相关论文: Dense Crowd Flow-Informed Path Planning

Express companies are deploying more robotic sorting systems, where mobile robots are used to sort incoming parcels by destination. In this study, we propose an integrated assignment and path-finding method for robots in such sorting…

Robot navigation in crowded public spaces is a complex task that requires addressing a variety of engineering and human factors challenges. These challenges have motivated a great amount of research resulting in important developments for…

In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…

Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…

We propose a physics-based method to learn environmental fields (EFs) using a mobile robot. Common purely data-driven methods require prohibitively many measurements to accurately learn such complex EFs. Alternatively, physics-based models…

Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…

Robots need to predict and react to human motions to navigate through a crowd without collisions. Many existing methods decouple prediction from planning, which does not account for the interaction between robot and human motions and can…

We present a centralized algorithm for labeled, disk-shaped Multi-Robot Path Planning (MPP) in a continuous planar workspace with polygonal boundaries. Our method automatically transform the continuous problem into a discrete, graph-based…

Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…

Traditional rule-based physical models are limited by their reliance on singular physical formulas and parameters, making it difficult to effectively tackle the intricate tasks associated with crowd simulation. Recent research has…

Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…

This paper reports on a data-driven, interaction-aware motion prediction approach for pedestrians in environments cluttered with static obstacles. When navigating in such workspaces shared with humans, robots need accurate motion…

Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle, but most existing footstep planners can only select from a…

Predicting pedestrian movements remains a complex and persistent challenge in robot navigation research. We must evaluate several factors to achieve accurate predictions, such as pedestrian interactions, the environment, crowd density, and…

Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hierarchical fashion, potentially resulting in unsafe movements…

Thanks to the diffusion of the Internet of Things, nowadays it is possible to sense human mobility almost in real time using unconventional methods (e.g., number of bikes in a bike station). Due to the diffusion of such technologies, the…

We present a Pedestrian Dominance Model (PDM) to identify the dominance characteristics of pedestrians for robot navigation. Through a perception study on a simulated dataset of pedestrians, PDM models the perceived dominance levels of…

Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…

An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…

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…