{"id":"https://openalex.org/W3165688178","doi":"https://doi.org/10.1007/s12369-021-00791-9","title":"Robot Navigation Based on Predicting of Human Interaction and its Reproducible Evaluation in a Densely Crowded Environment","display_name":"Robot Navigation Based on Predicting of Human Interaction and its Reproducible Evaluation in a Densely Crowded Environment","publication_year":2021,"publication_date":"2021-05-23","ids":{"openalex":"https://openalex.org/W3165688178","doi":"https://doi.org/10.1007/s12369-021-00791-9","mag":"3165688178"},"language":"en","primary_location":{"id":"doi:10.1007/s12369-021-00791-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s12369-021-00791-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s12369-021-00791-9.pdf","source":{"id":"https://openalex.org/S168738021","display_name":"International Journal of Social Robotics","issn_l":"1875-4791","issn":["1875-4791","1875-4805"],"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Social Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s12369-021-00791-9.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080407170","display_name":"Yuichi Kobayashi","orcid":"https://orcid.org/0000-0003-0189-0060"},"institutions":[{"id":"https://openalex.org/I1298590031","display_name":"Shizuoka University","ror":"https://ror.org/01w6wtk13","country_code":"JP","type":"education","lineage":["https://openalex.org/I1298590031"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yuichi Kobayashi","raw_affiliation_strings":["Department of Mechanical Engineering, Shizuoka University, Hamamatsu, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Shizuoka University, Hamamatsu, Japan","institution_ids":["https://openalex.org/I1298590031"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022337480","display_name":"T Sugimoto","orcid":"https://orcid.org/0000-0002-8121-5323"},"institutions":[{"id":"https://openalex.org/I4210149096","display_name":"Hewlett-Packard (Japan)","ror":"https://ror.org/04f0kxe59","country_code":"JP","type":"company","lineage":["https://openalex.org/I1324840837","https://openalex.org/I4210149096"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takeshi Sugimoto","raw_affiliation_strings":["Hewlett-Packard Japan, Ltd., Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Hewlett-Packard Japan, Ltd., Tokyo, Japan","institution_ids":["https://openalex.org/I4210149096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104242922","display_name":"Kazuhito Tanaka","orcid":null},"institutions":[{"id":"https://openalex.org/I4210137853","display_name":"Toyota Motor Corporation (Japan)","ror":"https://ror.org/02zqm6r10","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhito Tanaka","raw_affiliation_strings":["Toyota Motor Corporation, Toyota, Japan"],"affiliations":[{"raw_affiliation_string":"Toyota Motor Corporation, Toyota, Japan","institution_ids":["https://openalex.org/I4210137853"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063491489","display_name":"Yuki Shimomura","orcid":"https://orcid.org/0009-0009-4425-8795"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuki Shimomura","raw_affiliation_strings":["Persol Research & Development, Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Persol Research & Development, Nagoya, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071087276","display_name":"Francisco Jes\u00fas Arjonilla Garc\u00eda","orcid":null},"institutions":[{"id":"https://openalex.org/I1298590031","display_name":"Shizuoka University","ror":"https://ror.org/01w6wtk13","country_code":"JP","type":"education","lineage":["https://openalex.org/I1298590031"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Francisco J. Arjonilla Garcia","raw_affiliation_strings":["Department of Mechanical Engineering, Shizuoka University, Hamamatsu, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Shizuoka University, Hamamatsu, Japan","institution_ids":["https://openalex.org/I1298590031"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050204583","display_name":"Chyon Hae Kim","orcid":"https://orcid.org/0000-0002-7360-4986"},"institutions":[{"id":"https://openalex.org/I133437993","display_name":"Korea Institute of Ocean Science and Technology","ror":"https://ror.org/032m55064","country_code":"KR","type":"facility","lineage":["https://openalex.org/I133437993"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chyon Hae Kim","raw_affiliation_strings":["Sky Ocean Technology Co. Ltd., Jeju-si, South Korea"],"affiliations":[{"raw_affiliation_string":"Sky Ocean Technology Co. Ltd., Jeju-si, South Korea","institution_ids":["https://openalex.org/I133437993"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058887167","display_name":"H. Yabushita","orcid":null},"institutions":[{"id":"https://openalex.org/I4210137853","display_name":"Toyota Motor Corporation (Japan)","ror":"https://ror.org/02zqm6r10","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hidenori Yabushita","raw_affiliation_strings":["Toyota Motor Corporation, Toyota, Japan"],"affiliations":[{"raw_affiliation_string":"Toyota Motor Corporation, Toyota, Japan","institution_ids":["https://openalex.org/I4210137853"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113947243","display_name":"Takahiro Toda","orcid":null},"institutions":[{"id":"https://openalex.org/I4210137853","display_name":"Toyota Motor Corporation (Japan)","ror":"https://ror.org/02zqm6r10","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Toda","raw_affiliation_strings":["Toyota Motor Corporation, Toyota, Japan"],"affiliations":[{"raw_affiliation_string":"Toyota Motor Corporation, Toyota, Japan","institution_ids":["https://openalex.org/I4210137853"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5080407170"],"corresponding_institution_ids":["https://openalex.org/I1298590031"],"apc_list":{"value":2890,"currency":"EUR","value_usd":3690},"apc_paid":{"value":2890,"currency":"EUR","value_usd":3690},"fwci":2.7711,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.89460994,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"14","issue":"2","first_page":"373","last_page":"387"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10586","display_name":"Robotic Path Planning Algorithms","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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9897000193595886,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7305540442466736},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6465362906455994},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6134986877441406},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5477496981620789},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5088439583778381},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.48116931319236755},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.45019036531448364},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4424824118614197},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.43664973974227905},{"id":"https://openalex.org/keywords/interference","display_name":"Interference (communication)","score":0.41947075724601746},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3616377115249634},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35360103845596313},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2533847689628601}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7305540442466736},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6465362906455994},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6134986877441406},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5477496981620789},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5088439583778381},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.48116931319236755},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.45019036531448364},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4424824118614197},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.43664973974227905},{"id":"https://openalex.org/C32022120","wikidata":"https://www.wikidata.org/wiki/Q797225","display_name":"Interference (communication)","level":3,"score":0.41947075724601746},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3616377115249634},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35360103845596313},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2533847689628601},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s12369-021-00791-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s12369-021-00791-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s12369-021-00791-9.pdf","source":{"id":"https://openalex.org/S168738021","display_name":"International Journal of Social Robotics","issn_l":"1875-4791","issn":["1875-4791","1875-4805"],"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Social Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s12369-021-00791-9","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s12369-021-00791-9","pdf_url":"https://link.springer.com/content/pdf/10.1007/s12369-021-00791-9.pdf","source":{"id":"https://openalex.org/S168738021","display_name":"International Journal of Social Robotics","issn_l":"1875-4791","issn":["1875-4791","1875-4805"],"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Social Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3165688178.pdf","grobid_xml":"https://content.openalex.org/works/W3165688178.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1584040247","https://openalex.org/W1973549878","https://openalex.org/W1986507693","https://openalex.org/W1999874108","https://openalex.org/W2079825567","https://openalex.org/W2082585576","https://openalex.org/W2099570340","https://openalex.org/W2100711330","https://openalex.org/W2140542425","https://openalex.org/W2142943472","https://openalex.org/W2145339207","https://openalex.org/W2146502635","https://openalex.org/W2146881125","https://openalex.org/W2227909145","https://openalex.org/W2267107524","https://openalex.org/W2493838873","https://openalex.org/W2565402511","https://openalex.org/W2908947648","https://openalex.org/W2963809389","https://openalex.org/W2964136016","https://openalex.org/W2964198921","https://openalex.org/W2986853260"],"related_works":["https://openalex.org/W2093507260","https://openalex.org/W2562628082","https://openalex.org/W2378318959","https://openalex.org/W2083994890","https://openalex.org/W2122735287","https://openalex.org/W2369541203","https://openalex.org/W2360994936","https://openalex.org/W3081536868","https://openalex.org/W2618466475","https://openalex.org/W2523265608"],"abstract_inverted_index":{"Abstract":[0],"To":[1],"achieve":[2],"robot":[3,36,73,188],"navigation":[4,47,74,209,214,237],"in":[5,52,56,76,189,222,226,238,253],"crowded":[6,78,241],"environments":[7,55,79],"having":[8],"high":[9],"densities":[10],"of":[11,33,83,145,250],"moving":[12,22],"people,":[13],"it":[14],"is":[15,126],"insufficient":[16],"to":[17,63,154,159,165],"simply":[18],"consider":[19],"humans":[20,193],"as":[21,43],"obstacles":[23],"and":[24,115,131,181,213],"avoid":[25],"collisions":[26,201],"with":[27,65,87,100,217,228],"them.":[28],"That":[29],"is,":[30],"the":[31,57,132,139,156,168,176,231,254],"impact":[32],"an":[34,71,117,185,190,223,235],"approaching":[35],"on":[37,96,121],"human":[38],"movements":[39],"must":[40],"be":[41,172],"considered":[42],"well.":[44],"Moreover,":[45],"various":[46,133],"methods":[48,210],"have":[49],"been":[50],"tested":[51],"their":[53],"own":[54],"literature,":[58],"which":[59,108],"made":[60],"them":[61],"difficult":[62],"compare":[64],"one":[66],"another.":[67],"Thus,":[68,230],"we":[69],"propose":[70],"autonomous":[72],"method":[75,103,233],"densely":[77,240],"for":[80,247],"data-based":[81],"predictions":[82],"robot-human":[84],"interactions,":[85],"together":[86],"a":[88,142,161,239],"reproducible":[89],"experimental":[90],"test":[91],"under":[92],"controlled":[93],"conditions.":[94],"Based":[95],"localized":[97],"positional":[98],"relationships":[99],"humans,":[101],"this":[102],"extracts":[104],"multiple":[105],"alternative":[106],"paths,":[107],"can":[109,171],"implement":[110],"either":[111],"following":[112],"or":[113],"avoidance,":[114],"selects":[116],"optimal":[118,169],"path":[119,125,170],"based":[120],"time":[122,146,157,219],"efficiency.":[123],"Each":[124],"selected":[127],"using":[128,178,184],"neural":[129],"networks,":[130],"paths":[134],"are":[135,151],"evaluated":[136],"by":[137],"predicting":[138],"position":[140,164],"after":[141],"given":[143],"amount":[144],"has":[147],"elapsed.":[148],"These":[149],"positions":[150],"then":[152],"used":[153],"calculate":[155],"required":[158],"reach":[160],"certain":[162],"target":[163],"ensure":[166],"that":[167],"determined.":[173],"We":[174],"trained":[175],"predictor":[177],"simulated":[179],"data":[180],"conducted":[182],"experiments":[183],"actual":[186],"mobile":[187],"environment":[191],"where":[192],"were":[194,202,211],"walking":[195],"around.":[196],"Using":[197],"our":[198],"proposed":[199,232],"method,":[200],"avoided":[203],"more":[204],"effectively":[205],"than":[206],"when":[207],"conventional":[208],"used,":[212],"was":[215],"achieved":[216],"good":[218],"efficiency,":[220],"resulting":[221],"overall":[224],"reduction":[225],"interference":[227],"humans.":[229],"enables":[234],"effective":[236],"environment,":[242],"while":[243],"collecting":[244],"human-interaction":[245],"experience":[246],"further":[248],"improvement":[249],"its":[251],"performance":[252],"future.":[255]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5}],"updated_date":"2026-03-11T14:59:36.786465","created_date":"2025-10-10T00:00:00"}