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Based on suitable video recordings of interactive pedestrian motion and improved tracking software, we apply an evolutionary optimization algorithm to determine optimal parameter specifications for the social force model. The calibrated…
Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on…
Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…
This document presents a comprehensive simulation framework designed to model urban incidents involving pedestrians and vehicles. Using a multiagent systems approach, two types of agents (pedestrians and vehicles) are introduced within a 2D…
Path finding algorithm addresses problem of finding shortest path from source to destination avoiding obstacles. There exist various search algorithms namely A*, Dijkstra's and ant colony optimization. Unlike most path finding algorithms…
In urban transportation environments, drivers often encounter various path (route) options when navigating to their destinations. This emphasizes the importance of navigational recommendation systems (NRS), which simplify decision-making…
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…
Motion planning in uncertain environments like complex urban areas is a key challenge for autonomous vehicles (AVs). The aim of our research is to investigate how AVs can navigate crowded, unpredictable scenarios with multiple pedestrians…
The problem of mobile position estimation in multipath scenarios is addressed. A low-complexity, fully-adaptive algorithm is proposed, based on the pseudo maximum likelihood approach. The processing is done exclusively on-board at the…
This paper addresses the problem of finding multiple near-optimal, spatially-dissimilar paths that can be considered as alternatives in the decision making process, for finding optimal corridors in which to construct a new road. We further…
Pedestrians adjust both speed and stride length when they navigate difficult situations such as tight corners or dense crowds. They try to avoid collisions and to preserve their personal space. State-of-the-art pedestrian motion models…
For the offline safety assessment of automated vehicles, the most challenging and critical scenarios must be identified efficiently. Therefore, we present a new approach to define challenging scenarios based on a sensor setup model of the…
We propose a hierarchy of kinetic and macroscopic models for a system consisting of a large number of interacting pedestrians. The basic interaction rules are derived from earlier work where the dangerousness level of an interaction with…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
Pedestrian movement, although ubiquitous and well-studied, is still not that well understood due to the complicating nature of the embedded social dynamics. Interest among researchers in simulating pedestrian movement and interactions has…
This paper introduces a novel motion planning algorithm for stochastic scenarios. We extend the concept of a navigation function to such scenarios. Our main idea is to consider both the Gaussian distribution probabilities of the players'…
In this paper, we propose a novel navigation system for mobile robots in pedestrian-rich sidewalk environments. Sidewalks are unique in that the pedestrian-shared space has characteristics of both roads and indoor spaces. Like vehicles on…
For simulation models of pedestrian dynamics there are always the issues of calibration and validation. These are usually done by comparing measured properties of the dynamics found in observation, experiments and simulation in certain…
Rapid urbanization places increasing stress on already burdened transportation systems, resulting in delays and poor levels of service. Billions of spatiotemporal call detail records (CDRs) collected from mobile devices create new…
Dense human flow has been a concern for the safety of public events for a long time. Macroscopic pedestrian models, which are mainly based on fluid dynamics, are often used to simulate huge crowds due to their low computational costs.…