相关论文: Multi-Robot-Guided Crowd Evacuation: Two-Scale Mod…

This paper addresses navigation in crowded environments by integrating goal-conditioned generative models with Sampling-based Model Predictive Control (SMPC). We introduce goal-conditioned autoregressive models to generate crowd behaviors,…

Autonomous drone technology holds significant promise for enhancing search and rescue operations during evacuations by guiding humans toward safety and supporting broader emergency response efforts. However, their application in dynamic,…

While effective navigation in large, crowded environments is essential for an autonomous robot, preliminary testing of algorithms to support it requires simulation across a broad range of crowd scenarios. Most available simulation tools…

We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…

We consider the navigation of mobile robots in crowded environments, for which onboard sensing of the crowd is typically limited by occlusions. We address the problem of inferring the human occupancy in the space around the robot, in blind…

Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…

We focus on the problem of planning the motion of a robot in a dynamic multiagent environment such as a pedestrian scene. Enabling the robot to navigate safely and in a socially compliant fashion in such scenes requires a representation…

Clogging raises as the principal phenomenon during many evacuation processes of pedestrians in a panic situation. As people push to escape from danger, compression forces may increase to harming levels. Many individuals might fall down,…

Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…

In the fast evacuation problem, we study the path planning problem for two robots who want to minimize the worst-case evacuation time on the unit disk. The robots are initially placed at the center of the disk. In order to evacuate, they…

This paper deals with the kinetic theory modeling of crowd dynamics with the aim of showing how the dynamics at the micro-scale is transferred to the dynamics of collective behaviors. The derivation of a new model is followed by a…

Identifying and quantifying factors influencing human decision making remains an outstanding challenge, impacting the performance and predictability of social and technological systems. In many cases, system failures are traced to human…

The simulation of evacuation of pedestrians from skyscraper is a situation where the symmetry analysis method and equations of fluid dynamics finds to be very useful. When applied, they strongly reduce the number of free parameters used in…

This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…

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…

In crowd evacuation the time interval before decisive movement towards a safe place is defined as the pre-evacuation phase, and it has crucial impact on the total time required for safe egress. This process mainly refers to situation…

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…

Multilevel modeling is increasingly relevant in the context of modelling and simulation since it leads to several potential benefits, such as software reuse and integration, the split of semantically separated levels into sub-models, the…

This paper works on one of the most recent pedestrian crowd evacuation models, i.e., "a simulation model for pedestrian crowd evacuation based on various AI techniques", developed in late 2019. This study adds a new feature to the developed…

Autonomous navigation in crowded spaces poses a challenge for mobile robots due to the highly dynamic, partially observable environment. Occlusions are highly prevalent in such settings due to a limited sensor field of view and obstructing…