相关论文: Multi-Robot-Assisted Human Crowd Evacuation using …
When a large number of robots try to reach a common area, congestions happen, causing severe delays. To minimise congestion in a robotic swarm system, traffic control algorithms must be employed in a decentralised manner. Based on…
This paper describes our recent effort to use virtual reality to simulate threatening emergency evacuation scenarios in which a robot guides a person to an exit. Our prior work has demonstrated that people will follow a robot's guidance,…
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…
It is still an open and challenging problem for mobile robots navigating along time-efficient and collision-free paths in a crowd. The main challenge comes from the complex and sophisticated interaction mechanism, which requires the robot…
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…
Accurate people counting in smart buildings and intelligent transportation systems is crucial for energy management, safety protocols, and resource allocation. This is especially critical during emergencies, where precise occupant counts…
Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spatially constrained environments. Ensuring human safety,…
We propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different paths or surfaces typically embedded in 2D or 3D; second,…
As the population of world is increasing, and even more concentrated in urban areas, ensuring public safety is becoming a taunting job for security personnel and crowd managers. Mass events like sports, festivals, concerts, political…
Controlling large particle systems in collective dynamics by a few agents is a subject of high practical importance, e.g., in evacuation dynamics. In this paper we study an instantaneous control approach to steer an interacting particle…
Real-time navigation in dense human environments is a challenging problem in robotics. Most existing path planners fail to account for the dynamics of pedestrians because introducing time as an additional dimension in search space is…
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…
We present a congestion-aware routing solution for indoor evacuation, which produces real-time individual-customized evacuation routes among multiple destinations while keeping tracks of all evacuees' locations. A population density map,…
Autonomous systems such as Unmanned Aerial Vehicles (UAVs) need to be able to recognise and track crowds of people, e.g. for rescuing and surveillance purposes. Large groups generate multiple measurements with uncertain origin.…
We present a method for the control of robot swarms using two subsets of robots: a larger group of simple, oblivious robots (which we call the workers) that is governed by simple local attraction forces, and a smaller group (the guides)…
This paper presents a method to control the probability density distribution of a swarm of vehicles via velocity fields. The proposed approach synthesizes smooth velocity fields, which specify a desired velocity as a function of time and…
Crowd movement simulation is crucial for pedestrian safety management and facility design. Data-driven models offer the potential to improve realism and predictive accuracy, but most are developed for a single scenario, limiting their…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
Video-based high-density crowd analysis and prediction has been a long-standing topic in computer vision. It is notoriously difficult due to, but not limited to, the lack of high-quality data and complex crowd dynamics. Consequently, it has…