{"id":"https://openalex.org/W3127808258","doi":"https://doi.org/10.1007/s10846-020-01308-8","title":"Crowded Environment Navigation with NEAT: Impact of Perception Resolution on Controller Optimization","display_name":"Crowded Environment Navigation with NEAT: Impact of Perception Resolution on Controller Optimization","publication_year":2021,"publication_date":"2021-02-01","ids":{"openalex":"https://openalex.org/W3127808258","doi":"https://doi.org/10.1007/s10846-020-01308-8","mag":"3127808258"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-020-01308-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-020-01308-8","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1007/s10846-020-01308-8","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039268440","display_name":"Stefano Seriani","orcid":"https://orcid.org/0000-0002-5563-9595"},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Stefano Seriani","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, Trieste, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5563-9595","affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086923424","display_name":"Luca Marcini","orcid":null},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Marcini","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, Trieste, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063657336","display_name":"Matteo Caruso","orcid":"https://orcid.org/0000-0002-4586-6823"},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Caruso","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, Trieste, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037895834","display_name":"Paolo Gallina","orcid":"https://orcid.org/0000-0003-0296-9475"},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Gallina","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, Trieste, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074055647","display_name":"Eric Medvet","orcid":"https://orcid.org/0000-0001-5652-2113"},"institutions":[{"id":"https://openalex.org/I142444530","display_name":"University of Trieste","ror":"https://ror.org/02n742c10","country_code":"IT","type":"education","lineage":["https://openalex.org/I142444530"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Eric Medvet","raw_affiliation_strings":["Department of Engineering and Architecture, University of Trieste, Trieste, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering and Architecture, University of Trieste, Trieste, Italy","institution_ids":["https://openalex.org/I142444530"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5039268440"],"corresponding_institution_ids":["https://openalex.org/I142444530"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":0.4651,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.6166557,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"101","issue":"2","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9986000061035156,"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/neuroevolution","display_name":"Neuroevolution","score":0.7977125644683838},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7032036185264587},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6279324889183044},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6243990659713745},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6205813884735107},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5694516897201538},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5580235719680786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5570276975631714},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5347408652305603},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.4252266585826874},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.34851717948913574},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3396932780742645},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3308572769165039},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22843188047409058}],"concepts":[{"id":"https://openalex.org/C118070581","wikidata":"https://www.wikidata.org/wiki/Q2060528","display_name":"Neuroevolution","level":3,"score":0.7977125644683838},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7032036185264587},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6279324889183044},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6243990659713745},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6205813884735107},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5694516897201538},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5580235719680786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5570276975631714},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5347408652305603},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.4252266585826874},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.34851717948913574},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3396932780742645},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3308572769165039},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22843188047409058},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-020-01308-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-020-01308-8","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:arts.units.it:11368/2979882","is_oa":true,"landing_page_url":"http://hdl.handle.net/11368/2979882","pdf_url":"https://arts.units.it/bitstream/11368/2979882/2/Seriani2021_Article_CrowdedEnvironmentNavigationWi.pdf","source":{"id":"https://openalex.org/S4306402362","display_name":"ArTS Archivio della ricerca di Trieste (University of Trieste https://www.units.it/)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142444530","host_organization_name":"University of Trieste","host_organization_lineage":["https://openalex.org/I142444530"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1007/s10846-020-01308-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-020-01308-8","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.4300000071525574,"display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G7231278413","display_name":null,"funder_award_id":"2017TWRCNB","funder_id":"https://openalex.org/F4320321873","funder_display_name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca"}],"funders":[{"id":"https://openalex.org/F4320321873","display_name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca","ror":"https://ror.org/0166hxq48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W40204502","https://openalex.org/W1496915407","https://openalex.org/W1572352511","https://openalex.org/W1593549813","https://openalex.org/W1995782858","https://openalex.org/W2000353207","https://openalex.org/W2071005201","https://openalex.org/W2071796842","https://openalex.org/W2082585576","https://openalex.org/W2087259295","https://openalex.org/W2095705004","https://openalex.org/W2104941426","https://openalex.org/W2107726111","https://openalex.org/W2111935653","https://openalex.org/W2117539519","https://openalex.org/W2133552987","https://openalex.org/W2140542425","https://openalex.org/W2147147005","https://openalex.org/W2210721416","https://openalex.org/W2344832376","https://openalex.org/W2424869853","https://openalex.org/W2433626101","https://openalex.org/W2527152407","https://openalex.org/W2551854005","https://openalex.org/W2560831659","https://openalex.org/W2561391009","https://openalex.org/W2565961086","https://openalex.org/W2569338730","https://openalex.org/W2585828421","https://openalex.org/W2588864496","https://openalex.org/W2593447599","https://openalex.org/W2739049550","https://openalex.org/W2743101165","https://openalex.org/W2798036435","https://openalex.org/W2803208334","https://openalex.org/W2807670213","https://openalex.org/W2901331260","https://openalex.org/W2901572527","https://openalex.org/W2922073769","https://openalex.org/W2962731062","https://openalex.org/W2964109727","https://openalex.org/W2964198921","https://openalex.org/W2965266994","https://openalex.org/W2970246905","https://openalex.org/W3005857605","https://openalex.org/W3012494420","https://openalex.org/W4244859110","https://openalex.org/W6601543494","https://openalex.org/W6628674100"],"related_works":["https://openalex.org/W2122735287","https://openalex.org/W2080635515","https://openalex.org/W1886477626","https://openalex.org/W2175869054","https://openalex.org/W1540467731","https://openalex.org/W2419867673","https://openalex.org/W167006473","https://openalex.org/W2175714038","https://openalex.org/W2803104311","https://openalex.org/W1588480100"],"abstract_inverted_index":{"Abstract":[0],"Crowd":[1],"navigation":[2],"with":[3,47,75,141,169],"autonomous":[4],"systems":[5],"is":[6,73,98,105,124,130,163],"a":[7,12,28,36,58,61,101,114,127,148],"topic":[8],"which":[9,104],"has":[10],"seen":[11],"rapid":[13],"increase":[14],"in":[15,60],"interest":[16],"recently.":[17],"While":[18],"it":[19],"appears":[20],"natural":[21],"to":[22,26,35,45,56,145,165],"humans,":[23],"being":[24],"able":[25,164],"reach":[27],"target":[29],"can":[30],"prove":[31],"difficult":[32],"or":[33],"impossible":[34],"mobile":[37],"robot":[38,59,92,123],"because":[39],"of":[40,78,90,113,116,118,134,137,147],"the":[41,64,76,85,91,108,119,122,135,138,154,160,170,173],"safety":[42],"issues":[43],"related":[44],"collisions":[46],"people.":[48],"In":[49,95],"this":[50],"work":[51],"we":[52],"propose":[53],"an":[54,67],"approach":[55],"control":[57],"crowded":[62],"environment;":[63],"method":[65],"employs":[66],"Artificial":[68],"Neural":[69],"Network":[70],"(ANN)":[71],"that":[72,159],"trained":[74,140],"NeuroEvolution":[77],"Augmented":[79],"Topologies":[80],"(NEAT)":[81],"method.":[82],"Models":[83],"for":[84],"kinematics,":[86],"perception,":[87],"and":[88,121,126],"cognition":[89],"are":[93,143],"presented.":[94],"particular,":[96],"perception":[97],"based":[99],"on":[100,107,167],"raycasting":[102],"model":[103],"tailored":[106],"ANN.":[109],"An":[110],"in-depth":[111],"analysis":[112,129],"number":[115],"parameters":[117],"environment":[120],"performed":[125],"comparative":[128],"presented;":[131],"finally,":[132],"results":[133],"performance":[136],"controller":[139,155,162],"NEAT":[142],"compared":[144],"those":[146],"human":[149],"driver":[150],"who":[151],"takes":[152],"over":[153],"itself.":[156],"Results":[157],"show":[158],"intelligent":[161],"perform":[166],"par":[168],"human,":[171],"within":[172],"simulated":[174],"environment.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-24T06:01:54.638496","created_date":"2025-10-10T00:00:00"}
