Related papers: Performance Evaluation of Pedestrian Navigation Al…
We present a mathematical model to predict pedestrian motion over a finite horizon, intended for use in collision avoidance algorithms for autonomous driving. The model is based on a road map structure, and assumes a rational pedestrian…
Based on suitable video recordings of interactive pedestrian motion and improved tracking software, we apply an evolutionary optimization algorithm to determine optimal parameter specifications for the social force model. The calibrated…
We present a modified velocity-obstacle (VO) algorithm that uses probabilistic partial observations of the environment to compute velocities and navigate a robot to a target. Our system uses commodity visual sensors, including a mono-camera…
Navigating urban environments represents a complex task for automated vehicles. They must reach their goal safely and efficiently while considering a multitude of traffic participants. We propose a modular decision making algorithm to…
If a robotic agent wants to exploit symbolic planning techniques to achieve some goal, it must be able to properly ground an abstract planning domain in the environment in which it operates. However, if the environment is initially unknown…
Several simulation environments exist for the simulation of large-scale evacuations of buildings, ships, or other enclosed spaces. These offer sophisticated tools for the study of human behaviour, the recreation of environmental factors…
In the event that a bacteriological or chemical toxin is intro- duced to a water distribution network, a large population of consumers may become exposed to the contaminant. A contamination event may be poorly predictable dynamic process…
In this paper, we present a modelling experiment developed to study systems of cities and processes of urbanisation in large territories over long time spans. Building on geographical theories of urban evolution, we rely on agent-based…
Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
In a search and rescue scenario, rescuers may have different knowledge of the environment and strategies for exploration. Understanding what is inside a rescuer's mind will enable an observer agent to proactively assist them with critical…
Despite the importance of predicting evacuation mobility dynamics after large scale disasters for effective first response and disaster relief, our general understanding of evacuation behavior remains limited because of the lack of…
Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…
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…
Cooperatively avoiding collision is a critical functionality for robots navigating in dense human crowds, failure of which could lead to either overaggressive or overcautious behavior. A necessary condition for cooperative collision…
Urban traffic regulation policies are increasingly used to address congestion, emissions, and accessibility in cities, yet their impacts are difficult to assess due to the socio-technical complexity of urban mobility systems. Recent…
Development of navigation algorithms is essential for the successful deployment of robots in rapidly changing hazardous environments for which prior knowledge of configuration is often limited or unavailable. Use of traditional…
The contribution gives a micro-structural insight into the pedestrian decision process during an egress situation. A method how to extract the decisions of pedestrians from the trajectories recorded during the experiments is introduced. The…
This report outlines the concepts, mechanisms and inner dynamics of the BEAM (Behavior, Energy, Autonomy, and Mobility) modeling framework. BEAM is an open-source large-scale high-resolution transportation model that harnesses the…