Collision Avoidance

Publications

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Simulating Movement Interactions between Avatars & Agents in Virtual Worlds using Human Motion Constraints  2018.
IEEE VR 2018

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PSCC: Parallel Self-Collision Culling with Spatial Hashing on GPUs  2018.
Proceedings of ACM Symposium on Interactive 3D Graphics and Games

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Fast and Bounded Probabilistic Collision Detection for High-DOF Trajectory Planning in Dynamic Environments  2018.
IEEE Transactions on Automation Science and Engineering

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Modeling Trajectory-level Behaviors using Time Varying Pedestrian Movement Dynamics  2018.
Collective Dynamics

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PORCA: Modeling and Planning for Autonomous Driving among Many Pedestrians  2018.
IEEE ROBOTICS AND AUTOMATION LETTERS

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Efficient Reciprocal Collision Avoidance between Heterogeneous Agents Using CTMAT  2018.
International Conference on Autonomous Agents and Multiagent Systems (AAMAS)

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AutoRVO: Local Navigation with Dynamic Constraints in Dense Heterogeneous Traffic  2018.
ACM Computer Science in Cars Symposium (CSCS)

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Efficient Inverse Kinematics for Redundant Manipulators with Collision Avoidance in Dynamic Scenes  2018.
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO2018)

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Interactive simulation of local interactions in dense crowds using elliptical agents  2017.
Journal of Statistical Mechanics: Theory and Experiment

PDF Project Google Scholar Crowd Simulation Collision Avoidance Geometric Robotics

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Intention-Aware Motion Planning Using Learning Based Human Motion Prediction  2017.
Proceedings of RSS (Robotics: Science and System)

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Intention-Aware Motion Planning Using Learning Based Human Motion Prediction  2017.
Proceedings of RSS (Robotics: Science and System)

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Menge: A Modular Framework for Simulating Crowd Movement  2016.
Collective Dynamics

PDF Project YouTube Google Scholar Crowd Simulation Collision Avoidance

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Real-time Reciprocal Collision Avoidance with Elliptical Agents  2016.
The International Conference on Robotics and Automation (ICRA)

PDF Project Video YouTube Google Scholar Crowd Simulation Collision Avoidance

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Proxemic Group Behaviors using Reciprocal Multi-Agent Navigation  2016.
The International Conference on Robotics and Automation (ICRA)

PDF Project Video Google Scholar Crowd Simulation Collision Avoidance

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PedVR: Simulating Gaze-Based Interactions between a Real User and Virtual Crowds  2016.
The ACM Symposium on Virtual Reality Software and Technology (VRST)

PDF Project Video Google Scholar Crowd Simulation Collision Avoidance Robotics

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Generating Pedestrian Trajectories Consistent with the Fundamental Diagram Based on Physiological and Psychological Factors  2015.
PLoS ONE 10(4): e0117856. doi:10.1371/journal.pone.0117856

Project YouTube Google Scholar Crowd Simulation Collision Avoidance

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Efficient Configuration Space Construction and Optimization for Motion Planning  2015.
Engineering

Project Google Scholar Robotics Collision Detection Collision Avoidance GPGPU

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Realtime Multilevel Crowd Tracking using Reciprocal Velocity Obstacles  2014.
IEEE International Conference on Pattern Recognition

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DenseSense: Interactive Crowd Simulation using Density-Dependent Filters  2014.
ACM SIGGRAPH / Eurographics Symposium on Computer Animation

PDF Project Google Scholar Crowd Simulation Robotics Collision Avoidance

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Ped-Air: a Simulator for Loading, Unloading, and Evacuating Aircraft  2014.
Pedestrian and Evacuation Dynamics 2014

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Hybrid Long-Range Collision Avoidance for Crowd Simulation  2013.
ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games (I3D)

PDF Project Video Google Scholar Collision Avoidance Crowd Simulation Animation

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LQG-Obstacles: Feedback Control with Collision Avoidance for Mobile Robots Under Uncertainty  2012.
IEEE International Conference on Robotics and Automation (ICRA)

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Real-Time Footstep Planning for Humanoid Robots Among 3D Obstacles Using a Hybrid Bounding Box  2012.
IEEE International Conference on Robotics and Automation (ICRA)

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Reciprocal Collision Avoidance and Navigation for Video Games  2012.
Intel Developer Zone

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Reciprocal Collision Avoidance and Navigation for Video Games  2012.
Game Developers Conference (GDC)

Google Scholar Collision Avoidance

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Geometric Collision Avoidance for Heterogeneous Crowd Simulation  2012.
Ph.D. Dissertation, University of North Carolina at Chapel Hill

Google Scholar Crowd Simulation Collision Avoidance

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Predicting Pedestrian Trajectories Using Velocity-Space Reasoning  2012.
Algorithmic Foundations of Robotics X: the Tenth International Workshop on the Algorithmic Foundations of Robotics (WAFR)

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Smooth and Collision-Free Navigation for Multiple Mobile Robots and Video Game Characters  2012.
Ph.D. Dissertation, University of North Carolina at Chapel Hill

PDF Google Scholar Collision Avoidance Robotics

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Pedestrian Simulation Using Geometric Reasoning in Velocity Space  2012.
Pedestrian and Evacuation Dynamics

PDF Project Google Scholar Crowd Simulation Collision Avoidance Robotics

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A Statistical Similarity Measure for Aggregate Crowd Dynamics  2012.
ACM Transactions on Graphics (Proc SIGGRAPH Asia)

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Crowd Simulation Using Discrete Choice Model  2012.
IEEE Virtual Reality (VR)

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Reciprocal Collision Avoidance with Acceleration-Velocity Obstacles  2011.
IEEE International Conference on Robotics and Automation (ICRA)

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The Hybrid Reciprocal Velocity Obstacle  2011.
IEEE Transactions on Robotics (T-RO)

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Navigating Multiple Simple-Airplanes in 3D Workspace  2010.
IEEE International Conference on Robotics and Automation (ICRA)

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Directing Crowd Simulations Using Navigation Fields  2010.
IEEE Transactions on Visualization and Computer Graphics (TVCG)

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Modeling Collision Avoidance Behavior for Virtual Humans  2010.
International Conference on Autonomous Agents and Multiagent Systems (AAMAS)

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Smooth and Collision-Free Navigation for Multiple Robots Under Differential-Drive Constraints  2010.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Independent Navigation of Multiple Mobile Robots with Hybrid Reciprocal Velocity Obstacles  2009.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Motion Planning of Human-like Robots Using Constrained Coordination  2009.
IEEE-RAS International Conference on Humanoid Robots (Humanoids)

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Generalized Velocity Obstacles  2009.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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