Related papers: Optimized leaders strategies for crowd evacuation …
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…
Many safety-critical real-world problems, such as autonomous driving and collaborative robots, are of a distributed multi-agent nature. To optimize the performance of these systems while ensuring safety, we can cast them as distributed…
In this paper we are interested in the task of searching and tracking multiple moving targets in a bounded surveillance area with a group of autonomous mobile agents. More specifically, we assume that targets can appear and disappear at…
Well-executed emergency evacuations can save lives and reduce suffering. However, decision makers struggle to determine optimal evacuation policies given the chaos, uncertainty, and value judgments inherent in emergency evacuations. We…
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…
Experiments with pedestrians revealed that the geometry of the domain, as well as the incentive of pedestrians to reach a target as fast as possible have a strong influence on the overall dynamics. In this paper, we propose and validate…
We propose a hierarchy of kinetic and macroscopic models for a system consisting of a large number of interacting pedestrians. The basic interaction rules are derived from earlier work where the dangerousness level of an interaction with…
This work investigates the challenge of ensuring safety guarantees in the presence of uncontrollable agents, whose behaviors are stochastic and depend on both their own and the system's states. We present a neural model predictive control…
In this paper, we present a novel method to recognize the types of crowd movement from crowd trajectories using agent-based motion models (AMMs). Our idea is to apply a number of AMMs, referred to as exemplar-AMMs, to describe the crowd…
Crowd dynamics and many large biological systems can be described as populations of agents or particles, which can only be observed on aggregate population level. Identifying the dynamics of agents is crucial for understanding these large…
This paper considers a pursuit-evasion scenario among three agents -- an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team to safeguard the evader from an attacking pursuer. Unlike…
Predicting pedestrian behavior is one of the main challenges for intelligent driving systems. In this paper, we present a new paradigm for evaluating egocentric pedestrian trajectory prediction algorithms. Based on various contextual…
We consider a multi-group microscopic model for pedestrian flow describing the behaviour of large groups. It is based on an interacting particle system coupled to an eikonal equation. Hydrodynamic multi-group models are derived from the…
This paper proposes a set of technological solutions to transform existing transport systems into more intelligent, interactive systems by utilizing optimization and control methods that can be implemented in the near future. This will…
We study a leader-follower system of interacting particles subject to feedback control and derive its mean-field limits through a two-step passage: first to a micro-macro system coupling leader particles with a follower fluid, and then to a…
Crowd management is a complex, challenging and crucial task. Lack of appropriate management of crowd has, in past, led to many unfortunate stampedes with significant loss of life. To increase the crowd management efficiency, we deploy…
We develop a non-empirical scheme to search for the minimum-energy escape paths from the minima of the potential surface to unknown saddle points nearby. A stochastic algorithm is constructed to move the walkers up the surface through the…
In this paper, we derive a kinetic description of swarming particle dynamics in an interacting multi-agent system featuring emerging leaders and followers. Agents are classically characterized by their position and velocity plus a…
This paper investigates a linear quadratic mean field leader-follower team problem, where the model involves one leader and a large number of weakly-coupled interactive followers. The leader and the followers cooperate to optimize the…
Recent advances in modeling and control of crowds of pedestrians are briefly surveyed in this paper. Possibilities of applying fractional calculus in the modeling of crowd of pedestrians have been shortly reviewed and discussed from…