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Publikationer (10 of 31) Visa alla publikationer
Saikia, H., Yang, F. & Peters, C. (2019). Priority driven Local Optimization for Crowd Simulation. In: AAMAS '19 Proceedings of the 18th International Conference on Autonomous Agents and MultiAgent Systems: . Paper presented at Autonomous Agents and Multi-Agent Systems (AAMAS), Montreal QC, Canada — May 13 - 17, 2019 (pp. 2180-2182).
Öppna denna publikation i ny flik eller fönster >>Priority driven Local Optimization for Crowd Simulation
2019 (Engelska)Ingår i: AAMAS '19 Proceedings of the 18th International Conference on Autonomous Agents and MultiAgent Systems, 2019, s. 2180-2182Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

We provide an initial model and preliminary findings of a lookahead based local optimization scheme for collision resolution between agents in large goal-directed crowd simulations. Considering crowd simulation to be a global optimization problem, we break down this large problem into smaller problems where each potential collision resolution step is independently optimized in terms of a criticality measure. Agents resolved earlier in order of criticality, maintain the optimized velocity obtained, for the resolution of agents that come later in that order. Hence, the problem is converted to a low dimensional optimization problem of one or two agents where all other obstacles are static or deterministically dynamic. We illustrate the performance of our method on four well known test scenarios.

Nationell ämneskategori
Teknik och teknologier
Forskningsämne
Datalogi; Människa-datorinteraktion
Identifikatorer
urn:nbn:se:kth:diva-259706 (URN)978-1-4503-6309-9 (ISBN)
Konferens
Autonomous Agents and Multi-Agent Systems (AAMAS), Montreal QC, Canada — May 13 - 17, 2019
Anmärkning

QC 20191011

Tillgänglig från: 2019-09-20 Skapad: 2019-09-20 Senast uppdaterad: 2019-10-11Bibliografiskt granskad
Saikia, H., Yang, F. & Peters, C. (2019). Priority driven Local Optimization for Crowd Simulation. In: AAMAS '19: PROCEEDINGS OF THE 18TH INTERNATIONAL CONFERENCE ON AUTONOMOUS AGENTS AND MULTIAGENT SYSTEMS. Paper presented at 18th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS), Montreal, CANADA, MAY 13-17, 2019 (pp. 2180-2182). ASSOC COMPUTING MACHINERY
Öppna denna publikation i ny flik eller fönster >>Priority driven Local Optimization for Crowd Simulation
2019 (Engelska)Ingår i: AAMAS '19: PROCEEDINGS OF THE 18TH INTERNATIONAL CONFERENCE ON AUTONOMOUS AGENTS AND MULTIAGENT SYSTEMS, ASSOC COMPUTING MACHINERY , 2019, s. 2180-2182Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

We provide an initial model and preliminary findings of a lookahead based local optimization scheme for collision resolution between agents in large goal-directed crowd simulations. Considering crowd simulation to be a global optimization problem, we break down this large problem into smaller problems where each potential collision resolution step is independently optimized in terms of a criticality measure. Agents resolved earlier in order of criticality, maintain the optimized velocity obtained, for the resolution of agents that come later in that order. Hence, the problem is converted to a low dimensional optimization problem of one or two agents where all other obstacles are static or deterministically dynamic. We illustrate the performance of our method on four well known test scenarios.

Ort, förlag, år, upplaga, sidor
ASSOC COMPUTING MACHINERY, 2019
Nyckelord
agent-based crowd navigation, collision avoidance, optimization
Nationell ämneskategori
Elektroteknik och elektronik
Identifikatorer
urn:nbn:se:kth:diva-256289 (URN)000474345000345 ()
Konferens
18th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS), Montreal, CANADA, MAY 13-17, 2019
Anmärkning

QC 20191105

Tillgänglig från: 2019-11-05 Skapad: 2019-11-05 Senast uppdaterad: 2019-11-05Bibliografiskt granskad
Yang, F., Qureshi, A., Shabo, J. & Peters, C. (2018). Do you see groups?: The impact of crowd density and viewpoint on the perception of groups. In: Proceedings of the 18th International Conference on Intelligent Virtual Agents, IVA 2018: . Paper presented at 18th ACM International Conference on Intelligent Virtual Agents, IVA 2018, Western Sydney University's new Parramatta City Campus Sydney, Australia, 5 November 2018 through 8 November 2018 (pp. 313-318). Association for Computing Machinery (ACM)
Öppna denna publikation i ny flik eller fönster >>Do you see groups?: The impact of crowd density and viewpoint on the perception of groups
2018 (Engelska)Ingår i: Proceedings of the 18th International Conference on Intelligent Virtual Agents, IVA 2018, Association for Computing Machinery (ACM), 2018, s. 313-318Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Agent-based crowd simulation in virtual environments is of great utility in a variety of domains, from the entertainment industry to serious applications including mobile robots and swarms. Many studies of crowd behavior simulations do not consider the fact that people tend to congregate in smaller social gatherings, such as friends, or families, rather than walking alone. Based on a real-time crowd simulator which has been implemented as a unilateral incompressible fluid and augmented with group behaviors, a perceptual study was conducted to determine the impact of groups on the perception of the crowds at various densities from different camera views. If it is not possible to see groups under certain circumstances, then it may not be necessary to simulate them, to reduce the amount of calculations, an important issue in real-time simulations. This study provides researchers with a proper reference to design better algorithms to simulate realistic behaviors.

Ort, förlag, år, upplaga, sidor
Association for Computing Machinery (ACM), 2018
Nyckelord
Agent-based crowd simulation, Human-computer interaction, Perception, Virtual agents
Nationell ämneskategori
Interaktionsteknik
Identifikatorer
urn:nbn:se:kth:diva-241489 (URN)10.1145/3267851.3267877 (DOI)2-s2.0-85058449580 (Scopus ID)9781450360135 (ISBN)
Konferens
18th ACM International Conference on Intelligent Virtual Agents, IVA 2018, Western Sydney University's new Parramatta City Campus Sydney, Australia, 5 November 2018 through 8 November 2018
Anmärkning

QC 20190123

Tillgänglig från: 2019-01-23 Skapad: 2019-01-23 Senast uppdaterad: 2019-01-23Bibliografiskt granskad
Li, C., Androulakaki, T., Gao, A. Y., Yang, F., Saikia, H., Peters, C. & Skantze, G. (2018). Effects of Posture and Embodiment on Social Distance in Human-Agent Interaction in Mixed Reality. In: Proceedings of the 18th International Conference on Intelligent Virtual Agents: . Paper presented at 18th International Conference on Intelligent Virtual Agents (pp. 191-196). ACM Digital Library
Öppna denna publikation i ny flik eller fönster >>Effects of Posture and Embodiment on Social Distance in Human-Agent Interaction in Mixed Reality
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2018 (Engelska)Ingår i: Proceedings of the 18th International Conference on Intelligent Virtual Agents, ACM Digital Library, 2018, s. 191-196Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Mixed reality offers new potentials for social interaction experiences with virtual agents. In addition, it can be used to experiment with the design of physical robots. However, while previous studies have investigated comfortable social distances between humans and artificial agents in real and virtual environments, there is little data with regards to mixed reality environments. In this paper, we conducted an experiment in which participants were asked to walk up to an agent to ask a question, in order to investigate the social distances maintained, as well as the subject's experience of the interaction. We manipulated both the embodiment of the agent (robot vs. human and virtual vs. physical) as well as closed vs. open posture of the agent. The virtual agent was displayed using a mixed reality headset. Our experiment involved 35 participants in a within-subject design. We show that, in the context of social interactions, mixed reality fares well against physical environments, and robots fare well against humans, barring a few technical challenges.

Ort, förlag, år, upplaga, sidor
ACM Digital Library, 2018
Nationell ämneskategori
Språkteknologi (språkvetenskaplig databehandling) Människa-datorinteraktion (interaktionsdesign)
Identifikatorer
urn:nbn:se:kth:diva-241288 (URN)10.1145/3267851.3267870 (DOI)2-s2.0-85058440240 (Scopus ID)
Konferens
18th International Conference on Intelligent Virtual Agents
Anmärkning

QC 20190122

Tillgänglig från: 2019-01-18 Skapad: 2019-01-18 Senast uppdaterad: 2019-04-09Bibliografiskt granskad
Peters, C., Li, C., Yang, F., Avramova, V. & Skantze, G. (2018). Investigating Social Distances between Humans, Virtual Humans and Virtual Robots in Mixed Reality. In: Proceedings of 17th International Conference on Autonomous Agents and MultiAgent Systems: . Paper presented at he 17th International Conference on Autonomous Agents and MultiAgent Systems Stockholm, Sweden — July 10 - 15, 2018 (pp. 2247-2249).
Öppna denna publikation i ny flik eller fönster >>Investigating Social Distances between Humans, Virtual Humans and Virtual Robots in Mixed Reality
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2018 (Engelska)Ingår i: Proceedings of 17th International Conference on Autonomous Agents and MultiAgent Systems, 2018, s. 2247-2249Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Mixed reality environments offer new potentials for the design of compelling social interaction experiences with virtual characters. In this paper, we summarise initial experiments we are conducting in which we measure comfortable social distances between humans, virtual humans and virtual robots in mixed reality environments. We consider a scenario in which participants walk within a comfortable distance of a virtual character that has its appearance varied between a male and female human, and a standard- and human-height virtual Pepper robot. Our studies in mixed reality thus far indicate that humans adopt social zones with artificial agents that are similar in manner to human-human social interactions and interactions in virtual reality.

Nationell ämneskategori
Språkteknologi (språkvetenskaplig databehandling)
Identifikatorer
urn:nbn:se:kth:diva-241285 (URN)2-s2.0-85054717128 (Scopus ID)
Konferens
he 17th International Conference on Autonomous Agents and MultiAgent Systems Stockholm, Sweden — July 10 - 15, 2018
Anmärkning

QC 20190214

Tillgänglig från: 2019-01-18 Skapad: 2019-01-18 Senast uppdaterad: 2019-03-18Bibliografiskt granskad
Ravichandran, N. B., Yang, F., Peters, C., Lansner, A. & Herman, P. (2018). Pedestrian simulation as multi-objective reinforcement learning. In: Proceedings of the 18th International Conference on Intelligent Virtual Agents, IVA 2018: . Paper presented at 18th ACM International Conference on Intelligent Virtual Agents, IVA 2018; Western Sydney University's new Parramatta City Campus, Sydney; Australia; 5 November 2018 through 8 November 2018 (pp. 307-312).
Öppna denna publikation i ny flik eller fönster >>Pedestrian simulation as multi-objective reinforcement learning
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2018 (Engelska)Ingår i: Proceedings of the 18th International Conference on Intelligent Virtual Agents, IVA 2018, 2018, s. 307-312Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Modelling and simulation of pedestrian crowds require agents to reach pre-determined goals and avoid collisions with static obstacles and dynamic pedestrians, while maintaining natural gait behaviour. We model pedestrians as autonomous, learning, and reactive agents employing Reinforcement Learning (RL). Typical RL-based agent simulations suffer poor generalization due to handcrafted reward function to ensure realistic behaviour. In this work, we model pedestrians in a modular framework integrating navigation and collision-avoidance tasks as separate modules. Each such module consists of independent state-spaces and rewards, but with shared action-spaces. Empirical results suggest that such modular framework learning models can show satisfactory performance without tuning parameters, and we compare it with the state-of-art crowd simulation methods.

Nyckelord
Agent-based simulation, Multi-objective learning, Parallel learning, Reinforcement learning
Nationell ämneskategori
Annan teknik
Identifikatorer
urn:nbn:se:kth:diva-241487 (URN)10.1145/3267851.3267914 (DOI)2-s2.0-85058477147 (Scopus ID)9781450360135 (ISBN)
Konferens
18th ACM International Conference on Intelligent Virtual Agents, IVA 2018; Western Sydney University's new Parramatta City Campus, Sydney; Australia; 5 November 2018 through 8 November 2018
Anmärkning

QC 20190123

Tillgänglig från: 2019-01-23 Skapad: 2019-01-23 Senast uppdaterad: 2019-06-03Bibliografiskt granskad
Paetzel, M., Castellano, G., Varni, G., Hupont, I., Chetouani, M. & Peters, C. (2018). The Attribution of Emotional State - How Embodiment Features and Social Traits Affect the Perception of an Artificial Agent. In: RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication: . Paper presented at 27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018, 27 August 2018 through 31 August 2018 (pp. 495-502). Institute of Electrical and Electronics Engineers Inc.
Öppna denna publikation i ny flik eller fönster >>The Attribution of Emotional State - How Embodiment Features and Social Traits Affect the Perception of an Artificial Agent
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2018 (Engelska)Ingår i: RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication, Institute of Electrical and Electronics Engineers Inc. , 2018, s. 495-502Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Understanding emotional states is a challenging task which frequently leads to misinterpretation even in human observers. While the perception of emotions has been studied extensively in human psychology, little is known about what factors influence the human perception of emotions in robots and virtual characters. In this paper, we build on the Brunswik lens model to investigate the influence of (a) the agent's embodiment using a 2D virtual character, a 3D blended embodiment, a recording of the 3D platform and a recording of a human, as well as (b) the level of human-likeness on people's ability to interpret emotional facial expressions in an agent. In addition, we measure social traits of the human observers and analyze how they correlate to the success in recognizing emotional expressions. We find that interpersonal differences play a minor role in the perception of emotional states. However, both embodiment and human-likeness as well as related perceptual dimensions such as perceived social presence and uncanniness have an effect on the attribution of emotional states.

Ort, förlag, år, upplaga, sidor
Institute of Electrical and Electronics Engineers Inc., 2018
Nyckelord
Robots, Virtual reality, Artificial agents, Emotional expressions, Facial Expressions, Human perception of emotions, Human psychology, Perceptual dimensions, Social presence, Virtual character, Behavioral research
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
urn:nbn:se:kth:diva-247070 (URN)10.1109/ROMAN.2018.8525700 (DOI)2-s2.0-85058085649 (Scopus ID)9781538679807 (ISBN)
Konferens
27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018, 27 August 2018 through 31 August 2018
Anmärkning

QC 20190625

Tillgänglig från: 2019-06-25 Skapad: 2019-06-25 Senast uppdaterad: 2019-06-25Bibliografiskt granskad
Paetzel, M., Hupont, I., Varni, G., Chetouani, M., Peters, C. & Castellano, G. (2017). Exploring the link between self-assessed mimicry and embodiment in HRI. In: ACM/IEEE International Conference on Human-Robot Interaction: . Paper presented at 12th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2017, 6 March 2017 through 9 March 2017 (pp. 245-246). IEEE Computer Society
Öppna denna publikation i ny flik eller fönster >>Exploring the link between self-assessed mimicry and embodiment in HRI
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2017 (Engelska)Ingår i: ACM/IEEE International Conference on Human-Robot Interaction, IEEE Computer Society , 2017, s. 245-246Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This work explores the relationship between a robot's embodiment and people's ability to mimic its behavior. It presents a study in which participants were asked to mimic a 3D mixed-embodied robotic head and a 2D version of the same character. Quantitative and qualitative analysis were performed from questionnaires. Quantitative results show no significant influence of the character's embodiment on the self-assessed ability to mimic it, while qualitative ones indicate a preference for mimicking the robotic head.

Ort, förlag, år, upplaga, sidor
IEEE Computer Society, 2017
Nyckelord
embodiment, human-robot interaction, mimicry, Man machine systems, Robotics, Robots, Surveys, Embodied robotics, Quantitative and qualitative analysis, Quantitative result, Robotic head, Human robot interaction
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
urn:nbn:se:kth:diva-208032 (URN)10.1145/3029798.3038317 (DOI)2-s2.0-85016440163 (Scopus ID)9781450348850 (ISBN)
Konferens
12th Annual ACM/IEEE International Conference on Human-Robot Interaction, HRI 2017, 6 March 2017 through 9 March 2017
Anmärkning

QC 20170601

Tillgänglig från: 2017-06-01 Skapad: 2017-06-01 Senast uppdaterad: 2017-06-01Bibliografiskt granskad
Yang, F., Li, C., Palmberg, R., Van der Heide, E. & Peters, C. (2017). Expressive Virtual Characters for Social Demonstration Games. In: 2017 9th International Conference on Virtual Worlds and Games for Serious Applications, VS-Games 2017 - Proceedings: . Paper presented at 9th International Conference on Virtual Worlds and Games for Serious Applications (VS-Games), SEP 06-08, 2017, Athens, Greece (pp. 217-224). IEEE
Öppna denna publikation i ny flik eller fönster >>Expressive Virtual Characters for Social Demonstration Games
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2017 (Engelska)Ingår i: 2017 9th International Conference on Virtual Worlds and Games for Serious Applications, VS-Games 2017 - Proceedings, IEEE, 2017, s. 217-224Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Virtual characters are an integral part of many game and learning environments and have practical applications as tutors, demonstrators or even representations of the user. However, creating virtual character behaviors can be a time-consuming and complex task requiring substantial technical expertise. To accelerate and better enable the use of virtual characters in social games, we present a virtual character behavior toolkit for the development of expressive virtual characters. It is a midlleware toolkit which sits on top of the game engine with a focus on providing high-level character behaviors to quickly create social games. The toolkit can be adapted to a wide range of scenarios related to social interactions with individuals and groups at multiple distances in the virtual environment and supports customization and control of facial expressions, body animations and group formations. We describe the design of the toolkit, providing an examplar of a small game that is being created with it and our intended future work on the system.

Ort, förlag, år, upplaga, sidor
IEEE, 2017
Serie
International Conference on Games and Virtual Worlds for Serious Applications, ISSN 2474-0470
Nationell ämneskategori
Medieteknik
Identifikatorer
urn:nbn:se:kth:diva-224103 (URN)10.1109/VS-GAMES.2017.8056604 (DOI)000425228700038 ()2-s2.0-85029005495 (Scopus ID)978-1-5090-5812-9 (ISBN)
Konferens
9th International Conference on Virtual Worlds and Games for Serious Applications (VS-Games), SEP 06-08, 2017, Athens, Greece
Forskningsfinansiär
EU, Horisont 2020, 644204
Anmärkning

QC 20180312

Tillgänglig från: 2018-03-12 Skapad: 2018-03-12 Senast uppdaterad: 2018-03-12Bibliografiskt granskad
Paetzel, M., Varni, G., Hupont, I., Chetouani, M., Peters, C. & Castellano, G. (2017). Investigating the Influence of Embodiment on Facial Mimicry in HRI Using Computer Vision-Based Measures. In: Howard, A Suzuki, K Zollo, L (Ed.), 2017 26TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN): . Paper presented at 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), AUG 28-SEP 01, 2017, Lisbon, PORTUGAL (pp. 579-586). IEEE
Öppna denna publikation i ny flik eller fönster >>Investigating the Influence of Embodiment on Facial Mimicry in HRI Using Computer Vision-Based Measures
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2017 (Engelska)Ingår i: 2017 26TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (RO-MAN) / [ed] Howard, A Suzuki, K Zollo, L, IEEE , 2017, s. 579-586Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Mimicry plays an important role in social interaction. In human communication, it is used to establish rapport and bonding both with other humans, as well as robots and virtual characters. However, little is known about the underlying factors that elicit mimicry in humans when interacting with a robot. In this work, we study the influence of embodiment on participants' ability to mimic a social character. Participants were asked to intentionally mimic the laughing behavior of the Furhat mixed embodied robotic head and a 2D virtual version of the same character. To explore the effect of embodiment, we present two novel approaches to automatically assess people's ability to mimic based solely on videos of their facial expressions. In contrast to participants' self-assessment, the analysis of video recordings suggests a better ability to mimic when people interact with the 2D embodiment.

Ort, förlag, år, upplaga, sidor
IEEE, 2017
Serie
IEEE RO-MAN, ISSN 1944-9445
Nationell ämneskategori
Data- och informationsvetenskap
Identifikatorer
urn:nbn:se:kth:diva-225234 (URN)000427262400091 ()2-s2.0-85045834281 (Scopus ID)978-1-5386-3518-6 (ISBN)
Konferens
26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), AUG 28-SEP 01, 2017, Lisbon, PORTUGAL
Anmärkning

QC 20180404

Tillgänglig från: 2018-04-04 Skapad: 2018-04-04 Senast uppdaterad: 2018-04-11Bibliografiskt granskad
Organisationer
Identifikatorer
ORCID-id: ORCID iD iconorcid.org/0000-0002-7257-0761

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