Related papers: Multi-Robot-Guided Crowd Evacuation: Two-Scale Mod…

This article introduces a modeling framework to characterize evacuee response to environmental stimuli during emergency egress. The model is developed in consistency with stress theory, which explains how an organism reacts to environmental…

We focus on robot navigation in crowded environments. The challenge of predicting the motion of a crowd around a robot makes it hard to ensure human safety and comfort. Recent approaches often employ end-to-end techniques for robot control…

The evaluation of robot capabilities to navigate human crowds is essential to conceive new robots intended to operate in public spaces. This paper initiates the development of a benchmark tool to evaluate such capabilities; our long term…

Modeling and simulation approaches that express crowd movement with mathematical models are widely and actively studied to understand crowd movement and resolve crowd accidents. Existing literature on crowd modeling focuses on only the…

Autonomous navigation in highly populated areas remains a challenging task for robots because of the difficulty in guaranteeing safe interactions with pedestrians in unstructured situations. In this work, we present a crowd navigation…

Social robot navigation is an evolving research field that aims to find efficient strategies to safely navigate dynamic environments populated by humans. A critical challenge in this domain is the accurate modeling of human motion, which…

In case of a threat in a public space, the crowd in it should be moved to a shelter or evacuated without delays. Risk management and evacuation planning in public spaces should also take into account uncertainties in the traffic patterns of…

Navigation strategies that intentionally incorporate contact with humans (i.e. "contact-based" social navigation) in crowded environments are largely unexplored even though collision-free social navigation is a well studied problem.…

We consider a kinetic theory approach to model the evacuation of a crowd from bounded domains. The interactions of a person with other pedestrians and the environment, which includes walls, exits, and obstacles, are modeled by using tools…

This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…

For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…

This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics,…

This paper proposes a crowd dynamic macroscopic model grounded on microscopic phenomenological observations which are upscaled by means of a formal mathematical procedure. The actual applicability of the model to real world problems is…

Simulation is a powerful tool to study the behavior of physical, environmental, and social systems under different conditions. Evacuation simulation can be used to estimate the required time for people to exit a building or evacuate…

Large-scale controlled evacuations require emergency services to select evacuation routes, decide departure times, and mobilize resources to issue orders, all under strict time constraints. Existing algorithms almost always allow for…

We study the evacuation dynamics of a crowd evacuating from a complex geometry in the presence of a fire as well as of a slowly spreading smoke curtain. The crowd is composed of two kinds of individuals: those who know the layout of the…

Pedestrian crowds often include social groups, i.e. pedestrians that walk together because of social relationships. They show characteristic configurations and influence the dynamics of the entire crowd. In order to investigate the impact…

Animating and simulating crowds using an agent-based approach is a well-established area where every agent in the crowd is individually controlled such that global human-like behaviour emerges. We observe that human navigation and movement…

We aim to enable a mobile robot to navigate through environments with dense crowds, e.g., shopping malls, canteens, train stations, or airport terminals. In these challenging environments, existing approaches suffer from two common…

Teaching autonomous mobile robots to successfully navigate human crowds is a challenging task. Not only does it require planning, but it requires maintaining social norms which may differ from one context to another. Here we focus on crowd…