相关论文: Handling obstacles in pedestrian simulations: mode…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

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…

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,…

The movement of pedestrians is supposed to show certain regularities which can be best described by an ``algorithm'' for the individual behavior and is easily simulated on computers. This behavior is assumed to be determined by an intended…

Robot swarms can be tasked with a variety of automated sensing and inspection applications in aerial, aquatic, and surface environments. In this paper, we study a simplified two-outcome surface inspection task. We task a group of robots to…

Motion planning is an essential part of autonomous mobile platforms. A good pipeline should be modular enough to handle different vehicles, environments, and perception modules. The planning process has to cope with all the different…

This article is on collective phenomena in pedestrian dynamics during the assembling and dispersal phases of gatherings. To date pedestrian dynamics have been primarily studied in the natural and engineering sciences. Pedestrians are…

Optimization of expensive computer models with the help of Gaussian process emulators in now commonplace. However, when several (competing) objectives are considered, choosing an appropriate sampling strategy remains an open question. We…

We present two conceptually new modeling approaches aimed at describing the motion of pedestrians in obscured corridors: * a Becker-D\"{o}ring-type dynamics * a probabilistic cellular automaton model. In both models the group formation is…

National Highway Traffic Safety Administration reported 7,345 pedestrian fatalities in the United States in 2022, making pedestrian safety a pressing issue in urban mobility. This study presents a novel probabilistic simulation framework…

In this study we address existing deficiencies in the literature on applications of Particle Swarm Optimization to generate optimal designs. We present the results of a large computer study in which we bench-mark both efficiency and…

Dense human flow has been a concern for the safety of public events for a long time. Macroscopic pedestrian models, which are mainly based on fluid dynamics, are often used to simulate huge crowds due to their low computational costs.…

Population-based methods can cope with a variety of different problems, including problems of remarkably higher complexity than those traditional methods can handle. The main procedure consists of successively updating a population of…

In this survey we consider mathematical models and methods recently developed to control crowd dynamics, with particular emphasis on egressing pedestrians. We focus on two control strategies: The first one consists in using special agents,…

The simulation of pedestrian crowd that reflects reality is a major challenge for researches. Several crowd simulation models have been proposed such as cellular automata model, agent-based model, fluid dynamic model, etc. It is important…

In this paper we propose a technique that assigns obstacles to clusters used for collision avoidance via Mixed-Integer Programming. This strategy enables a reduction in the number of binary variables used for collision avoidance, thus…

Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…

A recent study [D. Helbing, A. Johansson and H. Z. Al-Abideen, {\it Phys. Rev. E} 75, 046109 (2007)] has revealed a "turbulent" state of pedestrian flows, which is characterized by sudden displacements and causes the falling and trampling…

Simulation models for pedestrian crowds are a ubiquitous tool in research and industry. It is crucial that the parameters of these models are calibrated carefully and ultimately it will be of interest to compare competing models to decide…

The focus of this work is to present a novel methodology for optimal distribution of a swarm formation on either side of an obstacle, when evading the obstacle, to avoid overpopulation on the sides to reduce the agents' waiting delays,…