{"id":"https://openalex.org/W4312624836","doi":"https://doi.org/10.1109/case49997.2022.9926538","title":"Safe motion planning for a mobile robot navigating in environments shared with humans","display_name":"Safe motion planning for a mobile robot navigating in environments shared with humans","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W4312624836","doi":"https://doi.org/10.1109/case49997.2022.9926538"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926538","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926538","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073725448","display_name":"Ba\u015fak Sak\u00e7ak","orcid":"https://orcid.org/0000-0002-0388-6172"},"institutions":[{"id":"https://openalex.org/I98381234","display_name":"University of Oulu","ror":"https://ror.org/03yj89h83","country_code":"FI","type":"education","lineage":["https://openalex.org/I98381234"]}],"countries":["FI"],"is_corresponding":true,"raw_author_name":"Basak Sakcak","raw_affiliation_strings":["University of Oulu,Center of Ubiquitous Computing, Faculty of Information Technol-ogy and Electrical Engineering,Oulu,Finland","Center of Ubiquitous Computing, Faculty of Information Technol-ogy and Electrical Engineering, University of Oulu, Oulu, Finland"],"affiliations":[{"raw_affiliation_string":"University of Oulu,Center of Ubiquitous Computing, Faculty of Information Technol-ogy and Electrical Engineering,Oulu,Finland","institution_ids":["https://openalex.org/I98381234"]},{"raw_affiliation_string":"Center of Ubiquitous Computing, Faculty of Information Technol-ogy and Electrical Engineering, University of Oulu, Oulu, Finland","institution_ids":["https://openalex.org/I98381234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089088404","display_name":"Luca Bascetta","orcid":"https://orcid.org/0000-0002-5029-1083"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Bascetta","raw_affiliation_strings":["Politecnico di Milano,Dipartimento di Elettronica, Informazione e Bioingegneria,Milano,Italy,20133"],"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Dipartimento di Elettronica, Informazione e Bioingegneria,Milano,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5073725448"],"corresponding_institution_ids":["https://openalex.org/I98381234"],"apc_list":null,"apc_paid":null,"fwci":0.4476,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.57218684,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2074","last_page":"2079"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9445000290870667,"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":0.9445000290870667,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.926800012588501,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9258000254631042,"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/motion-planning","display_name":"Motion planning","score":0.6317405104637146},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6217607259750366},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.583071231842041},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5741229057312012},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.5624659061431885},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5539370179176331},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5487131476402283},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4831477999687195},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4643324613571167},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.43448519706726074},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3683997392654419},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3467544913291931},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28469154238700867},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07617613673210144},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.07379180192947388}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6317405104637146},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6217607259750366},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.583071231842041},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5741229057312012},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.5624659061431885},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5539370179176331},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5487131476402283},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4831477999687195},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4643324613571167},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.43448519706726074},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3683997392654419},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3467544913291931},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28469154238700867},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07617613673210144},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.07379180192947388},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case49997.2022.9926538","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926538","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1233067","is_oa":false,"landing_page_url":"https://hdl.handle.net/11311/1233067","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321108","display_name":"Academy of Finland","ror":"https://ror.org/05k73zm37"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1589443075","https://openalex.org/W1971086298","https://openalex.org/W1982809790","https://openalex.org/W2099593662","https://openalex.org/W2101496914","https://openalex.org/W2106030745","https://openalex.org/W2108643443","https://openalex.org/W2113256452","https://openalex.org/W2117335568","https://openalex.org/W2128677288","https://openalex.org/W2145089737","https://openalex.org/W2168430074","https://openalex.org/W2335799662","https://openalex.org/W2532516272","https://openalex.org/W2611972117","https://openalex.org/W2752574553","https://openalex.org/W3011646207","https://openalex.org/W3033920763","https://openalex.org/W3106257603","https://openalex.org/W6681425221","https://openalex.org/W6802999856"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W2170661558","https://openalex.org/W2359600231","https://openalex.org/W2106517143","https://openalex.org/W2001146265"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,14,27,39,48,53,58,66,79,96,103],"robot":[4],"navigating":[5],"an":[6,84],"environment":[7],"shared":[8],"with":[9],"humans":[10],"is":[11,42,47,93],"considered,":[12],"and":[13,74,78],"cost":[15,45],"function":[16,46],"that":[17,32],"can":[18],"be":[19],"exploited":[20],"in":[21,102],"RRT":[22],"<sup":[23],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[24],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">X</sup>":[25],",":[26],"randomized":[28],"sampling-based":[29],"replanning":[30],"algorithm":[31],"guarantees":[33],"asymptotic":[34],"optimality,":[35],"to":[36],"allow":[37],"for":[38],"safe":[40],"motion":[41,62],"proposed.":[43],"The":[44,90],"path":[49],"length":[50],"weighted":[51],"by":[52],"danger":[54],"index":[55],"based":[56],"on":[57,83],"prediction":[59],"of":[60,87,98],"human":[61,88,99],"performed":[63],"using":[64,95],"either":[65],"linear":[67],"stochastic":[68],"model,":[69,81],"assuming":[70],"constant":[71],"longitudinal":[72],"velocity":[73],"varying":[75],"lateral":[76],"velocity,":[77],"GMM/GMR-based":[80],"computed":[82],"experimental":[85],"dataset":[86,97],"trajectories.":[89],"proposed":[91],"approach":[92],"validated":[94],"trajectories":[100],"collected":[101],"real":[104],"world":[105],"setting.":[106]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-26T15:22:09.906841","created_date":"2025-10-10T00:00:00"}
