Related papers: Multi-Robot-Guided Crowd Evacuation: Two-Scale Mod…
This work studies a robot-assisted crowd evacuation problem where we control a small group of robots to guide a large human crowd to safe locations. The challenge lies in how to model human-robot interactions and design robot controls to…
Recent research has examined the possibility of using robots to guide evacuees to safe exits during emergencies. Yet, there are many factors that can impact a person's decision to follow a robot. Being able to model how an evacuee follows…
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…
This paper considers the problem of developing suitable behavior models of human evacuees during a robot-guided emergency evacuation. We describe our recent research developing behavior models of evacuees and potential future uses of these…
Robots operating in human-populated environments must navigate safely and efficiently while minimizing social disruption. Achieving this requires estimating crowd movement to avoid congested areas in real-time. Traditional microscopic…
This paper describes our recent effort to use virtual reality to simulate threatening emergency evacuation scenarios in which a robot guides a person to an exit. Our prior work has demonstrated that people will follow a robot's guidance,…
In this paper we are concerned with multiscale modeling, control, and simulation of self-organizing agents leaving an unknown area under limited visibility, with special emphasis on crowds. We first introduce a new microscopic model…
We present a viewpoint-based non-linear Model Predictive Control (MPC) for evacuation guiding robots. Specifically, the proposed MPC algorithm enables evacuation guiding robots to track and guide cooperative human targets in emergency…
Understanding the collective dynamics of crowd movements during stressful emergency situations is central to reducing the risk of deadly crowd disasters. Yet, their systematic experimental study remains a challenging open problem due to…
In this survey we consider mathematical models and methods recently developed to control crowd dynamics, with particular emphasis on egressing pedestrians. We focus on two control strategies: The first one consists in using special agents,…
In this chapter, we discuss the mathematical modeling of egressing pedestrians in an unknown environment with multiple exits. We investigate different control problems to enhance the evacuation time of a crowd of agents, by few informed…
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…
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…
Crowd movement guidance has been a fascinating problem in various fields, such as easing traffic congestion in unusual events and evacuating people from an emergency-affected area. To grab the reins of crowds, there has been considerable…
Crowd evacuation simulation is critical for enhancing public safety, and demanded for realistic virtual environments. Current mainstream evacuation models overlook the complex human behaviors that occur during evacuation, such as pedestrian…
Evacuation plans have been historically used as a safety measure for the construction of buildings. The existing crowd simulators require fully-modeled 3D environments and enough time to prepare and simulate scenarios, where the…
We analyze numerically two macroscopic models of crowd dynamics: the classical Hughes model and the second order model being an extension to pedestrian motion of the Payne-Whitham vehicular traffic model. The desired direction of motion is…
Maintaining social distancing norms between humans has become an indispensable precaution to slow down the transmission of COVID-19. We present a novel method to automatically detect pairs of humans in a crowded scenario who are not…
In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…
In an emergency situation, the evacuation of a large crowd from a complex building can become slow or even dangerous without a working evacuation plan. The use of rescue guides that lead the crowd out of the building can improve the…