相关论文: Solving the Direction Field for Discrete Agent Mot…

Numerical computation of shortest paths or geodesics on curved domains, as well as the associated geodesic distance, arises in a broad range of applications across digital geometry processing, scientific computing, computer graphics, and…

We introduce an enhanced model based on the generalized centrifugal force model. Furthermore, the desired direction of pedestrians is investigated. A new approach leaning on the well-known concept of static and dynamic floor-fields in…

The environment plays a critical role in multi-agent navigation by imposing spatial constraints, rules, and limitations that agents must navigate around. Traditional approaches treat the environment as fixed, without exploring its impact on…

Man-made and natural disruptions such as planned constructions on roads, suspensions of bridges, and blocked roads by trees/mudslides/floods can often create obstacles that separate two connected regions. As a result, the traveling and…

The problem of search by multiple agents to find and localize objects arises in many important applications. In this paper, we study a class of multi-agent search problems in which each agent can access only a subset of a discrete search…

To plan a safe and efficient route, an autonomous vehicle should anticipate future trajectories of other agents around it. Trajectory prediction is an extremely challenging task which recently gained a lot of attention in the autonomous…

We study the multi-agent path finding problem (MAPF) for a group of agents which are allowed to move into arbitrary directions on a 2D square grid. We focus on centralized conflict resolution for independently computed plans. We propose an…

Usually, routing models in pedestrian dynamics assume that agents have fulfilled and global knowledge about the building's structure. However, they neglect the fact that pedestrians possess no or only parts of information about their…

Accurate motion prediction of pedestrians, cyclists, and other surrounding vehicles (all called agents) is very important for autonomous driving. Most existing works capture map information through an one-stage interaction with map by…

In this paper, we present an approach for solving the problem of moving $N$ homogeneous agents into $M \geq N$ goal locations along energy-minimizing trajectories. We propose a decentralized framework that only requires knowledge of the…

We consider the problem of controlling the movement of multiple cooperating agents so as to minimize an uncertainty metric associated with a finite number of targets. In a one-dimensional mission space, we adopt an optimal control framework…

We consider a problem where autonomous agents enter a dynamic and unknown environment described by a network of weighted arcs. These agents move within the network from node to node according to a decentralized policy using only local…

This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…

Trip flow between areas is a fundamental metric for human mobility research. Given its identification with travel demand and its relevance for transportation and urban planning, many models have been developed for its estimation. These…

We present a distributed conjugate gradient method for distributed optimization problems, where each agent computes an optimal solution of the problem locally without any central computation or coordination, while communicating with its…

Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a more robust technique to distinguish and track dynamic obstacles…

Vehicular traffic is a classical example of a multi-agent system in which autonomous drivers operate in a shared environment. The article provides an overview of the state-of-the-art in microscopic traffic modeling and the implications for…

Shortest path algorithms have played a key role in the past century, paving the way for modern day GPS systems to find optimal routes along static systems in fractions of a second. One application of these algorithms includes optimizing the…

The minimum-time path for intercepting a moving target with a prescribed impact angle is studied in the paper. The candidate paths from Pontryagin's maximum principle are analyzed, so that each candidate is related to a zero of a…

This document presents a comprehensive simulation framework designed to model urban incidents involving pedestrians and vehicles. Using a multiagent systems approach, two types of agents (pedestrians and vehicles) are introduced within a 2D…