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

We propose a hybrid approach for decentralized multi-robot navigation that ensures both safety and deadlock prevention. Building on a standard control formulation, we add a lightweight deadlock prevention mechanism by forming temporary…

Consider a set of autonomous computational entities, called \emph{robots}, operating inside a polygonal enclosure (possibly with holes), that have to perform some collaborative tasks. The boundary of the polygon obstructs both visibility…

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…

Avoiding bottleneck situations in crowds is critical for the safety and comfort of people at large events or in public transportation. Based on the work of Lagrangian motion analysis we propose a novel video-based bottleneckdetector by…

In this paper we are concerned with the simulation of crowds in built environments, where obstacles play a role in the dynamics and in the interactions among pedestrians. First of all, we review the state-of-the-art of the techniques for…

In fluid mechanics, dimensionless numbers like the Reynolds number help classify flows. We argue that such a classification is also relevant for crowd flows by putting forward the dimensionless Intrusion and Avoidance numbers.Using an…

We analyze the steady motion of a viscous incompressible fluid in a three-dimensional channel containing an obstacle through the Navier-Stokes equations with mixed boundary conditions: the inflow is given by a fairly general datum and the…

In this study, we use numerical simulations to investigate the flow field induced by a single magnetic microrobot rotating with a constant angular speed about an axis perpendicular to an underlying surface. A parallel solver for steady…

Robots sometimes have to work together with a mixture of partially-aligned or conflicting goals. Flocking - coordinated motion through cohesion, alignment, and separation - traditionally assumes uniform desired inter-agent distances. Many…

We consider the flow of closed convex hypersurfaces in Euclidean space $\mathbb{R}^{n+1}$ with speed given by a power of the $k$-th mean curvature $E_k$ plus a global term chosen to impose a constraint involving the enclosed volume…

A simple model to handle the flow of people in emergency evacuation situations is considered: at every point x, the velocity U(x) that individuals at x would like to realize is given. Yet, the incompressibility constraint prevents this…

It has become widely known that when two flows of pedestrians cross stripes emerge spontaneously by which the pedestrians of the two walking directions manage to pass each other in an orderly manner. In this work, we report about the…

We consider the problem to transport resources/mass while abiding by constraints on the flow through constrictions along their path between specified terminal distributions. Constrictions, conceptualized as toll stations at specified…

We analyse and improve the volume-penalty method, a simple and versatile way to model objects in fluid flows. The volume-penalty method is a kind of fictitious-domain method that approximates no-slip boundary conditions with rapid linear…

Numerical analysis of unconfined flow over an obstacle has always been challenging in computational fluid dynamics due to the truncation of the computational domain while replicating the real-life flows and the application of the boundary…

Asymmetric obstacles can be exploited to direct the motion and induce sorting of run-and-tumbling particles. In this work, we show that flocking particles which follow the Vicsek model aligning rules experience a collective trapping in the…

As model problem we consider the prototype for flow and transport of a concentration in porous media in an interior domain and couple it with a diffusion process in the corresponding unbounded exterior domain. To solve the problem we…

This contribution presents experimental study of two-dimensional pedestrian flow with the aim to capture the pedestrian behaviour within the cluster formed in front of the bottleneck. Two experiments of passing through a room with one…

This expository paper presents the current knowledge of particular fully nonlinear curvature flows with local forcing term, so-called locally constrained curvature flows. We focus on the spherical ambient space. The flows are designed to…

The aim of this chapter is to make a review of the recent results using the Enclosure Method on inverse obstacle problems governed by the wave equation and the Maxwell system in time domain. We also describe some of unsolved problems…