{"id":"https://openalex.org/W7223678166","doi":"https://doi.org/10.1038/s41598-026-76768-3","title":"Belief-integrated timed elastic band planning for robust indoor person following under intermittent observations","display_name":"Belief-integrated timed elastic band planning for robust indoor person following under intermittent observations","publication_year":2026,"publication_date":"2026-10-26","ids":{"openalex":"https://openalex.org/W7223678166","doi":"https://doi.org/10.1038/s41598-026-76768-3"},"language":"en","primary_location":{"id":"doi:10.1038/s41598-026-76768-3","doi":"https://doi.org/10.1038/s41598-026-76768-3","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s41598-026-76768-3","pdf_url":"https://www.nature.com/articles/s41598-026-76768-3_reference.pdf","source":{"id":"https://openalex.org/S196734849","display_name":"Scientific Reports","issn_l":"2045-2322","issn":["2045-2322"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-c","doyens","jufo-1","ki-jl-1","medline","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Scientific Reports","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.nature.com/articles/s41598-026-76768-3_reference.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5124061793","display_name":"Jian Guan","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Guan","raw_affiliation_strings":["School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, 200237, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, 200237, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5159596530","display_name":"Shuang Liu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shuang Liu","raw_affiliation_strings":["School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, 200237, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, 200237, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045769645","display_name":"\u5173\u51ef\u4e66","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaishu Guan","raw_affiliation_strings":["School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, 200237, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, 200237, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101847037","display_name":"Haotian Zheng","orcid":"https://orcid.org/0000-0002-0857-2906","observed_orcids":["https://orcid.org/0000-0002-0857-2906"]},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haotian Zheng","raw_affiliation_strings":["School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, 200237, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, 200237, China","institution_ids":["https://openalex.org/I143593769"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065621593","display_name":"Wei Hu","orcid":"https://orcid.org/0000-0001-6070-5529","observed_orcids":["https://orcid.org/0000-0001-6070-5529"]},"institutions":[{"id":"https://openalex.org/I143593769","display_name":"East China University of Science and Technology","ror":"https://ror.org/01vyrm377","country_code":"CN","type":"education","lineage":["https://openalex.org/I143593769"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Hu","raw_affiliation_strings":["School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, 200237, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, 200237, China","institution_ids":["https://openalex.org/I143593769"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5159596530"],"corresponding_institution_ids":["https://openalex.org/I143593769"],"apc_list":{"value":2690,"currency":"USD","value_usd":2690},"apc_paid":{"value":2690,"currency":"USD","value_usd":2690},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.78263124,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9574999809265137,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9574999809265137,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.017999999225139618,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.007199999876320362,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/person-following","display_name":"human following","score":0.8259999752044678},{"id":"https://openalex.org/keywords/indoor-robots","display_name":"indoor robots","score":0.7110000252723694},{"id":"https://openalex.org/keywords/timed-elastic-band","display_name":"Timed Elastic Band","score":0.7699999809265137},{"id":"https://openalex.org/keywords/local-planning","display_name":"local planning","score":0.5839999914169312},{"id":"https://openalex.org/keywords/intermittent-measurements","display_name":"intermittent measurements","score":0.6809999942779541},{"id":"https://openalex.org/keywords/occlusion","display_name":"occlusion","score":0.8740000128746033},{"id":"https://openalex.org/keywords/uncertainty","display_name":"uncertainty","score":0.35199999809265137},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"trajectory optimization","score":0.9660000205039978},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"model predictive control","score":0.7350000143051147}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7506999969482422},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5095999836921692},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5001000165939331},{"id":"https://openalex.org/C2385561","wikidata":"https://www.wikidata.org/wiki/Q45432","display_name":"RSS","level":2,"score":0.4629000127315521},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.4523000121116638},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.43799999356269836},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4154999852180481},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.4065999984741211},{"id":"https://openalex.org/C173064807","wikidata":"https://www.wikidata.org/wiki/Q7233190","display_name":"Position error","level":3,"score":0.3336000144481659},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33000001311302185},{"id":"https://openalex.org/C111852164","wikidata":"https://www.wikidata.org/wiki/Q1414679","display_name":"Handover","level":2,"score":0.319599986076355},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31380000710487366},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.30959999561309814},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.30889999866485596},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.301800012588501},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.2703000009059906},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2680000066757202},{"id":"https://openalex.org/C11940443","wikidata":"https://www.wikidata.org/wiki/Q16965645","display_name":"Slowness","level":2,"score":0.2639999985694885}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1038/s41598-026-76768-3","doi":"https://doi.org/10.1038/s41598-026-76768-3","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s41598-026-76768-3","pdf_url":"https://www.nature.com/articles/s41598-026-76768-3_reference.pdf","source":{"id":"https://openalex.org/S196734849","display_name":"Scientific Reports","issn_l":"2045-2322","issn":["2045-2322"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-c","doyens","jufo-1","ki-jl-1","medline","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Scientific Reports","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1038/s41598-026-76768-3","doi":"https://doi.org/10.1038/s41598-026-76768-3","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s41598-026-76768-3","pdf_url":"https://www.nature.com/articles/s41598-026-76768-3_reference.pdf","source":{"id":"https://openalex.org/S196734849","display_name":"Scientific Reports","issn_l":"2045-2322","issn":["2045-2322"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-c","doyens","jufo-1","ki-jl-1","medline","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Scientific Reports","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7223678166.pdf","grobid_xml":"https://content.openalex.org/works/W7223678166.grobid-xml"},"referenced_works_count":2,"referenced_works":["https://openalex.org/W4366777918","https://openalex.org/W4417103177"],"related_works":["https://openalex.org/W3132829070","https://openalex.org/W3196159236","https://openalex.org/W4400204794","https://openalex.org/W2017834396","https://openalex.org/W2100017640","https://openalex.org/W2773777794","https://openalex.org/W2735970035","https://openalex.org/W2890809012","https://openalex.org/W4416371865","https://openalex.org/W4417103177"],"abstract_inverted_index":{"Indoor":[0],"person-following":[1,140],"robots":[2],"routinely":[3],"lose":[4],"sight":[5],"of":[6,41,85,162,184],"their":[7],"target":[8],"at":[9,21],"corners,":[10],"doorways,":[11],"and":[12,15,46,57,78,137],"in":[13,110,120,149],"crowds,":[14],"most":[16,146,183],"local":[17,34],"planners":[18],"then":[19],"stall":[20],"the":[22,42,63,91,107,118,121,145,154,170,174,178,185,188],"last":[23,171],"seen":[24],"position.":[25],"We":[26],"present":[27],"IO-TEB":[28,82,142],"(Intermittent-Observation":[29],"Timed":[30],"Elastic":[31],"Band),":[32],"a":[33,38,102,111],"planner":[35],"that":[36,105,116,168],"maintains":[37],"probabilistic":[39],"estimate":[40,52,109,119,176],"hidden":[43],"person\u2019s":[44],"position":[45],"its":[47],"growing":[48],"uncertainty,":[49],"feeds":[50],"this":[51],"directly":[53],"into":[54],"trajectory":[55,135],"optimization,":[56],"actively":[58],"searches":[59],"likely":[60],"paths":[61],"when":[62],"person":[64],"stays":[65],"hidden.":[66],"Across":[67],"4,320":[68],"simulated":[69],"episodes":[70],"covering":[71],"eight":[72],"indoor":[73],"scenes,":[74],"three":[75,138],"occlusion":[76],"durations,":[77],"real":[79],"pedestrian":[80],"trajectories,":[81],"completed":[83],"87.36%":[84],"following":[86,179],"tasks,":[87],"versus":[88,164],"55.14%":[89],"for":[90,182],"standard":[92],"timed":[93],"elastic":[94],"band":[95],"planner.":[96],"It":[97],"was":[98,143],"statistically":[99],"equivalent":[100],"to":[101],"conventional":[103],"design":[104],"handles":[106],"same":[108],"separate":[112],"finite-state":[113],"supervisor,":[114],"indicating":[115],"embedding":[117],"optimizer":[122],"costs":[123],"neither":[124],"accuracy":[125],"nor":[126],"computation.":[127],"Compared":[128],"with":[129,173],"model":[130],"predictive":[131],"control":[132],"(MPC)":[133],"using":[134],"prediction":[136],"recent":[139],"planners,":[141],"not":[144],"accurate,":[147],"but":[148],"our":[150],"implementation":[151],"it":[152],"missed":[153],"100":[155],"ms":[156],"control-cycle":[157],"deadline":[158],"least":[159],"often":[160],"(3.32%":[161],"cycles":[163],"5.14\u201344.21%).":[165],"Ablation":[166],"shows":[167],"replacing":[169],"observation":[172],"predicted":[175],"as":[177],"reference":[180],"accounts":[181],"gain,":[186],"whereas":[187],"uncertainty-dependent":[189],"terms":[190],"added":[191],"no":[192],"consistent":[193],"benefit.":[194]},"counts_by_year":[],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2026-10-27T00:00:00"}
