…
We introduce a class of "inverse parametric optimization" problems, in which one is given both a parametric optimization problem and a desired optimal solution; the task is to determine parameter values that lead to the given solution. We…
In situations where humans and robots are moving in the same space whilst performing their own tasks, predictable paths taken by mobile robots can not only make the environment feel safer, but humans can also help with the navigation in the…
The traffic assignment problem (TAP) aims to predict how traffic flows distribute themselves across a road network, traditionally requiring computationally expensive iterative simulations to reach a user equilibrium (UE) where no driver can…
We survey recent advances in algorithms for route planning in transportation networks. For road networks, we show that one can compute driving directions in milliseconds or less even at continental scale. A variety of techniques provide…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
Current research on pedestrian behavior understanding focuses on the dynamics of pedestrians and makes strong assumptions about their perceptual abilities. For instance, it is often presumed that pedestrians have omnidirectional view of the…
Many driver assistance systems such as Adaptive Cruise Control require the identification of the closest vehicle that is in the host vehicle's path. This entails an assignment of detected vehicles to the host vehicle path or neighboring…
We present a novel, realtime algorithm to compute the trajectory of each pedestrian in moderately dense crowd scenes. Our formulation is based on an adaptive particle filtering scheme that uses a multi-agent motion model based on…
We present a mathematical model to predict pedestrian motion over a finite horizon, intended for use in collision avoidance algorithms for autonomous driving. The model is based on a road map structure, and assumes a rational pedestrian…
Pedestrian behaviours tend to depend on the type of facility. Therefore accurate predictions of pedestrians movements in complex geometries (including corridor, bottleneck or intersection) are difficult to achieve for classical models with…
Global Route-Planning Algorithms (GRPA) are required to compute paths between several points located on Earth's surface. A geodesic algorithm is employed as an auxiliary tool, increasing the precision of distance calculations. This work…