Abstract
There are a lot of pedestrian flows in the commercial facility. These flows often cross each other, and change goals, e.g. reception desk or ticket-vending machine. Moreover, too long people queue at a goal sometimes blocks up other flows. This phenomenon makes us uncomfortable. In order to reduce the congestion and realize the amenity space the environmental design considering the swarm behavior of people is required. In this paper, the authors focus on the formation control of people queue at a goal and propose the formation control method by optimizing the location of guide robots. The effectiveness of the proposed method is verified with simulations.
