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Socially compliant mobile robot navigation via inverse reinforcement learning

Henrik Kretzschmar, Markus Spies, Christoph Sprunk, Wolfram Burgard
2016 The international journal of robotics research  
To interact with humans in a socially compliant way, these robots need to understand and comply with mutually accepted rules.  ...  To compute the feature expectations over the resulting high-dimensional continuous distributions, we use Hamiltonian Markov chain Monte Carlo sampling.  ...  Acknowledgment This work has partly been supported by the German Research Foundation (DFG) under contract number SFB/TR-8, and by the EC under contract number FP7-610603.  ... 
doi:10.1177/0278364915619772 fatcat:p6ik2qdqqzhpxlegvswjs5wrai

Pedestrian Models for Autonomous Driving Part II: high level models of human behaviour [article]

Fanta Camara, Nicola Bellotto, Serhan Cosar, Florian Weber, Dimitris Nathanael, Matthias Althoff, Jingyuan Wu, Johannes Ruenz, André Dietrich, Gustav Markkula, Anna Schieben, Fabio Tango, Natasha Merat (+1 others)
2020 arXiv   pre-print
Unlike static and kinematic obstacles, pedestrians are active agents with complex, interactive motions.  ...  This self-contained Part II covers the higher levels of this stack, consisting of models of pedestrian behaviour, from prediction of individual pedestrians' likely destinations and paths, to game theoretic  ...  The model in [122] learns features from observed pedestrian behaviors using a Markov Chain Monte Carlo (MCMC) sampling and performs a Turing test with human participants to validate the human-like behavior  ... 
arXiv:2003.11959v1 fatcat:acjjwohahvdlxgy56j45fjtkdq

A Survey of Image Processing Techniques for Identification and Tracking of Objects from a Video Sequence

Farhana Wani, Adeel Ahmed khan, Dr. S Basavaraj Patil
2014 International Journal of Computer & Organization Trends  
In this paper, we provide a brief overview of the techniques for object detection and tracking as well as some insights to the behavior of the crowd.  ...  In general, the processing framework of visual surveillance task includes the following stages: detection of moving objects, their classification, tracking, and identification of the behavior.  ...  on the direct interaction between pedestrians, they are not as appropriate for predicting pedestrian groups as for evacuation planning.  ... 
doi:10.14445/22492593/ijcot-v6p306 fatcat:psqtnx36erc47pzvnegmimmfpm

Distributed System for Crossroads Traffic Surveillance with Prediction of Incidents

Margarita Favorskaya, Euvgenii Kazmiruk, Aleksei Popov
2014 Procedia Computer Science  
Then the Kalman filter is applied for vehicles' motion analysis, and the particle filter is used for analysis of pedestrians' behavior assuming that pedestrians are the weakly predictable objects on the  ...  The visual tracking techniques become more complex with a high computational cost.  ...  , and the Markov Chain Monte Carlo method [9] , among others.  ... 
doi:10.1016/j.procs.2014.08.252 fatcat:5za6b5ibunhsnmr7ailsct2x7e

Navigation and steering for autonomous virtual humans

Mubbasir Kapadia, Norman I. Badler
2013 Wiley Interdisciplinary Reviews: Cognitive Science  
fundamental problems that must be addressed to produce functional, purposeful autonomous populaces: (1) Navigation: finding a collision-free global path from an agent's start position to its target in large complex  ...  environments, and (2) Steering: moving an agent along the path while avoiding static and dynamic threats such as other agents.  ...  Queuing approaches (39) use Markov chain models to describe how pedestrians move from one node of the network to another.  ... 
doi:10.1002/wcs.1223 pmid:26304204 fatcat:cau3mxzcwzcu5hlrdzhiox2qou

Reciprocal Estimation of Pedestrian Location and Motion State toward a Smartphone Geo-Context Computing Solution

Jingbin Liu, Lingli Zhu, Yunsheng Wang, Xinlian Liang, Juha Hyyppä, Tianxing Chu, Keqiang Liu, Ruizhi Chen
2015 Micromachines  
Pedestrian location and motion states are estimated jointly under the framework of hidden Markov models, and they are used in a reciprocal manner to improve their estimation performance of one another.  ...  It is demonstrated that pedestrian location estimation has better accuracy when its motion state is known, and in turn, the performance of motion state recognition can be improved with increasing reliability  ...  All authors helped with the paper writing and reviewed the text.  ... 
doi:10.3390/mi6060699 fatcat:ils33kwblne7pbyk2lgn7guhde

Human Motion Trajectory Prediction: A Survey [article]

Andrey Rudenko, Luigi Palmieri, Michael Herman, Kris M. Kitani, Dariu M. Gavrila, Kai O. Arras
2019 arXiv   pre-print
With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important.  ...  Specifically, predicting future positions of dynamic agents and planning considering such predictions are key tasks for self-driving vehicles, service robots and advanced surveillance systems.  ...  Lilienthal for valuable feedback and suggestions.  ... 
arXiv:1905.06113v3 fatcat:cnomix2fs5gqvb6ormldgti2bm


2021 IEEE Transactions on Intelligent Vehicles  
The tests are repeated along roads with icy slopes, and the superiority of the energy optimal controller is verified for roads with low friction coefficients.  ...  In this paper, an energy optimal controller is designed with torque, speed and battery constraints, and detailed sensitivity analyses are performed.  ...  The tests reveal that the advantage of more complex models is less that they better predict the vehicle's behavior, but that they provide a more nuanced view of the vehicle's limits and guidance on the  ... 
doi:10.1109/tiv.2021.3090562 fatcat:d5pzx3h3e5eu3hxqiflrl7yjei

Modeling and Simulation of Urban Growth in the Use of Industry 4.0

Erdal Ozbay, Feyza Altunbey Ozbay
2020 International journal of computer science and mobile computing  
Neural Networks, Markov Chains, Cellular Automaton, Logistic Regression, and SLEUTH model have been examined.  ...  Along with the developing technologies, Remote Sensing (RS), Geographic Information Systems (GIS), and simulation models are used to see the results of industrial growth effects and to create predictions  ...  Nowadays, this basic idea is used to better understand or predict occurrences such as pedestrian behavior, escape, and panic dynamics, the spread of forest fires, population growth, and migration [34]  ... 
doi:10.47760/ijcsmc.2020.v09i11.003 fatcat:epc7fr3y65a6nknn7a3v73wv6q

Parametric study of concrete box-girder footbridges

Victor Yepes, E. Perez-Lopez, J. Alcala, T. García-Segura
2018 Journal of Construction Engineering Management & Innovation  
Thus, this paper shows the relationship between the span length and geometrical and steel variables to produce and build a cost-efficient pedestrian bridge.  ...  Results show that the amount of steel and volume of concrete per square meter of deck shows a good correlation with the main span length.  ...  Acknowledgments This research was financially supported by the Spanish Ministry of Economy and Competitiveness along with FEDER funding (Project BIA2014-56574-R and Project BIA2017-85098-R).  ... 
doi:10.31462/jcemi.2018.01067074 fatcat:5vytoi3n6nhxlo24g5infwcswy

ORCLSim: A System Architecture for Studying Bicyclist and Pedestrian Physiological Behavior Through Immersive Virtual Environments [article]

Xiang Guo, Austin Angulo, Erin Robartes, T. Donna Chen, Arsalan Heydarian
2021 arXiv   pre-print
To better inform design for vulnerable road users, we need to conduct more studies to evaluate how bicyclist and pedestrian behavior and physiological states change in different roadway designs and contextual  ...  In this paper, we propose a framework ORCLSim, to support human sensing techniques within IVE to evaluate bicyclist and pedestrian physiological and behavioral changes in different contextual settings.  ...  We define a Markov Chain with the following transition rule: with probability 𝑝 𝑖 , a new change point at the location 𝑖 is introduced.  ... 
arXiv:2112.03420v1 fatcat:vl4gzbfbhbdxlpo3jtwkquzu4i

Agents and Causes: Dispositional Intuitions As a Guide to Causal Structure

Ralf Mayrhofer, Michael R. Waldmann
2014 Cognitive Science  
As predicted by the model, the size of Markov violations was influenced by the location of the agents and was moderated by the causal structure and the type of causal variables.  ...  and patients endowed with intrinsic dispositions.  ...  Acknowledgments We wish to thank Marie-Theres Kater and Mira Holzer for assistance in data collection, and Marc Buehner, Noah Goodman, Tom Griffiths, York Hagmayer, Josh Tenenbaum, and two anonymous reviewers  ... 
doi:10.1111/cogs.12132 pmid:24831193 fatcat:pwe3i65llrdyddo2gavdjwhaqi

Intelligent video surveillance: a review through deep learning techniques for crowd analysis

G. Sreenu, M. A. Saleem Durai
2019 Journal of Big Data  
Big data applications are consuming most of the space in industry and research area.  ...  Various deep learning methods are compared in terms of their algorithms and models.  ...  Further enhancements are needed in dealing with complex events specifically in areas like calibration and noise elimination.  ... 
doi:10.1186/s40537-019-0212-5 fatcat:mh7d5d5c5zeczf5sdmgwz3claq

20 Years of Mobility Modeling Prediction: Trends, Shortcomings Perspectives [article]

Vaibhav Kulkarni, Benoit Garbinato
2019 arXiv   pre-print
We also observe troubling trends with respect to application of Markov model variants for modeling mobility, despite the questionable association of Markov processes and human-mobility dynamics.  ...  We offer these results to the community along with the tools and the literature meta-data in order to improve the reliability and credibility of human mobility modeling research.  ...  [10] , hidden semi-Markov model [45] , mobility Markov chain [13] , extended mobility Markov chain [2] , variable order Markov model [44] , hierarchical hidden Markov model [6] and spherical hidden  ... 
arXiv:1906.07451v1 fatcat:yqrwd2zhpvcppdopb3wzakr5b4

Mobility Prediction: A Survey on State-of-the-Art Schemes and Future Applications

Hongtao Zhang, Lingcheng Dai
2019 IEEE Access  
Specifically, an overview of the state-of-the-art approaches is provided, including Markov chain, hidden Markov model, artificial neural network, Bayesian network, and data mining based on different kinds  ...  In this paper, the necessity of mobility prediction, together with its intrinsic characteristics in terms of movement predictability, prediction outputs, and performance metrics is discussed.  ...  MARKOV CHAIN A Markov chain is a stochastic process with the Markov property ''memoryless''. The term ''Markov chain'' refers to the sequence of random variables such a process moves through.  ... 
doi:10.1109/access.2018.2885821 fatcat:uz74ihsawbgw3g4xnkt4m5bvoe
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