Related papers: Collective Motion under Beacon-referenced Cyclic P…
Analyzing and forecasting trajectories of agents like pedestrians and cars in complex scenes has become more and more significant in many intelligent systems and applications. The diversity and uncertainty in socially interactive behaviors…
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…
Many state-of-the-art approaches to people tracking rely on detecting them in each frame independently, grouping detections into short but reliable trajectory segments, and then further grouping them into full trajectories. This grouping…
This paper proposes a feedback linearizing law for single-track dynamic models, allowing the design of a trajectory tracking controller exploiting linear control theory. The main characteristics of this algorithm are its simplicity, its…
Bifurcation analysis collects techniques for characterizing the dependence of certain classes of solutions of a dynamical system on variations in problem parameters. Common solution classes of interest include equilibria and periodic…
We present a sequential distributed model predictive control (MPC) scheme for cooperative control of multi-agent systems with dynamically decoupled heterogeneous nonlinear agents subject to individual constraints. In the scheme, we explore…
We present a framework based on Clarke coordinates for spatial displacement-actuated continuum robots with an arbitrary number of joints. This framework consists of three modular components, i.e., a planner, trajectory generator, and…
We focus on robot navigation in crowded environments. To navigate safely and efficiently within crowds, robots need models for crowd motion prediction. Building such models is hard due to the high dimensionality of multiagent domains and…
In collective motion, perceptually-limited individuals move in an ordered manner, without centralized control. The perception of each individual is highly localized, as is its ability to interact with others. While natural collective motion…
In this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots sense the local surrounding environment and react to…
Credible microscopic traffic simulation requires car-following models that capture both the average response and the substantial variability observed across drivers and situations. However, most data-driven calibrations remain…
Modeling the dynamics of people walking is a problem of long-standing interest in computer vision. Many previous works involving pedestrian trajectory prediction define a particular set of individual actions to implicitly model group…
We investigate a system of coupled oscillators on the circle, which arises from a simple model for behavior of large numbers of autonomous vehicles. The model considers asymmetric, linear, decentralized dynamics, where the acceleration of…
We study a system of self-propelled particles whose alignment with neighbors depends on the degree of local alignment. We show that such a local conformity interaction naturally yields a Vicsek-type model with pairwise and three-body…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…
Persistent monitoring using robot teams is of interest in fields such as security, environmental monitoring, and disaster recovery. Performing such monitoring in a fully on-line decentralised fashion has significant potential advantages for…
Mathematical models for systems of interacting agents using simple local rules have been proposed and shown to exhibit emergent swarming behavior. Most of these models are constructed by intuition or manual observations of real phenomena,…
Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often depends on external sensors, which increase hardware…
The design of an invariant tracking control law for the kinematic car driving on a sphere is discussed. Using a Lie group framework a left-invariant description on SO(3) is derived. Basic geometric considerations allow a direct comparison…
We discuss a crowd-based theory for describing the collective behavior in Complex Systems comprising multi-agent populations competing for a limited resource. These systems -- whose binary versions we refer to as B-A-R (Binary Agent…