Related papers: Moving efficiently through a crowd: a nature inspi…
Safe and efficient navigation in dynamic environments shared with humans remains an open and challenging task for mobile robots. Previous works have shown the efficacy of using reinforcement learning frameworks to train policies for…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
For robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e.g., passing on the right). However, while instinctive to humans, socially…
The influence of cohesion among members of dyads is investigated in scenarios characterized by uni-directional flow by means of a discrete model: a corridor and the egress from a room with a bottleneck of varying width are simulated. The…
Relying on random and purposive moving agents, we simulated human movement in large street networks. We found that aggregate flow, assigned to individual streets, is mainly shaped by the underlying street structure, and that human moving…
We study the duration of "high-flow states" in freeway traffic, defined as the time periods for which traffic flows exceed a given flow threshold. Our empirical data are surprisingly well represented by a power law. Moreover, the power law…
As a dynamical complex system, traffic is characterized by a transition from free flow to congestions, which is mostly studied in highways. However, despite its importance in developing congestion mitigation strategies, the understanding of…
We are interested in exploring interacting particle systems that can be seen as microscopic models for a particular structure of coupled transport flux arising when different populations are jointly evolving. The scenarios we have in mind…
Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…
In recent years modelling crowd and evacuation dynamics has become very important, with increasing huge numbers of people gathering around the world for many reasons and events. The fact that our global population grows dramatically every…
A traffic flow is one of the main transportation issues in nowadays industrialized agglomerations. Configuration of traffic lights is among the key aspects in traffic flow management. This paper proposes an evolutionary optimization tool…
We present a strategy capable of describing basic features of the dynamics of crowds. The behaviour of the crowd is considered from a twofold perspective. We examine both the large scale behaviour of the crowd, and phenomena happening at…
A framework is proposed in this paper that is used to segment flow of dense crowds. The flow field that is generated by the movement in the crowd is treated just like an aperiodic dynamic system. On this flow field a grid of particles is…
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.…
Mathematical models for systems of interacting agents using simple local rules have been proposed and shown to exhibit emergent swarming behavior. Most of these models are constructed by intuition or manual observations of real phenomena,…
We built a multiagent simulation of urban traffic to model both ordinary traffic and emergency or crisis mode traffic. This simulation first builds a modeled road network based on detailed geographical information. On this network, the…
Collective movement is observed widely in nature, where individuals interact locally to produce globally ordered, coherent motion. In typical models of collective motion, each individual takes the average direction of multiple neighbors,…
Torque-driven microscale swimming robots, or microrotors, hold significant potential in biomedical applications such as targeted drug delivery, minimally invasive surgery, and micromanipulation. This paper addresses the challenge of…
Navigating in crowded environments requires the robot to be equipped with high-level reasoning and planning techniques. Existing works focus on developing complex and heavyweight planners while ignoring the role of human intelligence. Since…
We undertake a systematic numerical exploration of self-organized states in a deterministic model of interacting self-propelled particles in two dimensions. In the process, we identify various types of collective motion, namely, disordered…