ICRA 2011 Paper Abstract


Paper WeA212.3

Yamamoto, Ko (Tokyo Institute of Technology), Okada, Masafumi (Tokyo Institute of Technology)

Continuum Model of Crossing Pedestrian Flows and Swarm Control Based on Temporal/Spatial Frequency

Scheduled for presentation during the Regular Sessions "Cooperative Control for Multiple Robots" (WeA212), Wednesday, May 11, 2011, 10:35−10:50, Room 5H

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Path Planning for Multiple Mobile Robots or Agents, Autonomous Navigation, Agent-Based Systems


In the densely-populated urban areas, pedestrian flows often cross each other and congestion occurs. It may cause to discomfort feeling or pedestrian accidents. In order to reduce the congestion or the risk of accidents, it is required to control swarm flows of pedestrian. This paper proposes an implicit control method of the crossing pedestrian flows. Pedestrian flow is modeled by the continuum fluid model and its congestion degree is calculated as the fluid density. From a simulation of the crossing flows with the continuum model, it is verified that diagonal stripe pattern of the congestion degree emerges. Moreover, the authors propose an implicit control method to improve average flow velocity by moving guides. Focusing on periodic phenomenon of the crossing flows, we investigate the relationship between its temporal and spatial frequency and a periodic motion of guides. From this relationship, a control method based on the temporal and spatial frequency is proposed.



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