相关论文: Leveraging Sidewalk Robots for Walkability-Related…
Mobile robots joining public spaces like sidewalks must care for pedestrian comfort. Many studies consider pedestrians' objective safety, for example, by developing collision avoidance algorithms, but not enough studies take the…
High-fidelity pedestrian tracking in real-life conditions has been an important tool in fundamental crowd dynamics research allowing to quantify statistics of relevant observables including walking velocities, mutual distances and body…
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this…
Studies of human mobility increasingly rely on digital sensing, the large-scale recording of human activity facilitated by digital technologies. Questions of variability and population representativity, however, in patterns seen from these…
Visual place recognition and simultaneous localization and mapping (SLAM) have recently begun to be used in real-world autonomous navigation tasks like food delivery. Existing datasets for SLAM research are often not representative of in…
As the presence of autonomous robots in public spaces increases-whether navigating campus walkways or neighborhood sidewalks-understanding how to carefully study these robots becomes critical. While HRI research has conducted field studies…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…
This paper introduces RobotCycle, a novel ongoing project that leverages Autonomous Vehicle (AV) research to investigate how road infrastructure influences cyclist behaviour and safety during real-world journeys. The project's requirements…
Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…
Sidewalk width is an important indicator of pedestrian accessibility, comfort, and network quality, yet large-scale width data remain scarce in most cities. Existing approaches typically rely on costly field surveys, high-resolution…
Many cities promote walkability through concepts such as the compact city and 15-minute city to enhance urban livability, yet few methods link spatial walkability features to empirically measured livability and account for temporal…
While advances in mobility technology including autonomous vehicles and multi-modal navigation systems can improve mobility equity for people with disabilities, these technologies depend crucially on accurate, standardized, and complete…
While designing sustainable and resilient urban built environment is increasingly promoted around the world, significant data gaps have made research on pressing sustainability issues challenging to carry out. Pavements are known to have…
This paper presents algorithms for performing data-driven reachability analysis under temporal logic side information. In certain scenarios, the data-driven reachable sets of a robot can be prohibitively conservative due to the inherent…
Spatio-temporal trajectory analytics is at the core of smart mobility solutions, which offers unprecedented information for diversified applications such as urban planning, infrastructure development, and vehicular networks. Trajectory…
This paper introduces our methodology to estimate sidewalk accessibilities from wheelchair behavior via a triaxial accelerometer in a smartphone installed under a wheelchair seat. Our method recognizes sidewalk accessibilities from…
The proliferation of robots in public spaces necessitates a deeper understanding of how these robots can interact with those they share the space with. In this paper, we present findings from video analysis of publicly deployed cleaning…
Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, humans communicate their intentions and conform to unwritten…
Walkability has many health, environmental, and economic benefits. That is why web and mobile services have been offering ways of computing walkability scores of individual street segments. Those scores are generally computed from survey…
This paper presents a joint effort towards the development of a data-driven Social Robot Navigation metric to facilitate benchmarking and policy optimization for ground robots. We compiled a dataset with 4427 trajectories -- 182 real and…