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

An occlusion based strategy for collective transport of a concave object using a swarm of mobile robots has been proposed in this paper. We aim to overcome the challenges of transporting concave objects using decentralized approach. The…

We study the dynamics of a one-dimensional discrete flow with open boundaries - a series of moving point particles connected by ideal springs. These particles flow towards an inlet at constant velocity, pass into a region where they are…

Integrating mobile robots into human society involves the fundamental problem of navigation in crowds. This problem has been studied by considering the behaviour of humans at the level of individuals, but this representation limits the…

We formulate a data-driven, physics-constrained closure method for coarse-scale numerical simulations of turbulent fluid flows. Our approach involves a closure scheme that is non-local both in space and time, i.e. the closure terms are…

We describe a simple experiment involving spheres rolling down an inclined plane towards a bottleneck and through a gap. Results of the experiment indicate that flow rate can be increased by placing an obstruction at optimal positions near…

In this article we consider viscous flow in the exterior of an obstacle satisfying the standard no-slip boundary condition at the surface of the obstacle. We seek conditions under which solutions of the Navier-Stokes system in the exterior…

While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…

A framework is proposed in this paper that is used to segment flow of dense crowds. The flow field that is generated by the movement in the crowd is treated just like an aperiodic dynamic system. On this flow field a grid of particles is…

In this paper we deal with pedestrian modeling, aiming at simulating crowd behavior in normal and emergency scenarios, including highly congested mass events. We are specifically concerned with a new agent-based, continuous-in-space,…

Autonomous navigation in highly populated areas remains a challenging task for robots because of the difficulty in guaranteeing safe interactions with pedestrians in unstructured situations. In this work, we present a crowd navigation…

We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…

Crowd trajectory prediction plays a crucial role in public safety and management, where it can help prevent disasters such as stampedes. Recent works address the problem by predicting individual trajectories and considering surrounding…

This work studies a robot-assisted crowd evacuation problem where we control a small group of robots to guide a large human crowd to safe locations. The challenge lies in how to model human-robot interactions and design robot controls to…

We report the experimental observation of dynamical behavior of flowing complex plasma past a spherical obstacle. The experiment has been carried out in a $\Pi$-shaped DC glow discharge experimental device using kaolin particles as the dust…

An articulated body is defined as a finite number of rigid bodies connected by a set of arbitrary constraints that limit the relative motion between pairs of bodies. Such a general definition encompasses a wide variety of situations in the…

In environments where multiple robots must coordinate in a shared space, decentralized approaches allow for decoupled planning at the cost of global guarantees, while centralized approaches make the opposite trade-off. These solutions make…

Designing efficient traffic lanes for pedestrians is a critical aspect of urban planning as walking remains the most common form of mobility among the increasingly diverse methods of transportation. Herein, we investigate pedestrian counter…

We are interested in the numerical simulations of the Euler system with variable congestion encoded by a singular pressure. This model describes for instance the macroscopic motion of a crowd with individual congestion preferences. We…

Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…

Numerical simulations in two space dimensions are used to examine the dynamics, transport, and equilibrium behaviors of a neutrally buoyant circular object immersed in an active suspension within a larger closed circular container. The…