Related papers: A Model of the Sidewalk Salsa
On the way toward full autonomy, sharing roads between automated and autonomous vehicles in so-called mixed traffic is unavoidable. Moreover, even if all vehicles on the road were autonomous, pedestrians would still cross streets. We…
Human crowd motion is mainly driven by self-organized processes based on local interactions among pedestrians. While most studies of crowd behavior consider only interactions among isolated individuals, it turns out that up to 70% of people…
Accurately modeling pedestrian intention and understanding driver decision-making processes are critical for the development of safe and socially aware autonomous driving systems. We introduce PSI, a benchmark dataset that captures the…
One of the most crucial yet challenging tasks for autonomous vehicles in urban environments is predicting the future behaviour of nearby pedestrians, especially at points of crossing. Predicting behaviour depends on many social and…
Moving groups are routinely faced with a choice of different routes as part of their daily lives, such as choosing between exits from a building. Differences in moving speeds and environmental constraints often lead to individuals being…
It is challenging for a mobile robot to navigate through human crowds. Existing approaches usually assume that pedestrians follow a predefined collision avoidance strategy, like social force model (SFM) or optimal reciprocal collision…
Predicting human trajectories is a challenging task due to the complexity of pedestrian behavior, which is influenced by external factors such as the scene's topology and interactions with other pedestrians. A special challenge arises from…
With the increasing size and frequency of mass events, the study of crowd disasters and the simulation of pedestrian flows have become important research areas. Yet, even successful modeling approaches such as those inspired by Newtonian…
The strategic behaviour of pedestrians is largely determined by how they perceive and react to neighbouring people. This issue is addressed in this paper by a model which combines, in a time and space-dependent way, discrete and continuous…
Pedestrians are often encountered walking in the company of some social relations, rather than alone. The social groups thus formed, in variable proportions depending on the context, are not randomly organised but exhibit distinct features,…
In recent years, road safety has attracted significant attention from researchers and practitioners in the intelligent transport systems domain. As one of the most common and vulnerable groups of road users, pedestrians cause great concerns…
The Social Force Model is one of the most prominent models of pedestrian dynamics. As such naturally much discussion and criticism has spawned around it, some of which concerns the existence of oscillations in the movement of pedestrians.…
The Social Force model introduced by Helbing and Molnar in 1995 is a cornerstone of pedestrian simulation. This paper introduces a differentiable simulation of the Social Force model where the assumptions on the shapes of interaction…
This paper presents a model of pedestrian crossing decisions, based on the theory of computational rationality. It is assumed that crossing decisions are boundedly optimal, with bounds on optimality arising from human cognitive limitations.…
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…
Human motion prediction is key to understand social environments, with direct applications in robotics, surveillance, etc. We present a simple yet effective pedestrian trajectory prediction model aimed at pedestrians positions prediction in…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
As autonomous systems begin to operate amongst humans, methods for safe interaction must be investigated. We consider an example of a small autonomous vehicle in a pedestrian zone that must safely maneuver around people in a free-form…
Many animals and robots move using undulatory motion of their bodies. When in close proximity undulatory motion can lead to novel collective behaviors such as gait synchronization, spatial reconfiguration, and clustering. Here we study the…
Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…