Related papers: Multi-Robot-Assisted Human Crowd Evacuation using …
Modeling and reproducing crowd behaviors are important in various domains including psychology, robotics, transport engineering and virtual environments. Conventional methods have focused on synthesizing momentary scenes, which have…
Detecting and Counting people in a human crowd from a moving drone present challenging problems that arisefrom the constant changing in the image perspective andcamera angle. In this paper, we test two different state-of-the-art approaches,…
Autonomously navigating a robot in everyday crowded spaces requires solving complex perception and planning challenges. When using only monocular image sensor data as input, classical two-dimensional planning approaches cannot be used.…
We are interested in developing an automated system for detection of organized movements in human crowds. Computer vision algorithms can extract information from videos of crowded scenes and automatically detect and track groups of…
We present a novel, realtime algorithm to compute the trajectory of each pedestrian in moderately dense crowd scenes. Our formulation is based on an adaptive particle filtering scheme that uses a multi-agent motion model based on…
The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…
We analyze numerically some macroscopic models of pedestrian motion such as Hughes model [1] and mean field game with nonlinear mobilities [2] modeling fast exit scenarios in pedestrian crowds. A model introduced by Hughes consisting of a…
Robot navigation in crowded public spaces is a complex task that requires addressing a variety of engineering and human factors challenges. These challenges have motivated a great amount of research resulting in important developments for…
Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, humans communicate their intentions and conform to unwritten…
Evacuation assistants and their guiding strategies play an important role in the multi-exits pedestrian evacuation. To investigate the effect of guiding strategies on evacuation efficiency, we propose a force-driven cellular automaton model…
While effective navigation in large, crowded environments is essential for an autonomous robot, preliminary testing of algorithms to support it requires simulation across a broad range of crowd scenarios. Most available simulation tools…
We consider the problem of mass transport cloaking using mobile robots. The robots move along a predefined curve that encloses a safe zone and carry sources that collectively counteract a chemical agent released in the environment. The goal…
This paper presents a novel control strategy to herd groups of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strongly nonlinear and heterogeneous…
We conducted a simple experiment in which one pedestrian passed through a crowded area and measured the body-rotational angular velocity with commercial tablets. Then, we developed a new method for predicting crowd density by applying the…
This paper presents a novel approach that allows a swarm of heterogeneous robots to produce simultaneously segregative and flocking behaviors using only local sensing. These behaviors have been widely studied in swarm robotics and their…
Robust and accurate perception of humans in their 3D scene context is essential for integrating robots into everyday environments. Existing approaches, however, often fail to predict plausible and accurate human motion estimates that are…
Robot navigation through crowds poses a difficult challenge to AI systems, since the methods should result in fast and efficient movement but at the same time are not allowed to compromise safety. Most approaches to date were focused on the…
Most existing crowd counting methods require object location-level annotation, i.e., placing a dot at the center of an object. While being simpler than the bounding-box or pixel-level annotation, obtaining this annotation is still…
As mobile service robots increasingly coexist with pedestrians, ensuring passively safe behaviour during confined emergency evacuations is critical. Existing multi-robot yielding strategies often focus solely on collision avoidance and…
Modern methods for counting people in crowded scenes rely on deep networks to estimate people densities in individual images. As such, only very few take advantage of temporal consistency in video sequences, and those that do only impose…