Related papers: Dynamic Assignment in Microsimulations of Pedestri…
Designing a humanoid locomotion controller is challenging and classically split up in sub-problems. Footstep planning is one of those, where the sequence of footsteps is defined. Even in simpler environments, finding a minimal sequence, or…
Traffic assignment methods are some of the key approaches used to model flow patterns that arise in transportation networks. Since static traffic assignment does not have a notion of time, it is not designed to represent temporal dynamics…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Pedestrian modeling is a good way to predict pedestrian movement and thus can be used for controlling pedestrian crowds and guiding evacuations in emergencies. In this paper, we propose a pedestrian movement model based on artificial neural…
In this work, we propose a learning approach for 3D dynamic bipedal walking when footsteps are constrained to stepping stones. While recent work has shown progress on this problem, real-world demonstrations have been limited to relatively…
Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem,…
In this paper, we introduce and study one-dimensional models for the behavior of pedestrians in a narrow street or corridor. We begin at the microscopic level by formulating a stochastic cellular automata model with explicit rules for…
In this paper we study a kinetic model for pedestrians, who are assumed to adapt their motion towards a desired direction while avoiding collisions with others by stepping aside. These minimal microscopic interaction rules lead to complex…
Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a…
Staircases play an essential role in crowd dynamics, allowing pedestrians to flow across large multi-level public facilities such as transportation hubs, and office buildings. Achieving a robust understanding of pedestrian behavior in these…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
The simulation of vehicular traffic as well as pedestrian dynamics meanwhile both have a decades long history. The success of this conference series, PED and others show that the interest in these topics is still strongly increasing. This…
Up-to-date information wirelessly communicated among vehicles can be used to select the optimal route between a given origin and destination. To elucidate how to make use of such information, simulations are performed for autonomous…
Dimension reduction is a common strategy to study non-linear dynamical systems composed by a large number of variables. The goal is to find a smaller version of the system whose time evolution is easier to predict while preserving some of…
This paper proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces filled with both static obstacles and dense crowds of…
This paper proposes a novel max-pressure (MP) algorithm that incorporates pedestrian traffic into the MP control architecture. Pedestrians are modeled as being included in one of two groups: those walking on sidewalks and those queued at…
A spatially continuous force-based model for simulating pedestrian dynamics is introduced which includes an elliptical volume exclusion of pedestrians. We discuss the phenomena of oscillations and overlapping which occur for certain choices…
Pedestrian dynamics is an interdisciplinary field of research. Psychologists, sociologists, traffic engineers, physicists, mathematicians and computer scientists all strive to understand the dynamics of a moving crowd. In principle,…
Planning an autonomous vehicle's (AV) path in a space shared with pedestrians requires reasoning about pedestrians' future trajectories. A practical pedestrian trajectory prediction algorithm for the use of AVs needs to consider the effect…
Pedestrian routing choices play a crucial role in shaping collective crowd dynamics, yet the influence of interactions among unfamiliar individuals remains poorly understood. In this study, we analyze real-world pedestrian behavior at a…