Related papers: Noise-enabled goal attainment in crowded collectiv…
Navigating toward a known target in a noisy environment is a fundamental problem shared across biological, physical, and engineered systems. Although optimal strategies are often framed in terms of continuous, fine-grained feedback, we show…
Modeling crowds has many important applications in games and computer animation. Inspired by the emergent following effect in real-life crowd scenarios, in this work, we develop a method for implicitly grouping moving agents. We achieve…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
Recent protocols and metrics for training and evaluating autonomous robot navigation through crowds are inconsistent due to diversified definitions of "social behavior". This makes it difficult, if not impossible, to effectively compare…
Lagging or halted traffic is bothersome. As such, it is desirable to have a model that can begin to determine the efficiency of various traffic standardizations. Our model intended to create a multifaceted realistic simulation of traffic…
We analyze the effect of synchronization on distributed stochastic gradient algorithms. By exploiting an analogy with dynamical models of biological quorum sensing - where synchronization between agents is induced through communication with…
The ultimate navigation efficiency of mobile robots in human environments will depend on how we will appraise them: merely as impersonal machines or as human-like agents. In the latter case, an agent may take advantage of the cooperative…
Crowd simulation is a central topic in several fields including graphics. To achieve high-fidelity simulations, data has been increasingly relied upon for analysis and simulation guidance. However, the information in real-world data is…
We consider the problem of indoor building-scale social navigation, where the robot must reach a point goal as quickly as possible without colliding with humans who are freely moving around. Factors such as varying crowd densities,…
Mobile robots have become more and more popular in large-scale and crowded environments, such as airports, shopping malls, etc. However, due to sparse landmarks and crowd noise, localization in this environment is a great challenge.…
Inspired by biological swarms, robotic swarms are envisioned to solve real-world problems that are difficult for individual agents. Biological swarms can achieve collective intelligence based on local interactions and simple rules; however,…
Vehicular mobile crowd sensing is a fast-emerging paradigm to collect data about the environment by mounting sensors on vehicles such as taxis. An important problem in vehicular crowd sensing is to design payment mechanisms to incentivize…
Over the past two decades, researchers have made significant steps in simulating agent-based human crowds, yet most efforts remain focused on low-level tasks such as collision avoidance, path following, and flocking. As a result, these…
Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…
Crowd trajectory prediction plays a crucial role in public safety and management, where it can help prevent disasters such as stampedes. Recent works address the problem by predicting individual trajectories and considering surrounding…
We use a very simple description of human driving behavior to simulate traffic. The regime of maximum vehicle flow in a closed system shows near-critical behavior, and as a result a sharp decrease of the predictability of travel time. Since…
We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…
We focus on the problem of planning the motion of a robot in a dynamic multiagent environment such as a pedestrian scene. Enabling the robot to navigate safely and in a socially compliant fashion in such scenes requires a representation…
Safe and computationally efficient local planning for mobile robots in dense, unstructured human crowds remains a fundamental challenge. Moreover, ensuring that robot trajectories are similar to how a human moves will increase the…
Flocking is a coordinated collective behavior that results from local sensing between individual agents that have a tendency to orient towards each other. Flocking is common among animal groups and might also be useful in robotic swarms. In…