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Register a new userOptimized leaders strategies for crowd evacuation in unknown environments with multiple exits
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Added by
Chiara Segala
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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In this chapter, we discuss the mathematical modeling of egressing pedestrians in an unknown environment with multiple exits. We investigate different control problems to enhance the evacuation time of a crowd of agents, by few informed individuals, named leaders. Leaders are not recognizable as such and consist of two groups: a set of unaware leaders moving selfishly toward a fixed target, whereas the rest is coordinated to improve the evacuation time introducing different performance measures. Follower-leader dynamics is initially described microscopically by an agent-based model, subsequently a mean-field type model is introduced to approximate the large crowd of followers. The mesoscopic scale is efficiently solved by a class of numerical schemes based on direct simulation Monte-Carlo methods. Optimization of leader strategies is performed by a modified compass search method in the spirit of metaheuristic approaches. Finally, several virtual experiments are studied for various control settings and environments.
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Navigation tasks often cannot be defined in terms of a target, either because global position information is unavailable or unreliable or because target location is not explicitly known a priori. This task is then often defined indirectly as a source seeking problem in which the autonomous agent navigates so as to minimize the convex potential induced by a source while avoiding obstacles. This work addresses this problem when only scalar measurements of the potential are available, i.e., without gradient information. To do so, it construct an artificial potential over which an exact gradient dynamics would generate a collision-free trajectory to the target in a world with convex obstacles. Then, leveraging extremum seeking control loops, it minimizes this artificial potential to navigate smoothly to the source location. We prove that the proposed solution not only finds the source, but does so while avoiding any obstacle. Numerical results with velocity-actuated particles, simulations with an omni-directional robot in ROS+Gazebo, and a robot-in-the-loop experiment are used to illustrate the performance of this approach.
Two major problems in modern cities are air contamination and road congestion. They are closely related and present a similar origin: traffic flow. To face these problems, local governments impose traffic restrictions to prevent the entry of vehicles into sensitive areas, with the final aim of dropping down air pollution levels. However, these restrictions force drivers to look for alternative routes that usually generate congestions, implying both longer travel times and higher levels of air pollution. In this work, combining optimal control of partial differential equations and computational modelling, we formulate a multi-objective control problem with air pollution and drivers travel time as objectives and look for its optimal solutions in the sense of Stackelberg. In this problem, local government (the leader) implements traffic restrictions meanwhile the set of drivers (the follower) acts choosing travel preferences against leader constraints. Numerically, the discretized problem is solved by combining genetic-elitist algorithms and interior-point methods, and computational results for a realistic case posed in the Guadalajara Metropolitan Area (Mexico) are shown.
In an emergency situation, imitation of strategies of neighbours can lead to an order-disorder phase transition, where spatial clusters of pedestrians adopt the same strategy. We assume that there are two strategies, cooperating and competitive, which correspond to a smaller or larger desired velocity. The results of our simulations within the Social Force Model indicate that the ordered phase can be detected as an increase of spatial order of positions of the pedestrians in the crowd.
Statistical analysis of massive datasets very often implies expensive linear algebra operations with large dense matrices. Typical tasks are an estimation of unknown parameters of the underlying statistical model and prediction of missing values. We developed the H-MLE procedure, which solves these tasks. The unknown parameters can be estimated by maximizing the joint Gaussian log-likelihood function, which depends on a covariance matrix. To decrease high computational cost, we approximate the covariance matrix in the hierarchical (H-) matrix format. The H-matrix technique allows us to work with inhomogeneous covariance matrices and almost arbitrary locations. Especially, H-matrices can be applied in cases when the matrices under consideration are dense and unstructured. For validation purposes, we implemented three machine learning methods: the k-nearest neighbors (kNN), random forest, and deep neural network. The best results (for the given datasets) were obtained by the kNN method with three or seven neighbors depending on the dataset. The results computed with the H-MLE method were compared with the results obtained by the kNN method. The developed H-matrix code and all datasets are freely available online.
Policy iteration is a widely used technique to solve the Hamilton Jacobi Bellman (HJB) equation, which arises from nonlinear optimal feedback control theory. Its convergence analysis has attracted much attention in the unconstrained case. Here we analyze the case with control constraints both for the HJB equations which arise in deterministic and in stochastic control cases. The linear equations in each iteration step are solved by an implicit upwind scheme. Numerical examples are conducted to solve the HJB equation with control constraints and comparisons are shown with the unconstrained cases.
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