相关论文: Deep Social Force
Deploying a safe mobile robot policy in scenarios with human pedestrians is challenging due to their unpredictable movements. Current Reinforcement Learning-based motion planners rely on a single policy to simulate pedestrian movements and…
Human-aware navigation is a complex task for mobile robots, requiring an autonomous navigation system capable of achieving efficient path planning together with socially compliant behaviors. Social planners usually add costs or constraints…
Modern pedestrian and suspension bridges are designed using industry-standard packages, yet disastrous resonant vibrations are observed, necessitating multi-million dollar repairs. Recent examples include pedestrian induced vibrations…
Avoiding collisions with vulnerable road users (VRUs) using sensor-based early recognition of critical situations is one of the manifold opportunities provided by the current development in the field of intelligent vehicles. As especially…
The collision-free velocity model is a microscopic pedestrian model, which despite its simplicity, reproduces fairly well several self-organization phenomena in pedestrian dynamics. The model consists of two components: a direction…
This paper introduces a spatially continuous force-based model for simulating pedestrian dynamics. The main intention of this work is the quantitative description of pedestrian movement through bottlenecks and in corridors. Measurements of…
We present here two examples of stochastic modelings of social phenomena. The first topic is pedestrian counter flow. Two groups of model pedestrians move in opposite directions and create congestions. It will be shown that this congestion…
Reducing the number of contacts between passengers on an airplane can potentially curb the spread of infectious diseases. In this paper, a social force based pedestrian movement model is formulated and applied to evaluate the movement and…
In this paper is proposed an inclusion of the Social Force Model (SFM) into a concrete Deep Reinforcement Learning (RL) framework for robot navigation. These types of techniques have demonstrated to be useful to deal with different types of…
Although extensive research in emergency collision avoidance has been carried out for straight or curved roads in a highway scenario, a general method that could be implemented for all road environments has not been thoroughly explored.…
Expert human drivers perform actions relying on traffic laws and their previous experience. While traffic laws are easily embedded into an artificial brain, modeling human complex behaviors which come from past experience is a more…
A series of accidents caused by crowd within the last decades evoked a lot of scientific interest in modeling the movement of pedestrian crowds. Based on discrete element method, a granular dynamic model, in which human body is simplified…
Evaluating accessible conformational space is computationally expensive and thermal motions are partly neglected in computer models of molecular interactions. This produces error into the estimates of binding strength. We introduce a method…
The increasing, high-risk interactions between vehicles and vulnerable micromobility users, such as e-scooter riders, challenge vehicular safety functions and Automated Driving (AD) techniques, often resulting in severe consequences due to…
This study investigates the dynamics of pedestrian crossing flows with varying crossing angles $\alpha$ to classify different scenarios and derive implications for crowd management. Probability density functions of four key…
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 present two conceptually new modeling approaches aimed at describing the motion of pedestrians in obscured corridors: * a Becker-D\"{o}ring-type dynamics * a probabilistic cellular automaton model. In both models the group formation is…
When streets are designed according to the shared space principle, road user are encouraged to interact spontaneously with each other for negotiating the space. These interaction mechanisms do not follow clearly defined traffic rules but…
Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…
Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…