{"id":"https://openalex.org/W4414431935","doi":"https://doi.org/10.1109/case58245.2025.11163972","title":"Efficient Social Navigation: Leveraging Discrete Morse Theory for Dynamic Agent Interaction<sup>*</sup>","display_name":"Efficient Social Navigation: Leveraging Discrete Morse Theory for Dynamic Agent Interaction<sup>*</sup>","publication_year":2025,"publication_date":"2025-08-17","ids":{"openalex":"https://openalex.org/W4414431935","doi":"https://doi.org/10.1109/case58245.2025.11163972"},"language":"en","primary_location":{"id":"doi:10.1109/case58245.2025.11163972","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11163972","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st 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/A5119703976","display_name":"S. M. Faiaz Mursalin","orcid":null},"institutions":[{"id":"https://openalex.org/I119942284","display_name":"Missouri State University","ror":"https://ror.org/01d2sez20","country_code":"US","type":"education","lineage":["https://openalex.org/I119942284"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"S. M. Faiaz Mursalin","raw_affiliation_strings":["Missouri State University,Computer Science Department,Springfield,MO,USA"],"affiliations":[{"raw_affiliation_string":"Missouri State University,Computer Science Department,Springfield,MO,USA","institution_ids":["https://openalex.org/I119942284"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017440090","display_name":"Chinwe Ekenna","orcid":"https://orcid.org/0000-0002-7027-6040"},"institutions":[{"id":"https://openalex.org/I113508548","display_name":"Albany State University","ror":"https://ror.org/01vme4277","country_code":"US","type":"education","lineage":["https://openalex.org/I113508548"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chinwe Ekenna","raw_affiliation_strings":["University at Albany - State University of New York,Computer Science Department,NY,USA"],"affiliations":[{"raw_affiliation_string":"University at Albany - State University of New York,Computer Science Department,NY,USA","institution_ids":["https://openalex.org/I113508548"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047853846","display_name":"Mukulika Ghosh","orcid":"https://orcid.org/0000-0002-4176-0714"},"institutions":[{"id":"https://openalex.org/I119942284","display_name":"Missouri State University","ror":"https://ror.org/01d2sez20","country_code":"US","type":"education","lineage":["https://openalex.org/I119942284"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mukulika Ghosh","raw_affiliation_strings":["Missouri State University,Computer Science Department,Springfield,MO,USA"],"affiliations":[{"raw_affiliation_string":"Missouri State University,Computer Science Department,Springfield,MO,USA","institution_ids":["https://openalex.org/I119942284"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5119703976"],"corresponding_institution_ids":["https://openalex.org/I119942284"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14188441,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1625","last_page":"1631"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12031","display_name":"Speech and dialogue systems","score":0.9746999740600586,"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/T12031","display_name":"Speech and dialogue systems","score":0.9746999740600586,"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/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.9635999798774719,"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/T12290","display_name":"Human Motion and Animation","score":0.9488000273704529,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5888000130653381},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.5824999809265137},{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.579800009727478},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5375000238418579},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5192999839782715},{"id":"https://openalex.org/keywords/morse-code","display_name":"Morse code","score":0.5062999725341797},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.46959999203681946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44760000705718994},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.37400001287460327}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6514999866485596},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5888000130653381},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.5824999809265137},{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.579800009727478},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5375000238418579},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5192999839782715},{"id":"https://openalex.org/C140031139","wikidata":"https://www.wikidata.org/wiki/Q79897","display_name":"Morse code","level":2,"score":0.5062999725341797},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.46959999203681946},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44760000705718994},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.43050000071525574},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.37400001287460327},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37229999899864197},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34769999980926514},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.34549999237060547},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3425000011920929},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.3416000008583069},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.3328000009059906},{"id":"https://openalex.org/C96522737","wikidata":"https://www.wikidata.org/wiki/Q17148345","display_name":"Path integration","level":2,"score":0.3000999987125397},{"id":"https://openalex.org/C156730297","wikidata":"https://www.wikidata.org/wiki/Q2296951","display_name":"Morse theory","level":2,"score":0.27399998903274536},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2734000086784363},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.271699994802475},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.26840001344680786},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.26080000400543213},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.2603999972343445},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.26030001044273376},{"id":"https://openalex.org/C108010975","wikidata":"https://www.wikidata.org/wiki/Q500094","display_name":"Pruning","level":2,"score":0.2556999921798706},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2549999952316284},{"id":"https://openalex.org/C168773036","wikidata":"https://www.wikidata.org/wiki/Q264164","display_name":"Recursion (computer science)","level":2,"score":0.25360000133514404}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case58245.2025.11163972","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11163972","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1971648593","https://openalex.org/W2117828438","https://openalex.org/W2141698884","https://openalex.org/W2611972117","https://openalex.org/W2890001928","https://openalex.org/W3003318605","https://openalex.org/W3038043697","https://openalex.org/W3088197938","https://openalex.org/W3090649643","https://openalex.org/W3105411179","https://openalex.org/W3209325542","https://openalex.org/W4200605189","https://openalex.org/W4281702289","https://openalex.org/W4285102382","https://openalex.org/W4285249829","https://openalex.org/W4313058225","https://openalex.org/W4382202871","https://openalex.org/W4383108442","https://openalex.org/W4383720954","https://openalex.org/W4385490503","https://openalex.org/W4389665746","https://openalex.org/W4399261822","https://openalex.org/W4403122887","https://openalex.org/W4406094327","https://openalex.org/W4406619788","https://openalex.org/W4413925280"],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"navigation":[1,27],"in":[2,9,112,119,122,125],"dynamic":[3,135],"environments":[4,126],"presents":[5],"significant":[6],"challenges,":[7],"particularly":[8],"managing":[10],"interactions":[11],"with":[12,29,114],"moving":[13],"agents":[14],"while":[15],"ensuring":[16],"efficient":[17,80,109],"path":[18,31,50,64,116],"planning.":[19,82],"We":[20],"introduce":[21],"a":[22,40,71,98],"novel":[23],"integration":[24],"of":[25,130],"social":[26],"strategies":[28],"topological":[30],"planning,":[32],"leveraging":[33],"Discrete":[34],"Morse":[35,68],"Theory,":[36],"Vietoris-Rips":[37],"complex,":[38],"and":[39,52,62,133],"homotopical":[41],"framework":[42,96],"to":[43],"enhance":[44],"adaptability.":[45],"Our":[46],"method":[47],"dynamically":[48],"assesses":[49],"feasibility":[51],"optimizes":[53],"trajectory":[54],"selection":[55],"through":[56],"three":[57],"key":[58],"strategies:":[59],"waiting,":[60],"deflection,":[61],"diverse":[63],"selection.":[65],"By":[66],"incorporating":[67],"values":[69],"into":[70],"sampling-based":[72],"roadmap,":[73],"our":[74,95],"approach":[75],"prioritizes":[76],"critical":[77],"configurations":[78],"for":[79,102],"motion":[81],"Unlike":[83],"existing":[84],"methods":[85],"that":[86],"rely":[87],"on":[88],"static":[89],"heuristics":[90],"or":[91],"extensive":[92],"learning-based":[93],"predictions,":[94],"offers":[97],"real-time,":[99],"adaptive":[100],"mechanism":[101],"congestion-aware":[103],"navigation.":[104],"Experimental":[105],"evaluations":[106],"demonstrate":[107],"an":[108],"solution(<":[110],"100s":[111],"computation)":[113],"improved":[115],"adaptability,":[117],"resulting":[118],"30\u201360%":[120],"increase":[121],"traversal":[123],"time":[124],"containing":[127],"3\u20139":[128],"degrees":[129],"freedom":[131],"robot":[132],"15\u201360":[134],"agents.":[136]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-10T00:00:00"}
