Related papers: Dynamic Path Planning and Movement Control in Pede…
This paper studies the problem of control strategy synthesis for dynamical systems with differential constraints to fulfill a given reachability goal while satisfying a set of safety rules. Particular attention is devoted to goals that…
We introduce a framework to navigate agents in buildings, inspired by the concept of "the cognitive map". It allows to route agents depending on their spacial knowledge. With help of an event-driven mechanism, agents acquire new information…
In fast-paced, ever-changing environments, dynamic Motion Planning for Multi-Agent Systems in the presence of obstacles is a universal and unsolved problem. Be it from path planning around obstacles to the movement of robotic arms, or in…
This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry…
As network traffic monitoring software for cybersecurity, malware detection, and other critical tasks becomes increasingly automated, the rate of alerts and supporting data gathered, as well as the complexity of the underlying model,…
An extended social force model with a dynamic navigation field is proposed to study bidirectional pedestrian movement. The dynamic navigation field is introduced to describe the desired direction of pedestrian motion resulting from the…
Understanding urban mobility requires models that capture how people interact with and navigate the built environment. We present a scalable, generalizable agent-based framework in which daily schedules emerge from the interplay between…
Probability models have been proposed in the literature to account for "intelligent" behavior in many contexts. In this paper, probability propagation is applied to model agent's motion in potentially complex scenarios that include goals…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
Trajectory planning involving multi-agent interactions has been a long-standing challenge in the field of robotics, primarily burdened by the inherent yet intricate interactions among agents. While game-theoretic methods are widely…
Motion planning for urban environments with numerous moving agents can be viewed as a combinatorial problem. With passing an obstacle before, after, right or left, there are multiple options an autonomous vehicle could choose to execute.…
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…
How to reproduce realistic motion in simulations has always been a fundamental problem for pedestrian dynamics, and a critical challenge for current studies is the natural correlation of the movement choices and the human behaviours. To…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
We describe a task and motion planning architecture for highly dynamic systems that combines a domain-independent sampling-based deliberative planning algorithm with a global reactive planner. We leverage the recent development of a…
Mapping the surrounding environment is essential for the successful operation of autonomous robots. While extensive research has focused on mapping geometric structures and static objects, the environment is also influenced by the movement…
Developing safe human-robot interaction systems is a necessary step towards the widespread integration of autonomous agents in society. A key component of such systems is the ability to reason about the many potential futures (e.g.…
This work presents a microscopic model to describe pedestrian flows based on the social force theory. The aim of this study is twofold: (1) developing a realistic model that can be used as a tool for designing pedestrian-friendly…
The present cross-disciplinary research explores pedestrian-autonomous vehicle interactions in a safe, virtual environment. We first present contemporary tools in the field and then propose the design and development of a new application…
Individual traffic significantly contributes to climate change and environmental degradation. Therefore, innovation in sustainable mobility is gaining importance as it helps to reduce environmental pollution. However, effects of new ideas…