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Algorithms & Applications Group
Ingress and Egress with Multiple Modes of Transportation

Project Personnel:Samuel Rodriguez,Nancy Amato

We study the ingress and egress of pedestrians and vehicles in a parking lot. We show how local maneuvers executed by the agents permit them to form valid motion trajectories in potentially cluttered environments, and resolve the deadlocks that arise between agents in mixed-flow scenarios. We utilize a roadmap-based approach which allows us to map complex environments and generate paths that are feasible for both pedestrians and vehicles. In our simulation results, we are able to show parking lot ingress and egress and the effect of some agent-behavioral parameters on the outcome.

These example scenarios consist of buildings containing pedestrian agents and a parking lot. Agents simultaneously leave (egress) and arrive (ingress) on both foot and in vehicles, creating a mixed flow.

Scenario: Full ingress-egress scenario with buses, cars, pedestrians, a building and parking lot (Download Animation). In this scenario some agents have grouping restrictions with vehicles and specific locations they need to reach for the grouping constraint to be met. This animation shows many of the local maneuvers and interactions needed for these full ingress-egress scenarios.

These example scenarios consist of buildings containing pedestrian agents and a parking lot. Agents simultaneously leave (egress) and arrive (ingress) on both foot and in vehicles, creating a mixed flow.

Scenario: Basic example of ingress-egress with a parking garage (top level transparent): Download

These example scenarios consist of buildings containing pedestrian agents and a parking lot. Agents simultaneously leave (egress) and arrive (ingress) on both foot and in vehicles, creating a mixed flow.

Scenario Ingress and egress in Lot 54 of Texas A&M's Campus: Download

These example scenarios consist of buildings containing pedestrian agents and a parking lot. Agents simultaneously leave (egress) and arrive (ingress) on both foot and in vehicles, creating a mixed flow.

Scenario: Ingress and egress in Lot 54 of Texas A&M's Campus, but with the parking lot replacing by a parking garage (top level transparent): Download

Interaction Templates for Multi-Agent Systems, James Motes, Read Sandstrom, William Adams, Tobi Ogunyale, Shawna Thomas, Nancy M. Amato, Technical Report, TR18-002, Parasol Laboratory, Department of Computer Science, Texas A&M University, Jul 2018.
Technical Report(pdf, abstract)

Reciprocally-Rotating Velocity Obstacles, Andrew Giese, Daniel Latypov, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. to appear, Hong Kong, China, Jun 2014. Also, Technical Report, TR13-009, Parasol Laboratory, Department of Computer Science, Texas A&M University, College Station, TX U.S.A., Oct 2013.
Proceedings(ps, pdf, abstract) Technical Report(ps, pdf, abstract)

Reciprocally-Rotating Velocity Obstacles, Andrew Giese, Masters Thesis, Department of Computer Science and Engineering, Texas A&M University, College Station, USA, May 2014.
Masters Thesis(ps, pdf, abstract)

Multi-Robot Caravanning, Jory Denny, Andrew Giese, Aditya Mahadevan, Arnaud Marfaing, Rachel Glockenmeier, Colton Revia, Samuel Rodriguez, Nancy M. Amato, In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), pp. 5722 - 5729, Tokyo, Japan, Nov 2013.
Proceedings(pdf, abstract)

Optimizing Aspects of Pedestrian Traffic in Building Designs, Samuel Rodriguez, Yinghua Zhang, Nicholas Gans, Nancy M. Amato, In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), Nov 2013.
Proceedings(pdf, abstract)

Improving Aggregate Behavior in Parking Lots with Appropriate Local Maneuvers, Samuel Rodriguez, Andrew Giese, Nancy M. Amato, In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), Nov 2013.
Proceedings(pdf, abstract)

Environmental Effect on Egress Simulation, Samuel Rodriguez, Andrew Giese, Nancy M. Amato, Saeid Zarrinmehr, Firas Al-Douri, Mark Clayton, In Proc. of the 5th Intern. Conf. on Motion in Games (MIG), 2012, in Lecture Notes in Computer Science (LNCS), pp. to appear, Rennes, Brittany, France, Nov 2012.
Proceedings(ps, pdf, abstract)

A Sampling-Based Approach to Probabilistic Pursuit Evasion, Aditya Mahadevan, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 3192 - 3199, St. Paul, Minnesota, USA, May 2012.
Proceedings(pdf, abstract)

Roadmap-Based Techniques for Modeling Group Behaviors in Multi-Agent Systems, Samuel Rodriguez, Ph.D. Thesis, Department of Computer Science and Engineering, Texas A&M University, Jan 2012.
Ph.D. Thesis(ps, pdf, abstract)

Roadmap-Based Level Clearing of Buildings, Samuel Rodriguez, Nancy M. Amato, In Proc. of the 4th Intern. Conf. on Motion in Games (MIG), 2011, in Lecture Notes in Computer Science (LNCS), pp. 340-352, Edinburgh, UK, Oct 2011.
Proceedings(ps, pdf, abstract)

Toward Realistic Pursuit-Evasion Using a Roadmap-Based Approach, Samuel Rodriguez, Jory Denny, Juan Burgos, Aditya Mahadevan, Kasra Manavi, Luke Murray, Anton Kodochygov, Takis Zourntos, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 1738-1745, May 2011.
Proceedings(ps, pdf, abstract)

Roadmap-Based Pursuit-Evasion in 3D Structures, Samuel Rodriguez, Jory Denny, Aditya Mahadevan, Jeremy (Cong-Trung) Vu, Juan Burgos, Takis Zourntos, Nancy M. Amato, In Proc. of 24th Intern. Conf. on Computer Animation and Social Agents (CASA), 2011, in Transactions on Edutainment, pp. to appear, May 2011.
Proceedings(ps, pdf, abstract)

Utilizing Roadmaps in Evacuation Planning, Samuel Rodriguez, Nancy M. Amato, In Proc. of 24th Intern. Conf. on Computer Animation and Social Agents (CASA), 2011, in Intern. J. of Virtual Reality (IJVR), pp. 67-73, May 2011.
Proceedings(ps, pdf, abstract)

Toward Simulating Realistic Pursuit-Evasion Using a Roadmap-Based Approach, Samuel Rodriguez, Jory Denny, Takis Zourntos, Nancy M. Amato, In Proc. of the 3rd Intern. Conf. on Motion in Games (MIG), 2010, in Lecture Notes in Computer Science (LNCS), pp. 82-93, Nov 2010.
Proceedings(ps, pdf, abstract)

Behavior-Based Evacuation Planning, Sam Rodriguez, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 350-355, Anchorage, AK, May 2010.
Proceedings(ps, pdf, abstract)

A Framework for Planning Motion in Environments with Moving Obstacles, Sam Rodriguez, Jyh-Ming Lien, Nancy M. Amato, In Proc. IEEE Int. Conf. Intel. Rob. Syst. (IROS), pp. 3309-3314, Oct 2007.
Proceedings(ps, pdf, abstract)

Swarming Behavior Using Probabilistic Roadmap Techniques, O. Burchan Bayazit, Jyh-Ming Lien, Nancy M. Amato, Lecture Notes in Computer Science, 3342/2005:112-125, Jan 2005.
Journal(ps, pdf, abstract)

Shepherding Behaviors, Jyh-Ming Lien, O. Burchan Bayazit, Ross T. Sowell, Samuel Rodriguez, Nancy M. Amato, In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pp. 4159-4164, New Orleans, Apr 2004. Also, Technical Report, TR03-006, Parasol Laboratory, Department of Computer Science, Texas A&M University, Nov 2003.
Proceedings(ps, pdf, abstract) Technical Report(ps, pdf, abstract)

Better Group Behaviors using Rule-Based Roadmaps, O. Burchan Bayazit, Jyh-Ming Lien, Nancy M. Amato, In Proc. Int. Wkshp. on Alg. Found. of Rob. (WAFR), pp. 95-111, Nice, France, Dec 2002.
Proceedings(ps, pdf, abstract)

Roadmap-Based Flocking for Complex Environments, O. Burchan Bayazit, Jyh-Ming Lien, Nancy M. Amato, In Proc. Pacific Conf. on Computer Graphics and App. (PG), pp. 104-113, Beijing, China, Oct 2002. Also, Technical Report, TR02-003, Parasol Laboratory, Department of Computer Science, Texas A&M University, Apr 2002.
Proceedings(ps, pdf, abstract) Technical Report(ps, pdf, abstract)


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