Multi-Robot-Guided Crowd Evacuation: Two-Scale Modeling and Control

Emergency evacuation describes a complex situation involving time-critical decision-making by evacuees. Mobile robots are being actively explored as a potential solution to provide timely guidance. In this work, we study a robot-guided crowd evacuation problem where a small group of robots is used to guide a large human crowd to safe locations. The challenge lies in how to use micro-level human-robot interactions to indirectly influence a population that significantly outnumbers the robots to achieve the collective evacuation objective. To address the challenge, we follow a two-scale modeling strategy and explore hydrodynamic models, which consist of a family of microscopic social force models that describe how human movements are locally affected by other humans, the environment, and robots, and associated macroscopic equations for the temporal and spatial evolution of the crowd density and flow velocity. We design controllers for the robots such that they not only automatically explore the environment (with unknown dynamic obstacles) to cover it as much as possible, but also dynamically adjust the directions of their local navigation force fields based on the real-time macrostates of the crowd to guide the crowd to a safe location. We prove the stability of the proposed evacuation algorithm and conduct extensive simulations to investigate the performance of the algorithm with different combinations of human numbers, robot numbers, and obstacle settings

Fireground location understanding by semantic linking of visual objects and building information models

This paper presents an outline for improved localization and situational awareness in fire emergency situations based on semantic technology and computer vision techniques. The novelty of our methodology lies in the semantic linking of video object recognition results from visual and thermal cameras with Building Information Models (BIM). The current limitations and possibilities of certain building information streams in the context of fire safety or fire incident management are addressed in this paper. Furthermore, our data management tools match higher-level semantic metadata descriptors of BIM and deep-learning based visual object recognition and classification networks. Based on these matches, estimations can be generated of camera, objects and event positions in the BIM model, transforming it from a static source of information into a rich, dynamic data provider. Previous work has already investigated the possibilities to link BIM and low-cost point sensors for fireground understanding, but these approaches did not take into account the benefits of video analysis and recent developments in semantics and feature learning research. Finally, the strengths of the proposed approach compared to the state-of-the-art is its (semi -)automatic workflow, generic and modular setup and multi-modal strategy, which allows to automatically create situational awareness, to improve localization and to facilitate the overall fire understanding

An information theory based behavioral model for agent-based crowd simulations

Crowds must be simulated believable in terms of their appearance and behavior to improve a virtual environment’s realism. Due to the complex nature of human behavior, realistic behavior of agents in crowd simulations is still a challenging problem. In this paper, we propose a novel behavioral model which builds analytical maps to control agents’ behavior adaptively with agent-crowd interaction formulations. We introduce information theoretical concepts to construct analytical maps automatically. Our model can be integrated into crowd simulators and enhance their behavioral complexity. We made comparative analyses of the presented behavior model with measured crowd data and two agent-based crowd simulators

Intelligent Escape of Robotic Systems: A Survey of Methodologies, Applications, and Challenges

Intelligent escape is an interdisciplinary field that employs artificial intelligence (AI) techniques to enable robots with the capacity to intelligently react to potential dangers in dynamic, intricate, and unpredictable scenarios. As the emphasis on safety becomes increasingly paramount and advancements in robotic technologies continue to advance, a wide range of intelligent escape methodologies has been developed in recent years. This paper presents a comprehensive survey of state-of-the-art research work on intelligent escape of robotic systems. Four main methods of intelligent escape are reviewed, including planning-based methodologies, partitioning-based methodologies, learning-based methodologies, and bio-inspired methodologies. The strengths and limitations of existing methods are summarized. In addition, potential applications of intelligent escape are discussed in various domains, such as search and rescue, evacuation, military security, and healthcare. In an effort to develop new approaches to intelligent escape, this survey identifies current research challenges and provides insights into future research trends in intelligent escape.Comment: This paper is accepted by Journal of Intelligent and Robotic System

Training of Crisis Mappers and Map Production from Multi-sensor Data: Vernazza Case Study (Cinque Terre National Park, Italy)

This aim of paper is to presents the development of a multidisciplinary project carried out by the cooperation between Politecnico di Torino and ITHACA (Information Technology for Humanitarian Assistance, Cooperation and Action). The goal of the project was the training in geospatial data acquiring and processing for students attending Architecture and Engineering Courses, in order to start up a team of "volunteer mappers". Indeed, the project is aimed to document the environmental and built heritage subject to disaster; the purpose is to improve the capabilities of the actors involved in the activities connected in geospatial data collection, integration and sharing. The proposed area for testing the training activities is the Cinque Terre National Park, registered in the World Heritage List since 1997. The area was affected by flood on the 25th of October 2011. According to other international experiences, the group is expected to be active after emergencies in order to upgrade maps, using data acquired by typical geomatic methods and techniques such as terrestrial and aerial Lidar, close-range and aerial photogrammetry, topographic and GNSS instruments etc.; or by non conventional systems and instruments such us UAV, mobile mapping etc. The ultimate goal is to implement a WebGIS platform to share all the data collected with local authorities and the Civil Protectio

Role of opinion sharing on the emergency evacuation dynamics

Emergency evacuation is a critical research topic and any improvement to the existing evacuation models will help in improving the safety of the evacuees. Currently, there are evacuation models that have either an accurate movement model or a sophisticated decision model. Individuals in a crowd tend to share and propagate their opinion. This opinion sharing part is either implicitly modeled or entirely overlooked in most of the existing models. Thus, one of the overarching goal of this research is to the study the effect of opinion evolution through an evacuating crowd. First, the opinion evolution in a crowd was modeled mathematically. Next, the results from the analytical model were validated with a simulation model having a simple motion model. To improve the fidelity of the evacuation model, a more realistic movement and decision model were incorporated and the effect of opinion sharing on the evacuation dynamics was studied extensively. Further, individuals with strong inclination towards particular route were introduced and their effect on overall efficiency was studied. Current evacuation guidance algorithms focuses on efficient crowd evacuation. The method of guidance delivery is generally overlooked. This important gap in guidance delivery is addressed next. Additionally, a virtual reality based immersive experiment is designed to study factors affecting individuals\u27 decision making during emergency evacuation

Human-in-the-loop simulation based system for more effective allocation and training of experimenters' groups in stimulation of biotechnological processes

In the case of biotechnological processes, a proper conduction of experiments requires particular attention and skills. This is due to possibilities of causing irreversible damages to living microorganisms when making wrong decisions. In the considered case, two experimenters are enough to conduct a single experiment, but when taking into account the maintenance of process continuity (there is no possibility of stopping the process), then it is necessary to involve more experimenters working in sequentially changing groups. Due to the need to eliminate possible errors, the choice of experimental groups is crucial. In this paper, it is proposed to use human-in-the-loop simulation procedure for selection of experimental groups and for their training before making experiments on real process. For simulation purposes, the process simulator and the collection of processing data were used. This allowed to perform the human-in-the-loop simulations, and then, based on the obtained simulation results, to choose the experimental groups including social conditioning of experimenters

Pedestrian Models for Autonomous Driving Part II: High-Level Models of Human Behavior

Abstract—Autonomous vehicles (AVs) must share space with pedestrians, both in carriageway cases such as cars at pedestrian crossings and off-carriageway cases such as delivery vehicles navigating through crowds on pedestrianized high-streets. Unlike static obstacles, pedestrians are active agents with complex, inter- active motions. Planning AV actions in the presence of pedestrians thus requires modelling of their probable future behaviour as well as detecting and tracking them. This narrative review article is Part II of a pair, together surveying the current technology stack involved in this process, organising recent research into a hierarchical taxonomy ranging from low-level image detection to high-level psychological models, from the perspective of an AV designer. 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 models of interactions between pedestrians and autonomous vehicles. This survey clearly shows that, although there are good models for optimal walking behaviour, high-level psychological and social modelling of pedestrian behaviour still remains an open research question that requires many conceptual issues to be clarified. Early work has been done on descriptive and qualitative models of behaviour, but much work is still needed to translate them into quantitative algorithms for practical AV control

Robot-Assisted Crowd Evacuation under Emergency Situations: A Survey

In the case of emergency situations, robotic systems can play a key role and save human lives in recovery and evacuation operations. To realize such a potential, we have to address many scientific and technical challenges encountered during robotic search and rescue missions. This paper reviews current state-of-the-art robotic technologies that have been deployed in the simulation of crowd evacuation, including both macroscopic and microscopic models used in simulating a crowd. Existing work on crowd simulation is analyzed and the robots used in crowd evacuation are introduced. Finally, the paper demonstrates how autonomous robots could be effectively deployed in disaster evacuation, as well as search and rescue missions