Crowd navigation using leader-follower algorithm based Reciprocal Velocity Obstacles

Susi Juniastuti; Moch Fachri; Supeno Mardi Susiki Nugroho; Mochammad Hariadi

doi:10.1109/ISESD.2016.7886709

Crowd navigation using leader-follower algorithm based Reciprocal Velocity Obstacles

Susi Juniastuti, Moch Fachri, Supeno Mardi Susiki Nugroho, Mochammad Hariadi

Institut Teknologi Sepuluh Nopember

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

14 Citations (Scopus)

Abstract

This research employs Reciprocal Velocity Obstacles (RVO) to create oscillation- and collision-free motion with multiagent navigation. By combining RVO with the steering behaviour i.e. leader following behaviour thus creating leader-follower relationship between agents. This relationship leads to the navigation to their shared destination. Each agent i.e. follower navigates to follow their leader to reach their destination together. Experimental result demonstrates the navigation of hundreds of agents in densely populated environments which showing 18% faster compared with relation-less navigation to achieve the crowd goal.

Original language	English
Title of host publication	2016 International Symposium on Electronics and Smart Devices, ISESD 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	148-152
Number of pages	5
ISBN (Electronic)	9781509038404
DOIs	https://doi.org/10.1109/ISESD.2016.7886709
Publication status	Published - 24 Mar 2017
Event	1st International Symposium on Electronics and Smart Devices, ISESD 2016 - Bandung, Indonesia Duration: 29 Nov 2016 → 30 Nov 2016

Publication series

Name	2016 International Symposium on Electronics and Smart Devices, ISESD 2016

Conference

Conference	1st International Symposium on Electronics and Smart Devices, ISESD 2016
Country/Territory	Indonesia
City	Bandung
Period	29/11/16 → 30/11/16

Keywords

RVO (Reciprocal Velocity Obstacles)
leader-follower relationship
multiagent navigation

Access to Document

10.1109/ISESD.2016.7886709

Cite this

Juniastuti, S., Fachri, M., Nugroho, S. M. S., & Hariadi, M. (2017). Crowd navigation using leader-follower algorithm based Reciprocal Velocity Obstacles. In 2016 International Symposium on Electronics and Smart Devices, ISESD 2016 (pp. 148-152). Article 7886709 (2016 International Symposium on Electronics and Smart Devices, ISESD 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISESD.2016.7886709

Juniastuti, Susi ; Fachri, Moch ; Nugroho, Supeno Mardi Susiki et al. / Crowd navigation using leader-follower algorithm based Reciprocal Velocity Obstacles. 2016 International Symposium on Electronics and Smart Devices, ISESD 2016. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 148-152 (2016 International Symposium on Electronics and Smart Devices, ISESD 2016).

@inproceedings{4d185ddb947642cfb548e2664b489dae,

title = "Crowd navigation using leader-follower algorithm based Reciprocal Velocity Obstacles",

abstract = "This research employs Reciprocal Velocity Obstacles (RVO) to create oscillation- and collision-free motion with multiagent navigation. By combining RVO with the steering behaviour i.e. leader following behaviour thus creating leader-follower relationship between agents. This relationship leads to the navigation to their shared destination. Each agent i.e. follower navigates to follow their leader to reach their destination together. Experimental result demonstrates the navigation of hundreds of agents in densely populated environments which showing 18% faster compared with relation-less navigation to achieve the crowd goal.",

keywords = "RVO (Reciprocal Velocity Obstacles), leader-follower relationship, multiagent navigation",

author = "Susi Juniastuti and Moch Fachri and Nugroho, {Supeno Mardi Susiki} and Mochammad Hariadi",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 1st International Symposium on Electronics and Smart Devices, ISESD 2016 ; Conference date: 29-11-2016 Through 30-11-2016",

year = "2017",

month = mar,

day = "24",

doi = "10.1109/ISESD.2016.7886709",

language = "English",

series = "2016 International Symposium on Electronics and Smart Devices, ISESD 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "148--152",

booktitle = "2016 International Symposium on Electronics and Smart Devices, ISESD 2016",

address = "United States",

}

Juniastuti, S, Fachri, M, Nugroho, SMS & Hariadi, M 2017, Crowd navigation using leader-follower algorithm based Reciprocal Velocity Obstacles. in 2016 International Symposium on Electronics and Smart Devices, ISESD 2016., 7886709, 2016 International Symposium on Electronics and Smart Devices, ISESD 2016, Institute of Electrical and Electronics Engineers Inc., pp. 148-152, 1st International Symposium on Electronics and Smart Devices, ISESD 2016, Bandung, Indonesia, 29/11/16. https://doi.org/10.1109/ISESD.2016.7886709

Crowd navigation using leader-follower algorithm based Reciprocal Velocity Obstacles. / Juniastuti, Susi; Fachri, Moch; Nugroho, Supeno Mardi Susiki et al.
2016 International Symposium on Electronics and Smart Devices, ISESD 2016. Institute of Electrical and Electronics Engineers Inc., 2017. p. 148-152 7886709 (2016 International Symposium on Electronics and Smart Devices, ISESD 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Crowd navigation using leader-follower algorithm based Reciprocal Velocity Obstacles

AU - Juniastuti, Susi

AU - Fachri, Moch

AU - Nugroho, Supeno Mardi Susiki

AU - Hariadi, Mochammad

PY - 2017/3/24

Y1 - 2017/3/24

N2 - This research employs Reciprocal Velocity Obstacles (RVO) to create oscillation- and collision-free motion with multiagent navigation. By combining RVO with the steering behaviour i.e. leader following behaviour thus creating leader-follower relationship between agents. This relationship leads to the navigation to their shared destination. Each agent i.e. follower navigates to follow their leader to reach their destination together. Experimental result demonstrates the navigation of hundreds of agents in densely populated environments which showing 18% faster compared with relation-less navigation to achieve the crowd goal.

AB - This research employs Reciprocal Velocity Obstacles (RVO) to create oscillation- and collision-free motion with multiagent navigation. By combining RVO with the steering behaviour i.e. leader following behaviour thus creating leader-follower relationship between agents. This relationship leads to the navigation to their shared destination. Each agent i.e. follower navigates to follow their leader to reach their destination together. Experimental result demonstrates the navigation of hundreds of agents in densely populated environments which showing 18% faster compared with relation-less navigation to achieve the crowd goal.

KW - RVO (Reciprocal Velocity Obstacles)

KW - leader-follower relationship

KW - multiagent navigation

UR - http://www.scopus.com/inward/record.url?scp=85018303599&partnerID=8YFLogxK

U2 - 10.1109/ISESD.2016.7886709

DO - 10.1109/ISESD.2016.7886709

M3 - Conference contribution

AN - SCOPUS:85018303599

T3 - 2016 International Symposium on Electronics and Smart Devices, ISESD 2016

SP - 148

EP - 152

BT - 2016 International Symposium on Electronics and Smart Devices, ISESD 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 1st International Symposium on Electronics and Smart Devices, ISESD 2016

Y2 - 29 November 2016 through 30 November 2016

ER -

Juniastuti S, Fachri M, Nugroho SMS , Hariadi M. Crowd navigation using leader-follower algorithm based Reciprocal Velocity Obstacles. In 2016 International Symposium on Electronics and Smart Devices, ISESD 2016. Institute of Electrical and Electronics Engineers Inc. 2017. p. 148-152. 7886709. (2016 International Symposium on Electronics and Smart Devices, ISESD 2016). doi: 10.1109/ISESD.2016.7886709

Crowd navigation using leader-follower algorithm based Reciprocal Velocity Obstacles

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this