相关论文: Robot Navigation in a Crowd by Integrating Deep Re…

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,…

Assistance robots have gained widespread attention in various industries such as logistics and human assistance. The tasks of guiding or following a human in a crowded environment such as airports or train stations to carry weight or goods…

Deep Q Network (DQN) has several limitations when applied in planning a path in environment with a number of dilemmas according to our experiment. The reward function may be hard to model, and successful experience transitions are difficult…

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…

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…

Mission planning for a fleet of cooperative autonomous drones in applications that involve serving distributed target points, such as disaster response, environmental monitoring, and surveillance, is challenging, especially under partial…

We focus on robot navigation in crowded environments. To navigate safely and efficiently within crowds, robots need models for crowd motion prediction. Building such models is hard due to the high dimensionality of multiagent domains and…

We aim to enable a mobile robot to navigate through environments with dense crowds, e.g., shopping malls, canteens, train stations, or airport terminals. In these challenging environments, existing approaches suffer from two common…

Robot path planning model based on RNN and visual quality evaluation in the context of crowds is analyzed in this paper. Mobile robot path planning is the key to robot navigation and an important field in robot research. Let the motion…

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…

Autonomous driving in multi-agent dynamic traffic scenarios is challenging: the behaviors of road users are uncertain and are hard to model explicitly, and the ego-vehicle should apply complicated negotiation skills with them, such as…

Object transportation could be a challenging problem for a single robot due to the oversize and/or overweight issues. A multi-robot system can take the advantage of increased driving power and more flexible configuration to solve such a…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

Robotic navigation through crowds or herds requires the ability to both predict the future motion of nearby individuals and understand how these predictions might change in response to a robot's future action. State of the art trajectory…

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…

In this paper, we propose a Deep Reinforcement Learning (RL) framework for task arrangement, which is a critical problem for the success of crowdsourcing platforms. Previous works conduct the personalized recommendation of tasks to workers…

In this work, we study adaptive data-guided traffic planning and control using Reinforcement Learning (RL). We shift from the plain use of classic methods towards state-of-the-art in deep RL community. We embed several recent techniques in…

Learning robot navigation strategies among pedestrian is crucial for domain based applications. Combining perception, planning and prediction allows us to model the interactions between robots and pedestrians, resulting in impressive…

Navigation amongst densely packed crowds remains a challenge for mobile robots. The complexity increases further if the environment layout changes, making the prior computed global plan infeasible. In this paper, we show that it is possible…

The superiority of Multi-Robot Systems (MRS) in various complex environments is unquestionable. However, in complex situations such as search and rescue, environmental monitoring, and automated production, robots are often required to work…