相关论文: Avoiding Dense and Dynamic Obstacles in Enclosed S…

In this paper we devise a microscopic (agent-based) mathematical model for reproducing crowd behaviour in a specific scenario: a number of pedestrians, consisting of numerous social groups, flow along a corridor until a gate located at the…

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…

Navigation in dense crowds is a well-known open problem in robotics with many challenges in mapping, localization, and planning. Traditional solutions consider dense pedestrians as passive/active moving obstacles that are the cause of all…

In this article, we propose a traffic rule inspired from nature, that facilitates an elite agent to move efficiently through a crowd of inert agents. When an object swims in a fluid medium or an intruder is forced through granular matter,…

Both pedestrian and robot comfort are of the highest priority whenever a robot is placed in an environment containing human beings. In the case of pedestrian-unaware mobile robots this desire for safety leads to the freezing robot problem,…

This paper proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces filled with both static obstacles and dense crowds of…

We study the existence of weak solutions to the two-phase model of crowd motion. The model encompasses the flow in the uncongested regime (compressible) and the congested one (incompressible) with the free boundary separating the two…

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…

Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be…

Dense granular flows through constrictions, as well as competitive pedestrian evacuations, are hindered by a propensity to form clogs. We usesimulations of model pedestrians and experiments with granular disks to explore an original…

We present DenseCAvoid, a novel navigation algorithm for navigating a robot through dense crowds and avoiding collisions by anticipating pedestrian behaviors. Our formulation uses visual sensors and a pedestrian trajectory prediction…

Navigating through dense human crowds remains a significant challenge for mobile robots. A key issue is the freezing robot problem, where the robot struggles to find safe motions and becomes stuck within the crowd. To address this, we…

This text presents the proofs of the technical facts underlying theoretical justification of the convergence and performance of the novel algorithm for reactive navigation of differential drive wheeled robots in dynamic uncertain…

Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. In this paper, we introduce a novel approach called rotational obstacle avoidance…

We present Frozone, a novel algorithm to deal with the Freezing Robot Problem (FRP) that arises when a robot navigates through dense scenarios and crowds. Our method senses and explicitly predicts the trajectories of pedestrians and…

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…

Predicting the behavior of crowds in complex environments is a key requirement in a multitude of application areas, including crowd and disaster management, architectural design, and urban planning. Given a crowd's immediate state, current…

Ensuring a smooth rate of efflux of particles from an outlet without unpredictable clogging events is crucial in processing powders and grains. We show by experiments and simulations that an obstacle placed near the outlet can greatly…

Humans are remarkable at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with highly reactive obstacle avoidance robust to partial and poor…

In crowded environments, individuals must navigate around other occupants to reach their destinations. Understanding and controlling traffic flows in these spaces is relevant for coordinating robot swarms and designing infrastructure for…