{"id":"https://openalex.org/W2898461817","doi":"https://doi.org/10.1109/tro.2020.2964824","title":"Efficient and Trustworthy Social Navigation via Explicit and Implicit Robot\u2013Human Communication","display_name":"Efficient and Trustworthy Social Navigation via Explicit and Implicit Robot\u2013Human Communication","publication_year":2020,"publication_date":"2020-01-23","ids":{"openalex":"https://openalex.org/W2898461817","doi":"https://doi.org/10.1109/tro.2020.2964824","mag":"2898461817"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2020.2964824","doi":"https://doi.org/10.1109/tro.2020.2964824","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.2964824","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["ccf-b","cwts-core","dongbi-a","jufo-3","norway-2","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1810.11556","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010482244","display_name":"Yuhang Che","orcid":"https://orcid.org/0000-0002-4885-3462","observed_orcids":["https://orcid.org/0000-0002-4885-3462"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuhang Che","raw_affiliation_strings":["Waymo LLC, Mountain View, USA"],"raw_orcid":"https://orcid.org/0000-0002-4885-3462","affiliations":[{"raw_affiliation_string":"Waymo LLC, Mountain View, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666","observed_orcids":["https://orcid.org/0000-0002-6912-1666"]},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison M. Okamura","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, Stanford, USA"],"raw_orcid":"https://orcid.org/0000-0002-6912-1666","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, Stanford, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080725225","display_name":"Dorsa Sadigh","orcid":"https://orcid.org/0000-0002-7802-9183","observed_orcids":["https://orcid.org/0000-0002-7802-9183"]},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dorsa Sadigh","raw_affiliation_strings":["Department of Computer Science, Stanford University, Stanford, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2045,"currency":"USD","value_usd":2045},"apc_paid":null,"fwci":16.6495,"has_fulltext":false,"cited_by_count":129,"citation_normalized_percentile":{"value":0.994221,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"36","issue":"3","first_page":"692","last_page":"707"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9833999872207642,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9833999872207642,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.004800000227987766,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.0024999999441206455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/social-navigation","display_name":"social navigation","score":0.7450000047683716},{"id":"https://openalex.org/keywords/human-robot-communication","display_name":"human-robot communication","score":0.824999988079071},{"id":"https://openalex.org/keywords/explicit-communication","display_name":"explicit communication","score":0.746999979019165},{"id":"https://openalex.org/keywords/implicit-communication","display_name":"implicit communication","score":0.9900000095367432},{"id":"https://openalex.org/keywords/robot-transparency","display_name":"robot transparency","score":0.5860000252723694},{"id":"https://openalex.org/keywords/inverse-reinforcement-learning","display_name":"inverse reinforcement learning","score":0.6639999747276306},{"id":"https://openalex.org/keywords/wearable-haptic-feedback","display_name":"wearable haptic feedback","score":0.8309999704360962},{"id":"https://openalex.org/keywords/trust-in-robots","display_name":"trust in robots","score":0.5600000023841858},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"collision avoidance","score":0.796999990940094},{"id":"https://openalex.org/keywords/human-robot-interaction","display_name":"human-robot interaction","score":0.5519999861717224}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7192999720573425},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6721000075340271},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5473999977111816},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5270000100135803},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5116999745368958},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.49410000443458557},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4429999887943268},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.39579999446868896},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.39559999108314514},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.3887999951839447},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3700000047683716},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3634999990463257},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.361299991607666},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.33500000834465027},{"id":"https://openalex.org/C111852164","wikidata":"https://www.wikidata.org/wiki/Q1414679","display_name":"Handover","level":2,"score":0.3319999873638153},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.3296999931335449},{"id":"https://openalex.org/C95491727","wikidata":"https://www.wikidata.org/wiki/Q992968","display_name":"Mobile telephony","level":3,"score":0.31940001249313354},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.3149999976158142},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2955999970436096},{"id":"https://openalex.org/C2779293179","wikidata":"https://www.wikidata.org/wiki/Q465266","display_name":"Social force model","level":3,"score":0.27970001101493835},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26579999923706055},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26579999923706055},{"id":"https://openalex.org/C115121344","wikidata":"https://www.wikidata.org/wiki/Q6887140","display_name":"Mobile interaction","level":3,"score":0.25609999895095825}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2020.2964824","doi":"https://doi.org/10.1109/tro.2020.2964824","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.2964824","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["ccf-b","cwts-core","dongbi-a","jufo-3","norway-2","poland-200","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1810.11556","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1810.11556","pdf_url":"https://arxiv.org/pdf/1810.11556","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.1810.11556","doi":"https://doi.org/10.48550/arxiv.1810.11556","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1810.11556","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1810.11556","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1810.11556","pdf_url":"https://arxiv.org/pdf/1810.11556","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W630739203","https://openalex.org/W1606797603","https://openalex.org/W1801976851","https://openalex.org/W1965311879","https://openalex.org/W1983423649","https://openalex.org/W1983764986","https://openalex.org/W1989846948","https://openalex.org/W1993643921","https://openalex.org/W1994349244","https://openalex.org/W1996625075","https://openalex.org/W1996819900","https://openalex.org/W1999633780","https://openalex.org/W2001074427","https://openalex.org/W2011652428","https://openalex.org/W2024649868","https://openalex.org/W2033999619","https://openalex.org/W2045134164","https://openalex.org/W2059993653","https://openalex.org/W2071005201","https://openalex.org/W2082292845","https://openalex.org/W2082585576","https://openalex.org/W2088974767","https://openalex.org/W2117211893","https://openalex.org/W2135907989","https://openalex.org/W2160584648","https://openalex.org/W2165319497","https://openalex.org/W2167052694","https://openalex.org/W2170423718","https://openalex.org/W2203108384","https://openalex.org/W2210721416","https://openalex.org/W2227909145","https://openalex.org/W2296270309","https://openalex.org/W2411577903","https://openalex.org/W2565370028","https://openalex.org/W2565402511","https://openalex.org/W2572202106","https://openalex.org/W2588978360","https://openalex.org/W2592031441","https://openalex.org/W2598918561","https://openalex.org/W2604216058","https://openalex.org/W2763916519","https://openalex.org/W2765468417","https://openalex.org/W2791581064","https://openalex.org/W2800727637","https://openalex.org/W2890993069","https://openalex.org/W2901136733","https://openalex.org/W4205882492","https://openalex.org/W4248056173","https://openalex.org/W4250696540","https://openalex.org/W4293093109","https://openalex.org/W6674884181"],"related_works":["https://openalex.org/W2890993069","https://openalex.org/W4389988930","https://openalex.org/W2593145451","https://openalex.org/W4394592002","https://openalex.org/W2771704496","https://openalex.org/W4211070925","https://openalex.org/W1995782858","https://openalex.org/W3173334054","https://openalex.org/W2899973409","https://openalex.org/W7167816362"],"abstract_inverted_index":{"In":[0,104],"this":[1,75,168],"article,":[2],"we":[3,26],"present":[4],"a":[5,10,28,63,72,93,97,105],"planning":[6],"framework":[7],"that":[8,30,81,138,143],"uses":[9,74],"combination":[11],"of":[12,45,108,155,167,175],"implicit":[13,46,180],"(robot":[14],"motion)":[15],"and":[16,35,47,86,132,151,173],"explicit":[17,48,102,176],"(visual/audio/haptic":[18],"feedback)":[19],"communication":[20,49,177],"during":[21],"mobile":[22,94],"robot":[23,117],"navigation.":[24,184],"First,":[25],"developed":[27],"model":[29,54,76],"approximates":[31,55],"both":[32],"continuous":[33],"movements":[34],"discrete":[36],"behavior":[37],"modes":[38],"in":[39,127],"human":[40,51,57],"navigation,":[41],"considering":[42],"the":[43,56,83,90,116,139,156,171],"effects":[44],"on":[50,92],"decision-making.":[52],"The":[53,164],"as":[58],"an":[59,109],"optimal":[60],"agent,":[61],"with":[62,179],"reward":[64],"function":[65],"obtained":[66],"through":[67],"inverse":[68],"reinforcement":[69],"learning.":[70],"Second,":[71],"planner":[73,91,140],"to":[77,120,125,129,146,159],"generate":[78],"communicative":[79],"actions":[80],"maximize":[82],"robot's":[84],"transparency":[85],"efficiency.":[87],"We":[88],"implemented":[89],"robot,":[95,157],"using":[96],"wearable":[98],"haptic":[99],"device":[100],"for":[101,182],"communication.":[103],"user":[106],"study":[107],"indoor":[110],"human-robot":[111],"pair":[112],"orthogonal":[113],"crossing":[114],"situation,":[115],"is":[118,170],"able":[119],"actively":[121],"communicate":[122],"its":[123],"intent":[124],"users":[126],"order":[128],"avoid":[130],"collisions":[131],"facilitate":[133],"efficient":[134],"trajectories.":[135],"Results":[136],"show":[137],"generated":[141],"plans":[142],"are":[144],"easier":[145],"understand,":[147],"reduce":[148],"users`":[149],"effort,":[150],"increase":[152],"users'":[153],"trust":[154],"compared":[158],"simply":[160],"performing":[161],"collision":[162],"avoidance.":[163],"key":[165],"contribution":[166],"article":[169],"integration":[172],"analysis":[174],"(together":[178],"communication)":[181],"social":[183]},"counts_by_year":[{"year":2026,"cited_by_count":22},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":26},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":19},{"year":2020,"cited_by_count":3}],"updated_date":"2026-10-31T12:09:11.096373","created_date":"2018-11-02T00:00:00"}
