We present a new algorithm for simulating large-scale crowds at interactive rates based on
the Principle of Least Effort. Our approach uses an optimization method to compute a …

In this paper, we present a formal approach to reciprocal n-body collision avoidance, where
multiple mobile robots need to avoid collisions with each other while moving in a common …

We present a new technique to generate heterogeneous crowd behaviors using personality
trait theory. Our formulation is based on adopting results of a user study to derive a mapping …

We present the hybrid reciprocal velocity obstacle for collision-free and oscillation-free
navigation of multiple mobile robots or virtual agents. Each robot senses its surroundings and …

We present a new local collision avoidance algorithm between multiple agents for real-time
simulations. Our approach extends the notion of velocity obstacles from robotics and …

Human crowds often bear a striking resemblance to interacting particle systems, and this has
prompted many researchers to describe pedestrian dynamics in terms of interaction forces …

We present an approach for collision avoidance for mobile robots that takes into account
acceleration constraints. We discuss both the case of navigating a single robot among moving …

We present an information-theoretic method to measure the similarity between a given set of
observed, real-world data and visual simulation technique for aggregate crowd motions of a …

We introduce a novel, online method to predict pedestrian trajectories using agent-based
velocity-space reasoning for improved human–robot interaction and collision-free navigation. …

We present a method for smooth and collision-free navigation for multiple independent
robots under differential-drive constraints. Our algorithm is based on the optimal reciprocal …