Efficient navigation in a socially compliant manner is an important and challenging task for robots working in dynamic dense crowd environments. With the development of artificial intelligence, deep reinforcement learning techniques have been widely used in the robot navigation. Previous model-free reinforcement learning methods only considered the interactions between robot and humans, not the interactions between humans and humans. To improve this, we propose a decentralized structured RNN network with coarse-grained local maps (LM-SRNN). It is capable of modeling not only Robot–Human interactions through spatio-temporal graphs, but also Human–Human interactions through coarse-grained local maps. Our model captures current crowd interactions and also records past interactions, which enables robots to plan safer paths. Experimental results show that our model is able to navigate efficiently in dense crowd environments, outperforming state-of-the-art methods.

Diseases can have a huge impact on the quality of life of the human population. Humans have always been in the quest to find strategies to avoid diseases that are life-threatening or affect the quality of life of humans. Effective use of resources available to human to control different diseases has always been critical. Researchers are recently more interested to find AI-based solutions to control the human population from diseases due to the overwhelming popularity of deep learning. There are many supervised techniques that have always been applied for disease diagnosis. However, the main problem of supervised based solutions is the availability of data, which is not always possible or not always complete. For instance, we do not have enough data that shows the different states of humans and different states of environments, and how all different actions taken by humans or viruses have ultimately resulted in a disease that eventually takes the lives of humans. Therefore, there is a need to find unsupervised based solutions or some techniques that do not have a dependency on the underlying dataset. In this paper, we have explored the reinforcement learning approach. We have tried different reinforcement learning algorithms to research different solutions for the prevention of diseases in the simulation of the human population. We have explored different techniques for controlling the transmission of diseases and its effects on health in the human population simulated in an environment. Our algorithms have found out policies that are best for the human population to protect themselves from the transmission and infection of malaria. The paper concludes that deep learning-based algorithms such as Deep Deterministic Policy Gradient (DDPG) have outperformed traditional algorithms such as Q-Learning or SARSA.

Simultaneous localization and mapping (SLAM) technology is crucial to robot navigation. Despite the good performance of traditional SLAM algorithms in static environments, dynamic objects typically exist in realistic operating environments. These objects can lead to misassociated features, which in turn considerably impact the system’s localization accuracy and robustness. To better address this challenge, we have proposed the OMS-SLAM. In OMS-SLAM, we adopted the YOLOv8 target detection network to extract object information from environment and designed a dynamic probability propagation model that is coupled with target detection and multiple geometric constrains to determine the dynamic objects in the environment. For the identified dynamic objects, we have designed a foreground image segmentation algorithm based on depth image histogram statistics to extract the object contours and eliminate the feature points within these contours. We then use the grid-based motion statistics matching pair as the filtering strategy to enhance the quality of the feature points and use the enhanced feature points for tracking. This combined method can accurately identify dynamic objects and extract related feature points, significantly reducing its interference and consequently enhancing the system’s robustness and localization accuracy. We also built static dense point cloud maps to support advanced tasks of robots. Finally, through testing on the high-speed dataset of TUM RGB-D, it was found that the root mean square error of the absolute trajectory error in this study decreased by an average of 97.10%, compared to ORB-SLAM2. Moreover, tests in real-world scenarios also confirmed the effectiveness of the OMS-SLAM algorithm in dynamic environments.

For a forward-bending biped robot with 10 degrees of freedom on its legs, a new control framework of MPC-DCM based on force and moment is proposed in this paper. Specifically, the Diverging Component of Motion (DCM) is a stability criterion for biped robots based on linear inverted pendulum, and Model Predictive Control (MPC) is an optimization solution strategy using rolling optimization. In this paper, DCM theory is applied to the state transition matrix of the system, combined with simplified rigid body dynamics, the mathematical description of the biped robot system is established, the classical MPC method is used to optimize the control input, and DCM constraints are added to the constraints of MPC, making the real-time DCM approximate to a straight line in the walking single gait. At the same time, the linear angle and friction cone constraints are considered to enhance the stability of the robot during walking. In this paper, MATLAB/Simulink is used to simulate the robot. Under the control of this algorithm, the robot can reach a walking speed of 0.75 m/s and has a certain anti-disturbance ability and ground adaptability. In this paper, the Model-H16 robot is used to deploy the physical algorithm, and the linear walking and obstacle walking of the physical robot are realized.

Visual Simultaneous Localization and Mapping (VSLAM) is the key technology of mobile robots’ localization and mapping. At present, the VSLAM system has high robustness in static environments, but it will cause feature point mapping errors in dynamic environments, which will affect the robustness of the system. To improve this situation, this study proposes a dynamic robust SLAM framework IBR-SLAM. This framework combines enhanced semantic segmentation and multimodal geometric constraints. The system acquired images by RGB-D camera, extracted semantic information of images through improved BiSeNet and used this information combined with the geometric constraints in the adaptive model to determine the dynamic region. In the dense mapping thread, the point cloud in the dynamic region is removed, so as to construct an accurate static global point cloud map. At last, the proposed system is tested on two datasets, TUM and Bonn, and compared with ORB-SLAM3, the absolute trajectory error is improved by 97.33% and 89.79% respectively. The results show that IBR-SLAM maintains high robustness in various dynamic scenarios.