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We investigate a new task in human motion prediction, which is predicting motions under unexpected physical perturbation potentially involving multiple people. Compared with existing research, this task involves predicting less controlled,…

Human travelling behaviours are markedly regular, to a large extent, predictable, and mostly driven by biological necessities (\eg sleeping, eating) and social constructs (\eg school schedules, synchronisation of labour). Not surprisingly,…

Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…

Despite the long history of modelling human mobility, we continue to lack a highly accurate approach with low data requirements for predicting mobility patterns in cities. Here, we present a population-weighted opportunities model without…

Individual-level human mobility prediction has emerged as a significant topic of research with applications in infectious disease monitoring, child, and elderly care. Existing studies predominantly focus on the microscopic aspects of human…

We study the energetic efficiency of navigating microswimmers by explicitly taking into account the geometry of their body. We show that, as their shape transitions from prolate to oblate, non-steering microswimmers rotated by flow…

Optimal Transport (OT) problems are a cornerstone of many applications, but solving them is computationally expensive. To address this problem, we propose UNOT (Universal Neural Optimal Transport), a novel framework capable of accurately…

Human mobility clustering is an important problem for understanding human mobility behaviors (e.g., work and school commutes). Existing methods typically contain two steps: choosing or learning a mobility representation and applying a…

Predictive models for human mobility have important applications in many fields such as traffic control, ubiquitous computing and contextual advertisement. The predictive performance of models in literature varies quite broadly, from as…

As cities struggle to adapt to more ``people-centered'' urbanism, transportation planning and engineering must innovate to expand the street network strategically in order to ensure efficiency but also to deter sprawl. Here, we conducted a…

Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…

This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…

Motivated by the shape of transportation networks such as subways, we consider a distribution of points in the plane and ask for the network $G$ of given length $L$ that is optimal in a certain sense. In the general model, the optimality…

In this paper we propose a classification of crowd models in built environments based on the assumed pedestrian ability to foresee the movements of other walkers. At the same time, we introduce a new family of macroscopic models, which make…

Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…

The problem Orienteering asks whether there exists a walk which visits a number of sites without exceeding some fuel budget. In the variant of the problem we consider, the cost of each edge in the walk is dependent on the time we depart one…

Understanding network flows such as commuter traffic in large transportation networks is an ongoing challenge due to the complex nature of the transportation infrastructure and of human mobility. Here we show a first-principles based method…

As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…

Objective: As metabolic cost is a primary factor influencing humans' gait, we want to deepen our understanding of metabolic energy expenditure models. Therefore, this paper identifies the parameters and input variables, such as muscle or…

The interaction of all mobile species with their environment hinges on their movement patterns: the places they visit and how frequently they go there. In human society, where the prevalent form of cohabitation is in cities, the highly…