Related papers: Minimal time problem for discrete crowd models wit…
In this work, we study the minimal time to steer a given crowd to a desired configuration. The control is a vector field, representing a perturbation of the crowd velocity, localized on a fixed control set. We will assume that there is no…
We study controllability of a Partial Differential Equation of transport type, that arises in crowd models. We are interested in controlling such system with a control being a Lipschitz vector field on a fixed control set $\omega$. We prove…
We study the controllability of a Partial Differential Equation of transport type, that arises in crowd models. We are interested in controlling it with a control being a vector field, representing a perturbation of the velocity, localized…
The minimum-time control problem consists in finding a control policy that will drive a given dynamic system from a given initial state to a given target state (or a set of states) as quickly as possible. This is a well-known challenging…
This work studies a robot-assisted crowd evacuation problem where we control a small group of robots to guide a large human crowd to safe locations. The challenge lies in how to model human-robot interactions and design robot controls to…
The aim of this paper is to develop a crowd motion model designed to handle highly packed situations. The model we propose rests on two principles: We first define a spontaneous velocity which corresponds to the velocity each individual…
The well-known Cucker-Smale model is a macroscopic system reflecting flocking, i.e. the alignment of velocities in a group of autonomous agents having mutual interactions. In the present paper, we consider the mean-field limit of that…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…
Robots operating in human-populated environments must navigate safely and efficiently while minimizing social disruption. Achieving this requires estimating crowd movement to avoid congested areas in real-time. Traditional microscopic…
In this paper we estimate the minimal controllability time for a class of non-linear control systems with a bounded convex state constraint. An explicit expression is given for the controllability time if the image of the control matrix is…
This paper is devoted to the study of the dynamic optimization of several controlled crowd motion models in the general planar settings, which is an application of a class of optimal control problems involving a general nonconvex sweeping…
In a crowd model based on leader-follower interactions, where positions of the leaders are viewed as the control input, up-to-date solutions rely on knowledge of the agents' coordinates. In practice, it is more realistic to exploit…
In an optimal visiting problem, we want to control a trajectory that has to pass as close as possible to a collection of target points or regions. We introduce a hybrid control-based approach for the classic problem where the trajectory can…
In case of a threat in a public space, the crowd in it should be moved to a shelter or evacuated without delays. Risk management and evacuation planning in public spaces should also take into account uncertainties in the traffic patterns of…
Crowd trajectory prediction plays a crucial role in public safety and management, where it can help prevent disasters such as stampedes. Recent works address the problem by predicting individual trajectories and considering surrounding…
We discuss the control of a human crowd whose dynamics is governed by a regularized version of Hughes' model, cf. Hughes: A continuum theory for the flow of pedestrians. Transportation research part B: methodological, 36 (2002). We assume…
Integrating mobile robots into human society involves the fundamental problem of navigation in crowds. This problem has been studied by considering the behaviour of humans at the level of individuals, but this representation limits the…
In this paper, we address a minimum-time steering problem for a drone modeled as point mass with bounded acceleration, across a set of desired waypoints in the presence of gravity. We first provide a method to solve for the minimum-time…
This paper investigates how a novel paradigm called group-control can be effectively used for motion planning for microrobot swarms in a global field. We prove that Small-Time Local Controllability (STLC) in robot positions is achievable…
In this paper we are concerned with multiscale modeling, control, and simulation of self-organizing agents leaving an unknown area under limited visibility, with special emphasis on crowds. We first introduce a new microscopic model…