Related papers: A unified energy optimality criterion predicts hum…
This article deals with the experimental study of pedestrian behaviours in some situations of one-dimensional traffic. Participants were pre-organized in a line, and asked to walk either in a straight line with a fast or slow leader, or to…
Random walks are the simplest way to explore or search a graph, and have revealed a very useful tool to investigate and characterize the structural properties of complex networks from the real world, e.g. they have been used to identify the…
Efficient search acts as a strong selective force in biological systems ranging from cellular populations to predator-prey systems. The search processes commonly involve finding a stationary or mobile target within a heterogeneously…
With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of…
Human motion prediction, which plays a key role in computer vision, generally requires a past motion sequence as input. However, in real applications, a complete and correct past motion sequence can be too expensive to achieve. In this…
Human migration is a type of human mobility, where a trip involves a person moving with the intention of changing their home location. Predicting human migration as accurately as possible is important in city planning applications,…
Existing motion planning methods often have two drawbacks: 1) goal configurations need to be specified by a user, and 2) only a single solution is generated under a given condition. In practice, multiple possible goal configurations exist…
Driving in a human-like manner is important for an autonomous vehicle to be a smart and predictable traffic participant. To achieve this goal, parameters of the motion planning module should be carefully tuned, which needs great effort and…
This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…
This paper presents a model of pedestrian crossing decisions, based on the theory of computational rationality. It is assumed that crossing decisions are boundedly optimal, with bounds on optimality arising from human cognitive limitations.…
Indoor navigation systems leverage shortest path algorithms to calculate routes. In order to define the "shortest path", a cost function has to be specified based on theories and heuristics in the application domain. For the domain of…
In this paper, we present a study of a mobility game with uncertainty in the decision-making of travelers and incorporate prospect theory to model travel behavior. We formulate a mobility game that models how travelers distribute their…
The movement of pedestrians is supposed to show certain regularities which can be best described by an ``algorithm'' for the individual behavior and is easily simulated on computers. This behavior is assumed to be determined by an intended…
Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient locomotion at different speeds. However,…
Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to…
Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require multiple training samples per motion,…
Humans typically walk at low speeds and run at higher speeds. Previous studies of transitions between walking and running were mostly on treadmills, but real-world locomotion allows more flexibility. Here, we study overground locomotion…
Optimizing energy consumption for robot navigation in fields requires energy-cost maps. However, obtaining such a map is still challenging, especially for large, uneven terrains. Physics-based energy models work for uniform, flat surfaces…
We introduce a model of interacting random walkers on a finite one dimensional chain with absorbing boundaries or targets at the ends. Walkers are of two types: informed particles that move ballistically towards a given target, and…
The intrinsic factor that drives the human movement remains unclear for decades. While our observations from intra-urban and inter-urban trips both demonstrate a universal law in human mobility. Be specific, the probability from one…