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Traffic interactions between merging and highway vehicles are a major topic of research, yielding many empirical studies and models of driver behaviour. Most of these studies on merging use naturalistic data. Although this provides insight…
Synchronization is a ubiquitous phenomenon in nonequilibrium systems. One intriguing example found in every-day life is lifts installed next to each other, that move closely and arrive almost simultaneously during a busy time. However, the…
Pedestrians approaching each other on a sidewalk sometimes end up in an awkward interaction known as the "sidewalk salsa": they both (repeatedly) deviate to the same side to avoid a collision. This provides an interesting use case to study…
Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…
We report in experiment and simulation the spontaneous formation of dynamically bound pairs of shape changing robots undergoing locally repulsive collisions. These physical `gliders' robustly emerge from an ensemble of individually…
A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…
Reliable pedestrian crash avoidance mitigation (PCAM) systems are crucial components of safe autonomous vehicles (AVs). The nature of the vehicle-pedestrian interaction where decisions of one agent directly affect the other agent's optimal…
In active visual tracking, it is notoriously difficult when distracting objects appear, as distractors often mislead the tracker by occluding the target or bringing a confusing appearance. To address this issue, we propose a mixed…
Enforcing cooperation among substantial agents is one of the main objectives for multi-agent systems. However, due to the existence of inherent social dilemmas in many scenarios, the free-rider problem may arise during agents' long-run…
A general framework for performing event-driven simulations of systems with semi-flexible or rigid bodies interacting under impulsive torques and forces is outlined. Two different approaches are presented. In the first, the dynamics and…
Malicious agents in collaborative learning and outsourced data collection threaten the training of clean models. Backdoor attacks, where an attacker poisons a model during training to successfully achieve targeted misclassification, are a…
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…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
A model of a device is proposed and related theoretical calculation is performed to study the weak interactions among neutral atoms and molecules. In this model 3-body collisions among the neutral particles occur repeatedly in a trap.…
Robots that navigate among pedestrians use collision avoidance algorithms to enable safe and efficient operation. Recent works present deep reinforcement learning as a framework to model the complex interactions and cooperation. However,…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
We study the class of reach-avoid dynamic games in which multiple agents interact noncooperatively, and each wishes to satisfy a distinct target criterion while avoiding a failure criterion. Reach-avoid games are commonly used to express…
Before reaching full autonomy, vehicles will gradually be equipped with more and more advanced driver assistance systems (ADAS), effectively rendering them semi-autonomous. However, current ADAS technologies seem unable to handle complex…
The formation of dynamical patterns is one of the most striking features of nonequilibrium physical systems. Recent work has shown that such patterns arise generically from forces that violate Newton's third law, known as nonreciprocal…