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Understanding human behavior is crucial for planning evacuation strategies when an emergency occurs. The social force model, which is a successful quantitative model, has been widely used in investigating human behavior. In this paper, we propose a gradient descent based parameter optimization method to learn the parameters of the social force model from experimental data. Although the original social...
Understanding human mobility is important for the development of intelligent mobile service robots as it can provide prior knowledge and predictions of human distribution for robot-assisted activities. In this paper, we propose a probabilistic method to model human motion behaviors which is determined by both internal and external factors in an indoor environment. While the internal factors are represented...
We consider the problem of controlling coupled identical, planar particles in the polar coordinate to achieve various collective motions. We first introduce a model that allows amplitude and phase coordination by decomposing particles' positions into the amplitude and phase states. Then we present two control algorithms based on this model. The convergence analysis shows that under different coordination...
In this paper, we study the synchronization problem of networked uncertain Lagrangian systems on directed communication topologies. For the nominal model, we propose a backstepping-based synchronization design for heterogenous Lagrangian systems on digraphs with a spanning tree. We relax the feedback gain constraints on the distributed synchronization control law which encompasses the existing double...
The semantic structure of scene is important information used for interpretation of object behavior or event detection in video surveillance system. In this paper, we propose an automatic method for learning models of semantic region by analyzing the trajectories of moving objects in the scene. First, the trajectory is encoded to represent both the position of the object and its instantaneous velocity...
This paper investigates the effective coverage problem over an n-dimensional space of a mobile sensor system. We assume the sensor agent in the system has limited sensing range and communication range. We define the effective coverage problem as to achieve the maximum coverage and total communication distance minimized. We proposed decentralized control law to deploy mobile sensors achieve coverage...
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