101 research outputs found
System Issues in Multi-agent Simulation of Large Crowds
Crowd simulation is a complex and challenging domain. Crowds demonstrate many complex behaviours and are consequently difficult to model for realistic simulation systems. Analyzing crowd dynamics has been an active area of research and efforts have been made to develop models to explain crowd behaviour. In this paper we describe an agent based simulation of crowds, based on a continuous field force model. Our simulation can handle movement of crowds over complex terrains and we have been able to simulate scenarios like clogging of exits during emergency evacuation situations. The focus of this paper, however, is on the scalability issues for such a multi-agent based crowd simulation system. We believe that scalability is an important criterion for rescue simulation systems. To realistically model a disaster scenario for a large city, the system should ideally scale up to accommodate hundreds of thousands of agents. We discuss the attempts made so far to meet this challenge, and try to identify the architectural and system constraints that limit scalability. Thereafter we propose a novel technique which could be used to richly simulate huge crowds
Implementation of Web-based Event-driven Activity Execution in CapBasED-AMS
The CapBasED-AMS (Capability-based and Event-driven Activity Management System) is a workflow system developed in [5] deals with the management and execution of activities. A Problem Solving Agent (PSA) is a human, or a hardware system, or a software system having an ability to execute activities. An activity consists of multiple inter-dependent tasks that need to be coordinated, scheduled and executed by a set of PSAs. The activity execution is based on the occurrence of events. That is, a PSA after completion of a task (atomic activity) generates events, which are captured by the activity management system, for initiating the execution of the next task. In this paper, we describe three-tier system architecture to implement Web-based event-driven activity execution of CapBasED-AMS
Decentralized MPC based Obstacle Avoidance for Multi-Robot Target Tracking Scenarios
In this work, we consider the problem of decentralized multi-robot target
tracking and obstacle avoidance in dynamic environments. Each robot executes a
local motion planning algorithm which is based on model predictive control
(MPC). The planner is designed as a quadratic program, subject to constraints
on robot dynamics and obstacle avoidance. Repulsive potential field functions
are employed to avoid obstacles. The novelty of our approach lies in embedding
these non-linear potential field functions as constraints within a convex
optimization framework. Our method convexifies non-convex constraints and
dependencies, by replacing them as pre-computed external input forces in robot
dynamics. The proposed algorithm additionally incorporates different methods to
avoid field local minima problems associated with using potential field
functions in planning. The motion planner does not enforce predefined
trajectories or any formation geometry on the robots and is a comprehensive
solution for cooperative obstacle avoidance in the context of multi-robot
target tracking. We perform simulation studies in different environmental
scenarios to showcase the convergence and efficacy of the proposed algorithm.
Video of simulation studies: \url{https://youtu.be/umkdm82Tt0M
- …