Related papers: Robust Design Optimization for Egressing Pedestria…

Pedestrians are often encountered walking in the company of some social relations, rather than alone. The social groups thus formed, in variable proportions depending on the context, are not randomly organised but exhibit distinct features,…

Safely deploying robots in uncertain and dynamic environments requires a systematic accounting of various risks, both within and across layers in an autonomy stack from perception to motion planning and control. Many widely used motion…

We investigate the dynamics of the evacuation process with multiple bottlenecks using the floor field model. To deal with this problem, we first focus on a part of the system and report its microscopic behavior. The system is controlled by…

We present a theoretical analysis of a recent whole body motion planning method, the Randomized Possibility Graph, which uses a high-level decomposition of the feasibility constraint manifold in order to rapidly find routes that may lead to…

We describe in this paper an optimal control strategy for shaping a large-scale swarm of particles using boundary global actuation. This problem arises as a key challenge in many swarm robotics applications, especially when the robots are…

Computer-based simulation of pedestrian dynamics reached meaningful results in the last decade, thanks to empirical evidences and acquired knowledge fitting fundamental diagram constraints and space utilization. Moreover, computational…

To enhance the evacuation efficiency in partially observable asymmetric-exit evacuation under guidance, a general framework of the dynamic guiding assistant system is presented to investigate the effect of density control. In this…

We explore the case of a group of random walkers looking for a target randomly located in space, such that the number of walkers is not constant but new ones can join the search, or those that are active can abandon it, with constant rates…

Task learning in neural networks typically requires finding a globally optimal minimizer to a loss function objective. Conventional designs of swarm based optimization methods apply a fixed update rule, with possibly an adaptive step-size…

We consider robust shortest path problems, where the aim is to find a path that optimizes the worst-case performance over an uncertainty set containing all relevant scenarios for arc costs. The usual approach for such problems is to assume…

We present modeling strategies that describe the motion and interaction of groups of pedestrians in obscured spaces. We start off with an approach based on balance equations in terms of measures and then we exploit the descriptive power of…

The motion of pedestrian crowds (e.g. for simulation of an evacuation situation) can be modeled as a multi-body system of self driven particles with repulsive interaction. We use a few simple situations to determine the simplest allowed…

Although route and exit choice in complex buildings are important aspects of pedestrian behaviour, studies predominantly investigated pedestrian movement in a single level. This paper presents an innovative VR tool that was designed to…

Emergency evacuation describes a complex situation involving time-critical decision-making by evacuees. Mobile robots are being actively explored as a potential solution to provide timely guidance. In this work, we study a robot-guided…

Non-prehensile manipulation such as pushing is typically subject to uncertain, non-smooth dynamics. However, modeling the uncertainty of the dynamics typically results in intractable belief dynamics, making data-efficient planning under…

In animal societies as well as in human crowds, many observed collective behaviours result from self-organized processes based on local interactions among individuals. However, models of crowd dynamics are still lacking a systematic…

Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…

In this paper, we investigate disparities in pedestrian crossing behaviors within static and dynamic crowds through experimental analysis. First, qualitative trajectory observations revealed significant behavioral differences in static and…

We discuss the population dynamics with selection and random diffusion, keeping the total population constant, in a fitness landscape associated with Constraint Satisfaction, a paradigm for difficult optimization problems. We obtain a phase…

Most microscopic pedestrian navigation models use the concept of "forces" applied to the pedestrian agents to replicate the navigation environment. While the approach could provide believable results in regular situations, it does not…