{"id":"https://openalex.org/W4403031578","doi":"https://doi.org/10.1007/s12369-024-01172-8","title":"SONAR: An Adaptive Control Architecture for Social Norm Aware Robots","display_name":"SONAR: An Adaptive Control Architecture for Social Norm Aware Robots","publication_year":2024,"publication_date":"2024-10-01","ids":{"openalex":"https://openalex.org/W4403031578","doi":"https://doi.org/10.1007/s12369-024-01172-8"},"language":"en","primary_location":{"id":"doi:10.1007/s12369-024-01172-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s12369-024-01172-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s12369-024-01172-8.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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/s12369-024-01172-8.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063228362","display_name":"Davide Dell\u2019Anna","orcid":"https://orcid.org/0000-0002-1162-8341"},"institutions":[{"id":"https://openalex.org/I193662353","display_name":"Utrecht University","ror":"https://ror.org/04pp8hn57","country_code":"NL","type":"education","lineage":["https://openalex.org/I193662353"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Davide Dell\u2019Anna","raw_affiliation_strings":["Department of Information and Computing Sciences, Utrecht University, Utrecht, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-1162-8341","affiliations":[{"raw_affiliation_string":"Department of Information and Computing Sciences, Utrecht University, Utrecht, The Netherlands","institution_ids":["https://openalex.org/I193662353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086713084","display_name":"Anahita Jamshidnejad","orcid":"https://orcid.org/0000-0001-9151-2607"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Anahita Jamshidnejad","raw_affiliation_strings":["Department of Control and Operations, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Operations, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5063228362"],"corresponding_institution_ids":["https://openalex.org/I193662353"],"apc_list":{"value":2890,"currency":"EUR","value_usd":3690},"apc_paid":{"value":2890,"currency":"EUR","value_usd":3690},"fwci":1.9868,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.88572455,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"16","issue":"9-10","first_page":"1969","last_page":"2000"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.994700014591217,"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/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/sonar","display_name":"Sonar","score":0.7964053750038147},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.6860271096229553},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6050278544425964},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5868681073188782},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5571293830871582},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.5300621390342712},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4538196623325348},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.44618433713912964},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4375268220901489},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43533855676651},{"id":"https://openalex.org/keywords/cognitive-science","display_name":"Cognitive science","score":0.3335500657558441},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.212596595287323},{"id":"https://openalex.org/keywords/epistemology","display_name":"Epistemology","score":0.16006040573120117},{"id":"https://openalex.org/keywords/art","display_name":"Art","score":0.11223000288009644},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.09672802686691284},{"id":"https://openalex.org/keywords/visual-arts","display_name":"Visual arts","score":0.09562110900878906}],"concepts":[{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.7964053750038147},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6860271096229553},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6050278544425964},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5868681073188782},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5571293830871582},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.5300621390342712},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4538196623325348},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.44618433713912964},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4375268220901489},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43533855676651},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.3335500657558441},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.212596595287323},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.16006040573120117},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.11223000288009644},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.09672802686691284},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.09562110900878906}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s12369-024-01172-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s12369-024-01172-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s12369-024-01172-8.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Social Robotics","raw_type":"journal-article"},{"id":"pmh:oai:dspace.library.uu.nl:1874/473532","is_oa":true,"landing_page_url":"https://dspace.library.uu.nl/handle/1874/473532","pdf_url":null,"source":{"id":"https://openalex.org/S4306401649","display_name":"Utrecht University Repository (Utrecht University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193662353","host_organization_name":"Utrecht University","host_organization_lineage":["https://openalex.org/I193662353"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1007/s12369-024-01172-8","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s12369-024-01172-8","pdf_url":"https://link.springer.com/content/pdf/10.1007/s12369-024-01172-8.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Social Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5443139770","display_name":null,"funder_award_id":"OCENW.XS21.3.106","funder_id":"https://openalex.org/F4320321800","funder_display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek"}],"funders":[{"id":"https://openalex.org/F4320321800","display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek","ror":"https://ror.org/04jsz6e67"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403031578.pdf","grobid_xml":"https://content.openalex.org/works/W4403031578.grobid-xml"},"referenced_works_count":98,"referenced_works":["https://openalex.org/W85606319","https://openalex.org/W198400421","https://openalex.org/W220935706","https://openalex.org/W1489698281","https://openalex.org/W1503557494","https://openalex.org/W1511963917","https://openalex.org/W1556726625","https://openalex.org/W1572425978","https://openalex.org/W1574675058","https://openalex.org/W1581665037","https://openalex.org/W1600642204","https://openalex.org/W1641375177","https://openalex.org/W1739460100","https://openalex.org/W1837843568","https://openalex.org/W1903683453","https://openalex.org/W1906447197","https://openalex.org/W1977656752","https://openalex.org/W1984792801","https://openalex.org/W1986139141","https://openalex.org/W1996387377","https://openalex.org/W2004550196","https://openalex.org/W2015376032","https://openalex.org/W2027003121","https://openalex.org/W2050288270","https://openalex.org/W2052107565","https://openalex.org/W2056245254","https://openalex.org/W2056973084","https://openalex.org/W2084235337","https://openalex.org/W2086537845","https://openalex.org/W2089666999","https://openalex.org/W2096521069","https://openalex.org/W2097801865","https://openalex.org/W2106172458","https://openalex.org/W2106379963","https://openalex.org/W2107340807","https://openalex.org/W2113699261","https://openalex.org/W2116309930","https://openalex.org/W2123160185","https://openalex.org/W2128150826","https://openalex.org/W2139912445","https://openalex.org/W2145899763","https://openalex.org/W2152004930","https://openalex.org/W2202773761","https://openalex.org/W2213228808","https://openalex.org/W2233421590","https://openalex.org/W2545019777","https://openalex.org/W2747823333","https://openalex.org/W2750404323","https://openalex.org/W2771621819","https://openalex.org/W2775329135","https://openalex.org/W2888482633","https://openalex.org/W2896072125","https://openalex.org/W2898756931","https://openalex.org/W2916916283","https://openalex.org/W2952751686","https://openalex.org/W2963095307","https://openalex.org/W2964065687","https://openalex.org/W2968850738","https://openalex.org/W2988937804","https://openalex.org/W2989904008","https://openalex.org/W3001866253","https://openalex.org/W3012118145","https://openalex.org/W3036310819","https://openalex.org/W3040930650","https://openalex.org/W3046399757","https://openalex.org/W3091491428","https://openalex.org/W3096759520","https://openalex.org/W3101745004","https://openalex.org/W3101778447","https://openalex.org/W3120349130","https://openalex.org/W3125182500","https://openalex.org/W3125373920","https://openalex.org/W3128013677","https://openalex.org/W3157259911","https://openalex.org/W3163027429","https://openalex.org/W3176404985","https://openalex.org/W3180684397","https://openalex.org/W3207896405","https://openalex.org/W4207038247","https://openalex.org/W4211153864","https://openalex.org/W4225973680","https://openalex.org/W4231317190","https://openalex.org/W4234274753","https://openalex.org/W4246121750","https://openalex.org/W4248447990","https://openalex.org/W4283378812","https://openalex.org/W4298768441","https://openalex.org/W4307247854","https://openalex.org/W4309890083","https://openalex.org/W4311197400","https://openalex.org/W4312212946","https://openalex.org/W4313394075","https://openalex.org/W4319983129","https://openalex.org/W4323359549","https://openalex.org/W4385659819","https://openalex.org/W6910397430","https://openalex.org/W6911252318","https://openalex.org/W6950317013"],"related_works":["https://openalex.org/W122469368","https://openalex.org/W4238798220","https://openalex.org/W2945074068","https://openalex.org/W2475425029","https://openalex.org/W3201918386","https://openalex.org/W2495868881","https://openalex.org/W2467617359","https://openalex.org/W4252287176","https://openalex.org/W2691078541","https://openalex.org/W2490659911"],"abstract_inverted_index":{"Abstract":[0],"Recent":[1],"advances":[2],"in":[3,19,159,191,206,210,252],"robotics":[4],"and":[5,39,68,83,92,101,108,117,140,155,167,169,180,185,199,230,273],"artificial":[6],"intelligence":[7],"have":[8],"made":[9],"it":[10],"necessary":[11],"or":[12],"desired":[13],"for":[14,27,95,132],"humans":[15],"to":[16,63,105,161,173,222,228,232],"get":[17],"involved":[18],"interactions":[20,75,126,192],"with":[21,76,165,176,271],"social":[22,40,61,72,168,179,184,212,234],"robots.":[23],"A":[24],"key":[25],"factor":[26],"the":[28,86,115,138,163,211,220,233,265],"human":[29],"acceptance":[30],"of":[31,37,90,119,134,145,236,241,260,268],"these":[32,242],"robots":[33],"is":[34],"their":[35],"awareness":[36,187],"environmental":[38,166],"norms.":[41],"In":[42],"this":[43],"paper,":[44],"we":[45,215],"introduce":[46],"SONAR":[47,78,120,151,189,224,246],"(for":[48],"SOcial":[49],"Norm":[50],"Aware":[51],"Robots),":[52],"a":[53,129,174,253,256],"novel":[54],"robot-agnostic":[55],"control":[56],"architecture":[57],"aimed":[58],"at":[59],"enabling":[60],"agents":[62],"autonomously":[64],"recognize,":[65],"act":[66],"upon,":[67],"learn":[69,229,249],"over":[70],"time":[71],"norms":[73,235],"during":[74],"humans.":[77],"integrates":[79],"several":[80],"state-of-the-art":[81],"theories":[82],"technologies,":[84],"including":[85],"belief-desire-intention":[87],"(BDI)":[88],"model":[89],"reasoning":[91],"decision":[93,111],"making":[94],"rational":[96],"agents,":[97],"fuzzy":[98],"logic":[99],"theory,":[100],"large":[102],"language":[103],"models,":[104],"support":[106],"adaptive":[107],"norm-aware":[109],"autonomous":[110],"making.":[112],"We":[113,262],"demonstrate":[114],"feasibility":[116],"applicability":[118],"via":[121,188,217],"real-life":[122],"experiments":[123,147,274],"involving":[124],"human-robot":[125],"(HRI)":[127],"using":[128],"Nao":[130],"robot":[131,139,164,175],"scenarios":[133],"casual":[135],"conversations":[136],"between":[137],"each":[141],"participant.":[142],"The":[143,239],"results":[144,190,240],"our":[146,150],"show":[148],"that":[149,193,245],"implementation":[152],"can":[153,225,247],"effectively":[154],"efficiently":[156],"be":[157,226],"used":[158,227],"HRI":[160],"provide":[162],"norm":[170,181,186],"awareness.":[171],"Compared":[172],"no":[177],"explicit":[178],"awareness,":[182],"introducing":[183],"are":[194],"perceived":[195,208],"as":[196,203,205],"more":[197],"positive":[198],"enjoyable":[200],"by":[201],"humans,":[202],"well":[204],"higher":[207],"trust":[209],"robot.":[213],"Moreover,":[214],"investigate,":[216],"computer-based":[218],"simulations,":[219],"extent":[221],"which":[223],"adapt":[231],"different":[237],"societies.":[238],"simulations":[243],"illustrate":[244],"successfully":[248],"adequate":[250],"behaviors":[251],"society":[254],"from":[255],"relatively":[257],"small":[258],"amount":[259],"data.":[261],"publicly":[263],"release":[264],"source":[266],"code":[267],"SONAR,":[269],"along":[270],"data":[272],"logs.":[275]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-14T06:41:57.775601","created_date":"2025-10-10T00:00:00"}
