Multi-robot-assisted human crowd control for emergency evacuation: A stabilization approach

Zhenyuan Yuan, Tongjia Zheng, Mollik Nayyar, Alan R. Wagner, Hai Lin, Minghui Zhu

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper studies the problem of controlling a group of mobile robots to drive a group of humans to an exit for emergency evacuation. The interactions between the robots and the humans are modeled by a social force model. A novel optimization problem is formulated to synthesize a controller with closed-form expression. Sufficient conditions for global asymptotic stability are established for the humans and the robots. A simulation is conducted to evaluate the proposed controller.

Original languageEnglish (US)
Title of host publication2023 American Control Conference, ACC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9798350328066
StatePublished - 2023
Event2023 American Control Conference, ACC 2023 - San Diego, United States
Duration: May 31 2023Jun 2 2023

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2023 American Control Conference, ACC 2023
Country/TerritoryUnited States
CitySan Diego

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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