相关论文: A Simple Throw Model for Frontal Vehicle-Pedestria…

For safe navigation around pedestrians, automated vehicles (AVs) need to plan their motion by accurately predicting pedestrians trajectories over long time horizons. Current approaches to AV motion planning around crosswalks predict only…

The implementation of road user models that realistically reproduce a credible behavior in a multi-agentsimulation is still an open problem. A data-driven approach consists on to deduce behaviors that may exist in real situation to obtain…

Typical methods for pedestrian detection focus on either tackling mutual occlusions between crowded pedestrians, or dealing with the various scales of pedestrians. Detecting pedestrians with substantial appearance diversities such as…

Accurate prediction of pedestrian trajectories is crucial for enhancing the safety of autonomous vehicles and reducing traffic fatalities involving pedestrians. While numerous studies have focused on modeling interactions among pedestrians…

This paper presents a derivation of a dynamic simulation of a steerable-wheel mobile robot with wheel slip. The robot is controlled using pure pursuit algorithm. Kalker simplified and linear theory of rolling contact are utilized to…

Forecasting the trajectory of pedestrians in shared urban traffic environments is still considered one of the challenging problems facing the development of autonomous vehicles (AVs). In the literature, this problem is often tackled using…

We consider the problem of traffic density reconstruction using measurements from probe vehicles (PVs) with a low penetration rate. In other words, the number of sensors is small compared to the number of vehicles on the road. The model…

We present a multi-camera 3D pedestrian detection method that does not need to train using data from the target scene. We estimate pedestrian location on the ground plane using a novel heuristic based on human body poses and person's…

Predicting pedestrian motion is essential for developing socially-aware robots that interact in a crowded environment. While the natural visual perspective for a social interaction setting is an egocentric view, the majority of existing…

In this paper the normal collision of spherical particles is investigated. The particle interaction is modelled in a macroscopic way using the Hertzian contact force with additional linear damping. The goal of the work is to develop an…

When humans see a scene, they can roughly imagine the forces applied to objects based on their experience and use them to handle the objects properly. This paper considers transferring this "force-visualization" ability to robots. We…

In shared space environments, urban space is shared among different types of road users, who frequently interact with each other to negotiate priority and coordinate their trajectories. Instead of traffic rules, interactions among them are…

Pedestrian motion prediction is a fundamental task for autonomous robots and vehicles to operate safely. In recent years many complex approaches based on neural networks have been proposed to address this problem. In this work we show that…

Pedestrian trajectory prediction is essential for collision avoidance in autonomous driving and robot navigation. However, predicting a pedestrian's trajectory in crowded environments is non-trivial as it is influenced by other pedestrians'…

Aerial robots are a well-established solution for exploration, monitoring, and inspection, thanks to their superior maneuverability and agility. However, in many environments, they risk crashing and sustaining damage after collisions.…

This paper presents a novel vehicle motion forecasting method based on multi-head attention. It produces joint forecasts for all vehicles on a road scene as sequences of multi-modal probability density functions of their positions. Its…

Motivated by the need to develop simulation tools for verification and validation of autonomous driving systems operating in traffic consisting of both autonomous and human-driven vehicles, we propose a framework for modeling vehicle…

Accurate and robust tracking of surrounding road participants plays an important role in autonomous driving. However, there is usually no prior knowledge of the number of tracking targets due to object emergence, object disappearance and…

Lane changing dynamics are an important part of traffic microsimulation and are vital for modeling weaving sections and merge bottlenecks. However, there is often much more emphasis placed on car following and gap acceptance models, whereas…

This paper addresses the theoretical foundations of pedestrian models for crowd dynamics. While the topic gains momentum, current models differ widely in their mathematical structure, even if we only consider continuous agent-based models.…