Related papers: Moving efficiently through a crowd: a nature inspi…
Thanks to the diffusion of the Internet of Things, nowadays it is possible to sense human mobility almost in real time using unconventional methods (e.g., number of bikes in a bike station). Due to the diffusion of such technologies, the…
Collective behaviors such as swarming and flocking emerge from simple, decentralized interactions in biological systems. Existing models, such as Vicsek and Cucker-Smale, lack collision avoidance, whereas the Olfati-Saber model imposes…
In this paper, we consider multiple mobile agents moving in Euclidean space with point mass dynamics. Using a coordination control scheme, we can make the group generate stable flocking motion. The control laws are a combination of…
Crowd flow describes the elementary group behavior of crowds. Understanding the dynamics behind these movements can help to identify various abnormalities in crowds. However, developing a crowd model describing these flows is a challenging…
Traffic congestion has long been an ubiquitous problem that is exacerbating with the rapid growth of megacities. In this proof-of-concept work we study intrinsic motivation, implemented via the empowerment principle, to control autonomous…
Natural phenomena frequently involve a very large number of interacting molecules moving in confined regions of space. Cellular transport by motor proteins is an example of such collective behavior. We derive a deterministic compartmental…
Digital technology is fundamentally transforming human mobility. Route choices in particular are greatly affected by the availability of traffic data, increased connectivity of data sources and cheap access to computational resources.…
There is evidence that flying animals such as pigeons, goshawks, and bats use optical flow sensing to enable high-speed flight through forest clutter. This paper discusses the elements of a theory of controlled flight through obstacle…
Intelligent agents collect and process information from their dynamically evolving neighbourhood to efficiently navigate through it. However, agent-level intelligence does not guarantee that at the level of a collective; a common example is…
We study a simple swarming model on a two-dimensional lattice where the self-propelled particles exhibit a tendency to align ferromagnetically. Volume exclusion effects are present: particles can only hop to a neighboring node if the node…
We present modeling strategies that describe the motion and interaction of groups of pedestrians in obscured spaces. We start off with an approach based on balance equations in terms of measures and then we exploit the descriptive power of…
We present a new algorithm to simulate dynamic group behaviors for interactive multi-agent crowd simulation. Our approach is general and makes no assumption about the environment, shape, or size of the groups. We use the least effort…
Navigation in dense crowds is a well-known open problem in robotics with many challenges in mapping, localization, and planning. Traditional solutions consider dense pedestrians as passive/active moving obstacles that are the cause of all…
Whereas naturally occurring swarms thrive when crowded, physical interactions in robotic swarms are either avoided or carefully controlled, thus limiting their operational density. Here we present a mechanical design rule that allows robots…
The activity of biological cells is primarily based on chemical reactions and typically modeled as a reaction-diffusion system. Cells are, however, highly crowded with macromolecules, including a variety of molecular machines such as…
Flocking is a coordinated collective behavior that results from local sensing between individual agents that have a tendency to orient towards each other. Flocking is common among animal groups and might also be useful in robotic swarms. In…
A one-dimensional rule-based model for flocking, that combines velocity alignment and long-range centering interactions, is presented and studied. The induced cohesion in the collective motion of the self-propelled agents leads to a unique…
Navigation in cluttered underwater environments is challenging, especially when there are constraints on communication and self-localisation. Part of the fully distributed underwater navigation problem has been resolved by introducing…
We propose a method to procedurally generate a familiar yet complex human artifact: the city. We are not trying to reproduce existing cities, but to generate artificial cities that are convincing and plausible by capturing developmental…
Routing choices of walking pedestrians in geometrically complex environments are regulated by the interplay of a multitude of factors such as local crowding, (estimated) time to destination, (perceived) comfort. As individual choices…