Videos
The next video shows the a run of the multi-robot SLAM agorithm, using linear features and M-Space representation. Two Pioneer 3AT robots explore the second floor of our Department (about 3000 m^2), starting from different unknown locations. When they meet, relative measurements are taken and the local maps are merged together.
The next two videos show a Pioneer 3AT mobile robot performing SLAM in our former lab, under Bernardino Fungai’s “Last Supper” fresco (15th century). The non orthogonal walls in the final map are actually like this old building is made!
The next video shows the effect of loop closure in a simulated environment. Notice how the map is registered when the robot recognizes already visited places.
Videos
The next videos show the application of a distributed control law for nonholonomic vehicles. The first video shows a simulation of four unicycles tracking a moving target while rotating around it.
The second video shows an experiment of circular motion about a stationary target performed with a team of LEGO Mindstorms robots.
Videos
The next few videos show simulations of the Headed Social Force Model in order to reproduce the behavior of pedestrians moving in different scenarios.
The first video shows a comparison of the standard SFM (sSFM) and the Headed SFM (HSFM) when simulating of a group of 20 pedestrians walking in the same direction in a 7m-wide corridor, passing through a 2m-wide door, at a desired speed of 1.5 m/s.
The next video shows the simulation of a visit at the museum with and without cohesion forces.
The next video shows a sensitivity analysis of the HSFM trajectories with respect to variations in the model parameters
The next video shows a simulation of 200 pedestrians evacuating a 15x15m room passing through a 1meter-wide door at a desired speed of 1.5m/s.
The next video shows a comparison of the SFM and the HSFM with their modified versions, which allow pedestrians to avoid deadlock.