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This work studies a robot-assisted crowd evacuation problem where we controla small group of robots to guide a large human crowd to safe locations. Thechallenge lies in how to model human-robot interactions and design robotcontrols to indirectly control a human population that significantly outnumbersthe robots. To address the challenge, we treat the crowd as a continuum andformulate the evacuation objective as driving the crowd density to targetlocations. We propose a novel mean-field model which consists of a family ofmicroscopic equations that explicitly model how human motions are locallyguided by the robots and an associated macroscopic equation that describes howthe crowd density is controlled by the navigation velocity fields generated byall robots. Then, we design density feedback controllers for the robots todynamically adjust their states such that the generated navigation velocityfields drive the crowd density to a target density. Stability guarantees of theproposed controllers are proven. Agent-based simulations are included toevaluate the proposed evacuation algorithms.

Multi-Robot-Assisted Human Crowd Evacuation using Navigation Velocity Fields