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Joel A. Kirkland
Anthony A. Maciejewsld
jkirklan@lamar.colostate.edu
aam@colostate.edu
Previous work to quantify pedestrian flows and crowd
dynamics has been studied primarily through simulating
the motion of individuals. For example, Blue [ 11 used a
cellular automata model to generate emergent lane
formation. Though not for groups of people, Reynolds
[SI used an agent-based model to generate flocking
behavior using a small set of simple interacting rules for
each agent. Along a similar line, Helbmg, Molnar, and
Vicsek [6] have used a social force model to
demonstrate lane formation and the physical jamming at
bottlenecks during panics and stampedes.
We have used the social force model as a foundation
for our simulations of pedestrian flow and crowds. We
have augmented the model with the addition of
dissimilar agents, i.e., autonomous robots. These
additional agents are used to perform various maneuvers
and to interact under different rules. Our ultimate goal is
to increase large-scale organizational patterns such as
lane formation, and to reduce disorganization such as
jamming at bottlenecks.
1 Introduction
The study of crowd dynamics, or the large-scale
motion of people, has an impact on a wide range of
applications
including
architecture,
pedestrian
transportation, escape planning, stampedes, event
organization, and crowd control. Architects and
transportation designers frequently use crowd dynamics
in the design of outdoor and indoor environments to
increase the ease and efficiency of everyday pedestrian
flow. Furthermore, under more extreme conditions such
as stampedes and fire escapes, improved procedures and
building layouts could save lives. Recently in the
Chicago Stampede, the use of pepper spray to break up a
tight in a nightclub caused the crowd to surge down a
stairwell killing or injuring over 70 people [2].
Additionally, in a Rhode Island nightclub, a fire, started
by a pyrotechnic display, rapidly spread and overtook
the crowd attempting to escape through the clogged
front exit killing '97 people [3]. Both disasters occurred
in February of 2003 and demonstrate the immediate
need for directing large p u p s of people in emergencies.
'
' This work was supported by the Non-lethal Technology Innovation Center, University of New Hampshire.
0-7803-7952-7/03/$17.00
0 2003 IEEE.
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2.1
AV,;.= (vi - v j ) . i, .
(5)
fi
where f: denotes the self-driven force that drives an
individual towards their desired velocity, A,! denotes the
interaction force on individual i due to individual j ,
and J.: denotes the wall avoidance force due to the kth
wall (out of a total of M wall surfaces). The self-driven
force is based on a simple error correction term
consisting of the difference between an individuals
desired velocity, denoted by a desired speed si and a
desired direction e^, , and their actual velocity denoted
by vi . This difference in velocity is corrected over a
specified time interval Ti, which is referred to as the
relaxation time, that corresponds to the finite amount of
time that is required for people to react and physically
change their velocity. Thus the self-driven force is given
by
fS = mi(& - v i )
2.2
(2)
(3)
R, =(xi-xj)/lJxi-xjll
d , = ~ ~ x i - x j ~ ~ -J q - r .
(6)
-[Kg(d,)Av;]i,
Ti
where
=[Aexp(-d,/B)+kg(d,)]i,
(4)
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3 Simulations
._
Interaction
PersodAgent
os. .
.
.
.
.
.
O,,$
. ~........................................
. ~
~~
..................................
I\
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,E
.!*
,
Tw.2-
T w - r -
,+-e-
Br('F*.>
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o,8
..............................
03
a)
No cohesion
-200
,, ...........................
-Ranmm Sed 1
i
~
I
0
10
20
30
40
50
60
70
Time (s)
4.9
..
3.2
b)
High Efficiency
C)
Low Emciency
Lane Formation
3.2.1
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b)
4 Conclusions
The results presented here are very preliminary and do
not address many of possible variations in parameters
and strategies for influencing crowd dynamics.
However, several conclusions can he drawn even from
the initial results presented here. First, the dynamics of
crowd behavior are highly complex and are not well
understood. The introduction of autonomous robots into
such an environment can alter the dynamics to produce
some desired behaviors. In particular, we have shown
that robots that can implement an attractive social force
can be effective at improving pedestrian flow in different
scenarios. However, great care must he taken when
introducing robots into such environments because it is
not uncommon for apparently reasonable robot
behaviors to have unexpected deleterious effects.
.,
References
[I] V. J. Blue, Cellular automata microsimulation for
modeling
hi-directional
pedestrian
walkways,
Transporraiion Research, Pari B: Methodological, Vol.
35,No. 3, pp. 293-312, Mar. 2001.
[2] CNN.com, Official: Chicago club was told to close
second floor, Feb. 19,2003, http://m.cnn.cond2OO3/
US/Midwest/O2/17/chicago.nightclub/in&x. html
[3] CNN.com, At least 96 killed in nightclub inferno,
Feb. 21,2003, hitp:/~.cnn.~ond2003/uS/Norrheasr/
02Rl/deadly.nightclub.fire/index.
html
141 D. Helbmg, A fluid dynamic model for the
movement of pedestrians, Complex Systems, Vol. 6,
No. 5 , pp. 391-415, 1992.
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