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Cooperatively avoiding collision is a critical functionality for robots navigating in dense human crowds, failure of which could lead to either overaggressive or overcautious behavior. A necessary condition for cooperative collision…
Robot navigation in dense human crowds poses a significant challenge due to the complexity of human behavior in dynamic and obstacle-rich environments. In this work, we propose a dynamic weight adjustment scheme using a neural network to…
Ensuring travelers' safety on roads has become a research challenge in recent years. We introduce a novel safe route planning problem and develop an efficient solution to ensure the travelers' safety on roads. Though few research attempts…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…
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…
Risky and crowded environments (RCE) contain abstract sources of risk and uncertainty, which are perceived differently by humans, leading to a variety of behaviors. Thus, robots deployed in RCEs, need to exhibit diverse perception and…
Many rescue missions demand effective perception and real-time decision making, which highly rely on effective data collection and processing. In this study, we propose a three-layer architecture of emergency caching networks focusing on…
In Social Robot Navigation, autonomous agents need to resolve many sequential interactions with other agents. State-of-the art planners can efficiently resolve the next, imminent interaction cooperatively and do not focus on longer planning…
The bounded rationality is a crucial component in human behaviors. It plays a key role in the typical collective behavior of evacuation, in which the heterogeneous information leads to the deviation of rational choices. In this study, we…
Well-executed emergency evacuations can save lives and reduce suffering. However, decision makers struggle to determine optimal evacuation policies given the chaos, uncertainty, and value judgments inherent in emergency evacuations. We…
Efficiently obtaining the up-to-date information in the disaster-stricken area is the key to successful disaster response. Unmanned aerial vehicles (UAVs), workers and cars can collaborate to accomplish sensing tasks, such as data…
Understanding pedestrian route choice behavior in complex buildings is important to ensure pedestrian safety. Previous studies have mostly used traditional data collection methods and discrete choice modeling to understand the influence of…
Teaching autonomous mobile robots to successfully navigate human crowds is a challenging task. Not only does it require planning, but it requires maintaining social norms which may differ from one context to another. Here we focus on crowd…
Identifying and quantifying factors influencing human decision making remains an outstanding challenge, impacting the performance and predictability of social and technological systems. In many cases, system failures are traced to human…
Evacuation planning and scheduling is a critical aspect of disaster management and national security applications. This paper proposes a conflict-based path-generation approach for evacuation planning. Its key idea is to generate evacuation…
Ensuring that refugees and asylum seekers thrive (e.g., find employment) in their host countries is a profound humanitarian goal, and a primary driver of employment is the geographic location within a host country to which the refugee or…
A total of more than 3400 public shootings have occurred in the United States between 2016 and 2022. Among these, 25.1% of them took place in an educational institution, 29.4% at the workplace including office buildings, 19.6% in retail…
Offloading services to UAV swarms for delay-sensitive tasks in Emergency UAV Networks (EUN) can greatly enhance rescue efficiency. Most task-offloading strategies assumed that UAVs were location-fixed and capable of handling all tasks.…
This paper studies the problem of multi-agent trajectory prediction in crowded unknown environments. A novel energy function optimization-based framework is proposed to generate prediction trajectories. Firstly, a new energy function is…