相关论文: Learning Evacuee Models from Robot-Guided Emergenc…

For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…

We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios where preexisting data is sparse. Much prior work in human-robot collaboration uses observational models of…

Effective evacuation policies in emergency situations are important to save lives. To develop such policies, simulation models based on cellular automata have been used for crowd evacuation dynamics. In most previous studies of crowd…

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…

In the event of a fire emergency in the built environment, occupants face a range of evacuation decisions, including the choice of exits. An important question from the standpoint of evacuation safety is how evacuees make these choices and…

Humans make their evacuation decisions first at strategic/tactical levels, deciding their exit and route choice and then at operational level, navigating to a way-point, avoiding collisions. What influences an individuals at tactical level…

Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…

Social robot navigation is an evolving research field that aims to find efficient strategies to safely navigate dynamic environments populated by humans. A critical challenge in this domain is the accurate modeling of human motion, which…

Robots in shared spaces often move in ways that are difficult for people to interpret, placing the burden on humans to adapt. High-DoF robots exhibit motion that people read as expressive, intentionally or not, making it important to…

It is important for socially assistive robots to be able to recognize when a user needs and wants help. Such robots need to be able to recognize human needs in a real-time manner so that they can provide timely assistance. We propose an…

The use of autonomous systems in medical evacuation (MEDEVAC) scenarios is promising, but existing implementations overlook key insights from human-robot interaction (HRI) research. Studies on human-machine teams demonstrate that human…

Autonomous aerial and aquatic robots that attain mobility by perturbing their medium, such as multicopters and torpedoes, produce wake effects that act as disturbances for adjacent robots. Wake effects are hard to model and predict due to…

We study how the presence of committed volunteers influences the collective helping behavior in emergency evacuation scenarios. In this study, committed volunteers do not change their decision to help injured persons, implying that other…

This paper presents an event-driven way finding algorithm for pedestrians in an evacuation scenario, which operates on a graph-based structure. The motivation of each pedestrian is to leave the facility. The events used to redirect…

Several simulation environments exist for the simulation of large-scale evacuations of buildings, ships, or other enclosed spaces. These offer sophisticated tools for the study of human behaviour, the recreation of environmental factors…

Emergency evacuation of patients from a hospital can be challenging in the event of a fire. Most emergency evacuation studies are based on the assumption that pedestrians are ambulant and can egress by themselves. However, this is often not…

With robots becoming increasingly prevalent in various domains, it has become crucial to equip them with tools to achieve greater fluency in interactions with humans. One of the promising areas for further exploration lies in human trust. A…

In a search and rescue scenario, rescuers may have different knowledge of the environment and strategies for exploration. Understanding what is inside a rescuer's mind will enable an observer agent to proactively assist them with critical…

We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity…

Understanding the collective dynamics of crowd movements during stressful emergency situations is central to reducing the risk of deadly crowd disasters. Yet, their systematic experimental study remains a challenging open problem due to…