Reactive Navigation in Crowds for Non-holonomic Robots with Convex Bounding Shape

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Accurate human trajectory prediction is crucial for applications such as autonomous vehicles, robotics, and surveillance systems. Yet, existing models often fail to fully leverage the non-verbal social cues human subconsciously communicate when navigating ...

The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...

One significant and simultaneously interesting problem in urban mobility has to do with the study of shared spaces where various categories of users coexist and act together. This paper aims to examine the behavior and preferences of pedestrians and cyclis ...

Non-convex constrained optimization problems have become a powerful framework for modeling a wide range of machine learning problems, with applications in k-means clustering, large- scale semidefinite programs (SDPs), and various other tasks. As the perfor ...

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

In this paper, we study the rank-one convex hull of a differential inclusion associated to entropy solutions of a hyperbolic system of conservation laws. This was introduced in [B. Kirchheim, S. Muller and V. S(sic)ver & aacute;k, Studying Nonlinear PDE by ...

Forecasting pedestrians' future motions is essential for autonomous driving systems to safely navigate in urban areas. However, existing prediction algorithms often overly rely on past observed trajectories and tend to fail around abrupt dynamic changes, s ...

Moving walkways are pedestrian dedicated hardware which generally decrease pedestrian travel time. We propose the utilization of these devices to dynamically control pedestrian flows in order to improve pedestrian dynamics. Three variations of a control st ...

Autonomous mobility devices such as transport, cleaning, and delivery robots, hold a massive economic and social benefit. However, their deployment should not endanger bystanders, particularly vulnerable populations such as children and older adults who ar ...

This paper proposes a method for the construction of quadratic serendipity element (QSE) shape functions on planar convex and concave polygons. Existing approaches for constructing QSE shape functions are linear combinations of the pair-wise products of ge ...

This work develops new algorithms with rigorous efficiency guarantees for infinite horizon imitation learning (IL) with linear function approximation without restrictive coherence assumptions. We begin with the minimax formulation of the problem and then o ...

We relate discrepancy theory with the classic scheduling problems of minimizing max flow time and total flow time on unrelated machines. Specifically, we give a general reduction that allows us to transfer discrepancy bounds in the prefix Beck-Fiala (bound ...

There has been a recent surge of interest in the study of asymptotic reconstruction performance in various cases of generalized linear estimation problems in the teacher-student setting, especially for the case of i.i.d standard normal matrices. Here, we g ...

Pedestrians, like drivers, generally dislike congestion. This is true for most pedestrian environments: trains stations, airports, or shopping malls. Furthermore, pedestrian congestion also influences the attractiveness of public transportation networks. T ...

We consider the problem of finding a saddle point for the convex-concave objective

\min_x \max_y f(x) + \langle Ax, y\rangle - g^*(y)

, where

f

is a convex function with locally Lipschitz gradient and

g

is convex and possibly non-smooth. We propose an ...

It has been experimentally observed that the efficiency of distributed training with stochastic gradient (SGD) depends decisively on the batch size and—in asynchronous implementations—on the gradient staleness. Especially, it has been observed that the spe ...

Soon human-robot interactions in pedestrian areas will be beyond the novelty effect with the deployment of delivery robots, autonomous personal mobility vehicles, and surveillance robots. Proxemics and other social rules guide these interactions, nonethele ...

Network information theory studies the communication of information in a network and considers its fundamental limits. Motivating from the extensive presence of the networks in the daily life, the thesis studies the fundamental limits of particular network ...

Exploiting the full potential of pedestrian infrastructure is becoming critical in many environments which cannot be easily expanded to cope with the increasing pedestrian demand. This is particularly true for train stations as in many dense cities space i ...

Combining diffusion strategies with complementary properties enables enhanced performance when they can be run simultaneously. In this article, we first propose two schemes for the convex combination of two diffusion strategies, namely, the power-normalize ...

Reactive Navigation in Crowds for Non-holonomic Robots with Convex Bounding Shape

Chattez avec Graph Search

Social-Transmotion: Promptable Human Trajectory Prediction

Geometric and Learning Methods for Robots to Navigate in Human Crowds with Application to Smart Mobility Devices

Pedestrian Crossings as a Means of Reducing Conflicts between Cyclists and Pedestrians in Shared Spaces

Augmented Lagrangian Methods for Provable and Scalable Machine Learning

Implicit Distance Functions: Learning and Applications in Robotics

T-5 configurations and hyperbolic systems

Pedestrian Stop and Go Forecasting with Hybrid Feature Fusion

Controlling pedestrian flows with moving walkways

Crash test-based assessment of injury risks for adults and children when colliding with personal mobility devices and service robots

Quadratic serendipity element shape functions on general planar polygons

Proximal Point Imitation Learning

Flow Time Scheduling and Prefix Beck-Fiala

Asymptotic Errors for Teacher-Student Convex Generalized Linear Models (Or: How to Prove Kabashima’s Replica Formula)

Dynamic control strategies for managing pedestrian flows

A first-order primal-dual method with adaptivity to local smoothness

Critical Parameters for Scalable Distributed Learning with Large Batches and Asynchronous Updates

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Feedback and Common Information: Bounds and Capacity for Gaussian Networks

Design and analysis of control strategies for pedestrian flows

Convex Combination of Diffusion Strategies Over Networks