Related papers: Routing Diverse Crowds in Emergency with Dynamic G…
When humans navigate a crowed space such as a university campus or the sidewalks of a busy street, they follow common sense rules based on social etiquette. In this paper, we argue that in order to enable the design of new algorithms that…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…
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…
Efficient techniques to navigate networks with local information are fundamental to sample large-scale online social systems and to retrieve resources in peer-to-peer systems. Biased random walks, i.e. walks whose motion is biased on…
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…
Navigation amongst densely packed crowds remains a challenge for mobile robots. The complexity increases further if the environment layout changes, making the prior computed global plan infeasible. In this paper, we show that it is possible…
Navigation in human-robot shared crowded environments remains challenging, as robots are expected to move efficiently while respecting human motion conventions. However, many existing approaches emphasize safety or efficiency while…
Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…
Accurate, long-term forecasting of pedestrian trajectories in highly dynamic and interactive scenes is a long-standing challenge. Recent advances in using data-driven approaches have achieved significant improvements in terms of prediction…
The last decade has witnessed an ever-growing user demand for a better QoS (Quality Of Service) and the fast growth of connected devices still put high pressure on the legacy network infrastructures. To improve network performances, better…
We study a robust control problem for dynamical flow networks. In the considered dynamical models, traffic flows along the links of a transportation network --modeled as a capacited multigraph-- and queues up at the nodes, whereby control…
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…
Probabilistic sampling methods have become very popular to solve single-shot path planning problems. Rapidly-exploring Random Trees (RRTs) in particular have been shown to be efficient in solving high dimensional problems. Even though…
Unmanned Aerial Vehicles need an online path planning capability to move in high-risk missions in unknown and complex environments to complete them safely. However, many algorithms reported in the literature may not return reliable…
To plan safe trajectories in urban environments, autonomous vehicles must be able to quickly assess the future intentions of dynamic agents. Pedestrians are particularly challenging to model, as their motion patterns are often uncertain…
In wireless ad-hoc networks, forwarding data through intermediate relays extends the coverage area and enhances the network throughput. We consider a general wireless multiuser multihop transmission, where each data flow is subject to a…
Travel time in urban centers is a significant contributor to the quality of living of its citizens. Mobility on Demand (MoD) services such as Uber and Lyft have revolutionized the transportation infrastructure, enabling new solutions for…
Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…
Multipath QUIC is a transport protocol that allows for the use of multiple network interfaces for a single connection. It thereby offers, on the one hand, the possibility to gather a higher throughput, while, on the other hand, multiple…
Recently, there has been an explosion of work on network routing in hostile environments. Hostile environments tend to be dynamic, and the motivation for this work stems from the scenario of IED placements by insurgents in a logistical…