相关论文: MengeROS: a Crowd Simulation Tool for Autonomous R…
The evaluation of robot capabilities to navigate human crowds is essential to conceive new robots intended to operate in public spaces. This paper initiates the development of a benchmark tool to evaluate such capabilities; our long term…
Navigation is an essential capability for mobile robots. In this paper, we propose a generalized yet effective 3M (i.e., multi-robot, multi-scenario, and multi-stage) training framework. We optimize a mapless navigation policy with a robust…
The future robots are expected to work in a shared physical space with humans [1], however, the presence of humans leads to a dynamic environment that is challenging for mobile robots to navigate. The path planning algorithms designed to…
Robots operating in human-populated environments must navigate safely and efficiently while minimizing social disruption. Achieving this requires estimating crowd movement to avoid congested areas in real-time. Traditional microscopic…
Understanding the dynamics of pedestrian crowds is an outstanding challenge crucial for designing efficient urban infrastructure and ensuring safe crowd management. To this end, both small-scale laboratory and large-scale real-world…
In densely populated environments, socially compliant navigation is critical for autonomous robots as driving close to people is unavoidable. This manner of social navigation is challenging given the constraints of human comfort and social…
We present MINOS, a simulator designed to support the development of multisensory models for goal-directed navigation in complex indoor environments. The simulator leverages large datasets of complex 3D environments and supports flexible…
Robot navigation in crowded pedestrian environments is a well-known challenge and we explore the practical deployment of group-based representations in this setting. Pedestrian groups have been empirically shown to enable a mobile robot's…
The simulation of the dynamical behavior of pedestrians and crowds in spatial structures is a consolidated research and application context that still presents challenges for researchers in different fields and disciplines. Despite…
Autonomously navigating a robot in everyday crowded spaces requires solving complex perception and planning challenges. When using only monocular image sensor data as input, classical two-dimensional planning approaches cannot be used.…
Crowd simulation is an area of research largely used in the game industry. From the movement of a single NPC to the movement of an entire army, crowd simulation methods can be used to move agents through the environment while avoiding…
Teaching autonomous mobile robots to successfully navigate human crowds is a challenging task. Not only does it require planning, but it requires maintaining social norms which may differ from one context to another. Here we focus on crowd…
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…
Simulation is a powerful tool to easily generate annotated data, and a highly desirable feature, especially in those domains where learning models need large training datasets. Machine learning and deep learning solutions, have proven to be…
Autonomous driving in an unregulated urban crowd is an outstanding challenge, especially, in the presence of many aggressive, high-speed traffic participants. This paper presents SUMMIT, a high-fidelity simulator that facilitates the…
Autonomous swarms of robots can bring robustness, scalability and adaptability to safety-critical tasks such as search and rescue but their application is still very limited. Using semi-autonomous swarms with human control can bring robot…
Current state-of-the-art crowd navigation approaches are mainly deep reinforcement learning (DRL)-based. However, DRL-based methods suffer from the issues of generalization and scalability. To overcome these challenges, we propose a method…
If a robot can predict crowds in parts of its environment that are inaccessible to its sensors, then it can plan to avoid them. This paper proposes a fast, online algorithm that learns average crowd densities in different areas. It also…
Understanding how people view and interact with autonomous vehicles is important to guide future directions of research. One such way of aiding understanding is through simulations of virtual environments involving people and autonomous…
Crowd management is a complex, challenging and crucial task. Lack of appropriate management of crowd has, in past, led to many unfortunate stampedes with significant loss of life. To increase the crowd management efficiency, we deploy…