多机器人引导的人群疏散：双尺度建模与控制
Multi-Robot-Guided Crowd Evacuation: Two-Scale Modeling and Control
AI总结：
本文提出双尺度建模与控制方法，利用少量机器人通过微观人机交互和宏观人群状态动态调整导航力场，实现大规模人群高效疏散，并验证了算法稳定性与仿真性能。
摘要：
紧急疏散描述了一种涉及疏散者时间紧迫决策的复杂情形。移动机器人正被积极探索作为一种提供及时引导的潜在解决方案。在本工作中，我们研究了一个机器人引导的人群疏散问题，其中使用一小组机器人来引导大量人群到达安全位置。挑战在于如何利用微观层面的人机交互来间接影响在数量上远超机器人的人群，以实现集体疏散目标。为应对这一挑战，我们采用双尺度建模策略并研究流体动力学模型，该模型包含一族微观社会力模型，用于描述人类运动如何受到其他人类、环境和机器人的局部影响，以及用于描述人群密度和流速随时间和空间演化的相关宏观方程。我们为机器人设计控制器，使其不仅能够自动探索环境（含未知动态障碍物）以尽可能覆盖环境，还能根据人群的实时宏观状态动态调整其局部导航力场的方向，从而将人群引导至安全位置。我们证明了所提疏散算法的稳定性，并进行了大量仿真，以研究该算法在不同人数、机器人数量和障碍物设置组合下的性能。
英文摘要：
Emergency evacuation describes a complex situation involving time-critical decision-making by evacuees. Mobile robots are being actively explored as a potential solution to provide timely guidance. In this work, we study a robot-guided crowd evacuation problem where a small group of robots is used to guide a large human crowd to safe locations. The challenge lies in how to use micro-level human-robot interactions to indirectly influence a population that significantly outnumbers the robots to achieve the collective evacuation objective. To address the challenge, we follow a two-scale modeling strategy and explore hydrodynamic models, which consist of a family of microscopic social force models that describe how human movements are locally affected by other humans, the environment, and robots, and associated macroscopic equations for the temporal and spatial evolution of the crowd density and flow velocity. We design controllers for the robots such that they not only automatically explore the environment (with unknown dynamic obstacles) to cover it as much as possible, but also dynamically adjust the directions of their local navigation force fields based on the real-time macrostates of the crowd to guide the crowd to a safe location. We prove the stability of the proposed evacuation algorithm and conduct extensive simulations to investigate the performance of the algorithm with different combinations of human numbers, robot numbers, and obstacle settings.
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