Related papers: An anisotropic interaction model with collision av…
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…
In interactions between automated vehicles (AVs) and crossing pedestrians, modeling implicit vehicle communication is crucial. In this work, we present a combined prediction and planning approach that allows to consider the influence of the…
Following the paradigm set by attraction-repulsion-alignment schemes, a myriad of individual based models have been proposed to calculate the evolution of abstract agents. While the emergent features of many agent systems have been…
Diagonal or chevron patterns are known to spontaneously emerge at the intersection of two perpendicular flows of self-propelled particles, e.g. pedestrians. The instability responsible for this pattern formation has been studied in previous…
We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…
This paper proposes collision-free optimal trajectory planning for autonomous vehicles in highway traffic, where vehicles need to deal with the interaction among each other. To address this issue, a novel optimal control framework is…
The method of "Isotropic Entanglement" (IE), inspired by Free Probability Theory and Random Matrix Theory, predicts the eigenvalue distribution of quantum many-body (spin) systems with generic interactions. At the heart is a "Slider", which…
Elongated particles in dense systems often exhibit alignment due to volume exclusion interactions, leading to packing configurations. Traditional models of collective dynamics typically impose this alignment phenomenologically, neglecting…
Within a closed system, physical interactions are reciprocal. However, the effective interaction between two entities of an open system may not obey reciprocity. Here, we describe a non-reciprocal interaction between nanoparticles which is…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Pushes, falls, stampedes, and crushes are safety hazards that emerge from the collective motion of crowds, but might be avoided by better design and guidance. While pedestrian dynamics are now getting better understood on the whole, complex…
The effect of concentration-dependent switching of the non-equilibrium depletion interaction between obstacles in a gas flow of interacting Brownian particles is presented. When increasing bath fraction exceeds half-filling, the…
Anisotropic thermoelectrics is a very interesting topic among recent research. The transport distribution function plays the central role on modeling the anisotropic thermoelectrics. The methodology of numerical integrations is used in…
We introduce an interacting particle system that models the spread of an epidemic in terms of heterogeneous diffusive dynamics, rather than exogenous contact and transmission rates at the population level as in classical compartmental…
One-dimensional non-equilibrium models of particles subjected to a coagulation-diffusion process are important in understanding non-equilibrium dynamics, and fluctuation-dissipation relation. We consider in this paper transport properties…
Navigation strategies that intentionally incorporate contact with humans (i.e. "contact-based" social navigation) in crowded environments are largely unexplored even though collision-free social navigation is a well studied problem.…
Extensive research in pedestrian dynamics has primarily focused on crowded conditions and associated phenomena, such as lane formation, evacuation, etc. Several force-based models have been developed to predict the behavior in these…
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…
We study dense mixtures of passive and active self-aligning disks with isotropic or anisotropic mobility. We find that the passive fraction controls an order-disorder transition that is continuous in the isotropic case and discontinuous in…
It is challenging for a mobile robot to navigate through human crowds. Existing approaches usually assume that pedestrians follow a predefined collision avoidance strategy, like social force model (SFM) or optimal reciprocal collision…