相关论文: Leveraging Sidewalk Robots for Walkability-Related…
Incident in water distribution systems (WDS) cause water loss and water contamination that requires the utility managers to assess the condition of pipelines in a timely manner. However, pipelines are long and access to all parts of it is a…
Stochastic models of diffusion are routinely used to study dispersal of populations, including populations of animals, plants, seeds and cells. Advances in imaging and field measurement technologies mean that data are often collected across…
In this work, we present a transformer-based framework for predicting future pedestrian states based on clustered historical trajectory data. In previous studies, researchers propose enhancing pedestrian trajectory predictions by using…
Predicting human trajectories is a challenging task due to the complexity of pedestrian behavior, which is influenced by external factors such as the scene's topology and interactions with other pedestrians. A special challenge arises from…
Despite the advent of wearable devices and the proliferation of smartphones, there still is no ideal platform that can continuously sense and precisely collect all available contextual information. Ideally, mobile sensing data collection…
Pedestrian safety continues to be a significant concern in urban communities and pedestrian distraction is emerging as one of the main causes of grave and fatal accidents involving pedestrians. The advent of sophisticated mobile and…
We present the concept of speed maps: speed limits for mobile robots in human environments. Static speed maps allow for faster navigation on corridors while limiting the speed around corners and in rooms. Dynamic speed maps put limits on…
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise…
As sidewalk delivery robots become increasingly integrated into urban life, this paper begins with a critical provocation: Is robot labor labor? More than a rhetorical question, this inquiry invites closer attention to the social and…
As more and more people continue to live in highly urbanised areas across the globe, reliable accessibility to amenities and services plays a vital role in sustainable development. One of the challenges in addressing this issue is the…
In the wake of the pandemic, the inadequacy of urban sidewalks to comply with social distancing remains untackled in academy. Beyond isolated efforts (from sidewalk widenings to car-free Open Streets), there is a need for a large-scale and…
Dynamic bipedal robot locomotion has achieved remarkable success due in part to recent advances in trajectory generation and nonlinear control for stabilization. A key assumption utilized in both theory and experiments is that the robot's…
Locomotion on granular slopes such as sand dunes remains a fundamental challenge for legged robots due to reduced shear strength and gravity-induced anisotropic yielding of granular media. Using a hexapedal robot on a tiltable granular bed,…
The emerging ``Floor plan from human trails (PfH)" technique has great potential for improving indoor robot navigation by predicting the traversability of occluded floors. This study presents an innovative approach that replaces…
Cycling is reported by an average of 35\% of adults at least once per week across 28 countries, and as vulnerable road users directly exposed to their surroundings, cyclists experience the street at an intensity unmatched by other modes.…
Many-legged elongated robots show promise for reliable mobility on rugged landscapes. However, most studies on these systems focus on planar motion planning without addressing rapid vertical motion. Despite their success on mild rugged…
Planning assessment of the urban walking infrastructure requires appropriate methodologies that can capture the time-dependent and unique microscopic characteristics of bidirectional pedestrian flow. In this paper, we develop a…
Most existing mobile robotic datasets primarily capture static scenes, limiting their utility for evaluating robotic performance in dynamic environments. To address this, we present a mobile robot oriented large-scale indoor dataset,…
Legged robots face significant challenges in navigating complex environments, as they require precise real-time decisions for foothold selection and contact planning. While existing research has explored methods to select footholds based on…
Human mobility patterns refer to the regularities and trends in the way people move, travel, or navigate through different geographical locations over time. Detecting human mobility patterns is essential for a variety of applications,…