Related papers: Dynamic Path Planning and Movement Control in Pede…
Recent advancements in self-driving car technologies have enabled them to navigate autonomously through various environments. However, one of the critical challenges in autonomous vehicle operation is trajectory planning, especially in…
Detecting and predicting the behavior of pedestrians is extremely crucial for self-driving vehicles to plan and interact with them safely. Although there have been several research works in this area, it is important to have fast and memory…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
The urban environment is amongst the most difficult domains for autonomous vehicles. The vehicle must be able to plan a safe route on challenging road layouts, in the presence of various dynamic traffic participants such as vehicles,…
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
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…
Simulation is a prospective method for generating diverse and realistic traffic scenarios to aid in the development of driving decision-making systems. However, existing simulators often fall short in diverse scenarios or interactive…
In shared space environments, urban space is shared among different types of road users, who frequently interact with each other to negotiate priority and coordinate their trajectories. Instead of traffic rules, interactions among them are…
For robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e.g., passing on the right). However, while instinctive to humans, socially…
With the development of embodied artificial intelligence, robotic research has increasingly focused on complex tasks. Existing simulation platforms, however, are often limited to idealized environments, simple task scenarios and lack data…
Simulation is a powerful tool to study the behavior of physical, environmental, and social systems under different conditions. Evacuation simulation can be used to estimate the required time for people to exit a building or evacuate…
The simulation of the dynamical behavior of pedestrians and crowds in spatial structures is a consolidated research and application context that still presents challenges for researchers in different fields and disciplines. Despite…
With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…
Most traffic flow control algorithms address switching cycle adaptation of traffic signals and lights. This work addresses traffic flow optimisation by self-organising micro-level control combining Reinforcement Learning and rule-based…
Motion planning is a fundamental problem in autonomous driving and perhaps the most challenging to comprehensively evaluate because of the associated risks and expenses of real-world deployment. Therefore, simulations play an important role…
In this paper, we propose a method for semantic segmentation of pedestrian trajectories based on pedestrian behavior models, or agents. The agents model the dynamics of pedestrian movements in two-dimensional space using a linear dynamics…
We present a method of discrete modeling and analysis of multilevel dynamics of complex large-scale hierarchical dynamic systems subject to external dynamic control mechanism. Architectural model of information system supporting simulation…
Recent work in the construction of 3D scene graphs has enabled mobile robots to build large-scale metric-semantic hierarchical representations of the world. These detailed models contain information that is useful for planning, however an…