Heterogeneous pedestrians behaviors through asymmetrical interaction

In this paper, we propose a concept to allow asymmetrical pedestrian interactions in simulation, based on ORCA model (Optimal Reciprocal Collision Avoidance). To reach our goal, we redefined two parameters of the model: the Time Horizon (TH) for anticipation and the Shared Effort (SE) for collision avoidance. In the default parameters model, the TH value is set to 1, the SE value is set to 0.5, and makes symmetrical pedestrian interactions. In the proposed model, we show how to initialize and manipulate the TH and SE parameters to create asymmetrical pedestrian interactions. We also explore the SE values and check for collisions or oscillations in the simulation results. The asymmetrical interaction allows heterogeneous pedestrian in simulation and more realistic emerging behavior in result.