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Many modern robotics applications require robots to function autonomously in dynamic environments including other decision making agents, such as people or other robots. This calls for fast and scalable interactive motion planning. This…
Predicting pedestrians' trajectories is a crucial capability for autonomous vehicles' safe navigation, especially in spaces shared with pedestrians. Pedestrian motion in shared spaces is influenced by both the presence of vehicles and other…
Principled accountability for autonomous decision-making in uncertain environments requires distinguishing intentional outcomes from negligent designs from actual accidents. We propose analyzing the behavior of autonomous agents through a…
This paper proposes a novel max-pressure (MP) algorithm that incorporates pedestrian traffic into the MP control architecture. Pedestrians are modeled as being included in one of two groups: those walking on sidewalks and those queued at…
Vehicle-pedestrian interaction (VPI) is one of the most challenging tasks for automated driving systems. The design of driving strategies for such systems usually starts with verifying VPI in simulation. This work proposed an improved…
This document presents a comprehensive simulation framework designed to model urban incidents involving pedestrians and vehicles. Using a multiagent systems approach, two types of agents (pedestrians and vehicles) are introduced within a 2D…
A significant number of those killed in traffic accidents annually refers to pedestrians. most of these accidents occur when a pedestrian is going to pass the street. One of the most hazardous areas for pedestrians crossing the street is…
A better understanding of interactive pedestrian behavior in critical traffic situations is essential for the development of enhanced pedestrian safety systems. Real-world traffic observations play a decisive role in this, since they…
Pedestrian Intention prediction is one of the key technologies in the transition from level 3 to level 4 autonomous driving. To understand pedestrian crossing behaviour, several elements and features should be taken into consideration to…
Autonomous agents operating around human actors must consider how their behaviors might affect those humans, even when not directly interacting with them. To this end, it is often beneficial to be predictable and appear naturalistic.…
In pedestrian dynamics, the internal drive that propels individuals toward their goals is typically captured by a single, fixed parameter, the desired walking speed. This simplification overlooks that motivation fluctuates in response to…
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…
When pedestrians encounter vehicles, they typically stop and wait for a signal from the driver to either cross or wait. What happens when the car is autonomous and there isn't a human driver to signal them? This paper seeks to address this…
Rapid advancements in driver-assistance technology will lead to the integration of fully autonomous vehicles on our roads that will interact with other road users. To address the problem that driverless vehicles make interaction through eye…
Accurate trajectory prediction of road agents (e.g., pedestrians, vehicles) is an essential prerequisite for various intelligent systems applications, such as autonomous driving and robotic navigation. Recent research highlights the…
Our recent work suggests that, thanks to nowadays powerful CNNs, image-based 2D pose estimation is a promising cue for determining pedestrian intentions such as crossing the road in the path of the ego-vehicle, stopping before entering the…
Pedestrian behavior prediction is one of the major challenges for intelligent driving systems in urban environments. Pedestrians often exhibit a wide range of behaviors and adequate interpretations of those depend on various sources of…
This contribution proposes a method to make agents in a microscopic simulation of pedestrian traffic walk approximately along a path of estimated minimal remaining travel time to their destination. Usually models of pedestrian dynamics are…
This work presents a microscopic model to describe pedestrian flows based on the social force theory. The aim of this study is twofold: (1) developing a realistic model that can be used as a tool for designing pedestrian-friendly…
The behavior of pedestrians shows certain regularities, which can be described by quantitative (partly stochastic) models. The models are based on the behavior of individual pedestrians, which depends on the pedestrian intentions and on the…