{"id":"https://openalex.org/W2291475244","doi":"https://doi.org/10.1109/cdc.2015.7402636","title":"Mobile robot navigation amidst humans with intents and uncertainties: A time scaled collision cone approach","display_name":"Mobile robot navigation amidst humans with intents and uncertainties: A time scaled collision cone approach","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2291475244","doi":"https://doi.org/10.1109/cdc.2015.7402636","mag":"2291475244"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2015.7402636","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2015.7402636","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 54th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5011049353","display_name":"Akhil Nagariya","orcid":null},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Akhil Nagariya","raw_affiliation_strings":["IIIT, Robotics Research Center, Hyderabad, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIT, Robotics Research Center, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037619813","display_name":"Bharath Gopalakrishnan","orcid":"https://orcid.org/0000-0002-4385-1310"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Bharath Gopalakrishnan","raw_affiliation_strings":["IIIT, Robotics Research Center, Hyderabad, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIT, Robotics Research Center, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083895630","display_name":"Arun Kumar Singh","orcid":"https://orcid.org/0000-0003-1704-7932"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Arun Kumar Singh","raw_affiliation_strings":["BGU, Bio-Medical Robotics Lab, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"BGU, Bio-Medical Robotics Lab, Israel","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028549700","display_name":"Krishnam Gupta","orcid":null},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Krishnam Gupta","raw_affiliation_strings":["IIIT, Robotics Research Center, Hyderabad, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIT, Robotics Research Center, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075816776","display_name":"K. Madhava Krishna","orcid":"https://orcid.org/0000-0001-7846-7901"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"K. Madhava Krishna","raw_affiliation_strings":["International Institute of Information Technology Hyderabad, Gachibowli, Telangana, IN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"International Institute of Information Technology Hyderabad, Gachibowli, Telangana, IN","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2773","last_page":"2779"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/collision-avoidance","display_name":"Collision avoidance","score":0.8922432661056519},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6072999835014343},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6001995801925659},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5505731701850891},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.4924498498439789},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4458044767379761},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4384003281593323},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4196091890335083},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34884852170944214},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3436761796474457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34357398748397827},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20477595925331116},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14240100979804993},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08910387754440308}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8922432661056519},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6072999835014343},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6001995801925659},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5505731701850891},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.4924498498439789},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4458044767379761},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4384003281593323},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4196091890335083},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34884852170944214},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3436761796474457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34357398748397827},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20477595925331116},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14240100979804993},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08910387754440308},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2015.7402636","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2015.7402636","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 54th IEEE Conference on Decision and Control (CDC)","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":14,"referenced_works":["https://openalex.org/W1965311879","https://openalex.org/W1990297170","https://openalex.org/W2002440441","https://openalex.org/W2008837194","https://openalex.org/W2015625470","https://openalex.org/W2054149315","https://openalex.org/W2088604406","https://openalex.org/W2100469802","https://openalex.org/W2120133705","https://openalex.org/W2125838338","https://openalex.org/W2136947569","https://openalex.org/W2149716029","https://openalex.org/W2158400962","https://openalex.org/W2167918262"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W2889566344","https://openalex.org/W3113932901","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W2165574943"],"abstract_inverted_index":{"We":[0,53,134,166],"propose":[1],"a":[2,39,42,110],"novel":[3],"collision":[4,91,99,117,126],"avoidance":[5,81,164,185],"formulation":[6],"in":[7,17,102,175],"the":[8,48,61,114,146,156,178,181,197],"intent":[9,22,77],"space,":[10],"suitable":[11],"for":[12,172],"navigation":[13],"of":[14,29,41,98,113,125,158,163,183,189,200],"non-holonomic":[15],"robots":[16],"human":[18,44,57,176],"centered":[19],"environments.":[20,104],"The":[21],"space":[23,78,124,149],"is":[24],"characterized":[25],"by":[26,170],"various":[27],"bands":[28],"trajectories":[30],"wherein":[31],"each":[32],"band":[33],"can":[34],"be":[35,38],"thought":[36],"to":[37,56,122,129,186],"representation":[40],"possible":[43,173],"intended":[45],"motion":[46],"and":[47,59,69,161,191],"uncertainty":[49,62],"associated":[50,131],"with":[51],"it.":[52],"ascribe":[54],"probabilities":[55],"intentions":[58],"characterize":[60],"around":[63],"it":[64],"through":[65],"Gaussian":[66,72],"state":[67],"transition":[68],"its":[70,192],"concomitant":[71],"parametric":[73],"distribution.":[74],"Given":[75],"an":[76,130,137,152],"we":[79,108],"design":[80],"maneuvers":[82],"based":[83],"on":[84,88],"our":[85],"recent":[86],"works":[87],"time":[89,115],"scaled":[90,116],"cone":[92,118],"concept":[93],"which":[94,119,140],"provides":[95],"analytical":[96],"characterization":[97],"free":[100,127],"velocities":[101,128],"dynamic":[103],"In":[105],"this":[106],"paper,":[107],"present":[109],"probabilistic":[111],"variant":[112],"allows":[120],"us":[121],"relate":[123],"confidence":[132],"measure.":[133],"also":[135],"develop":[136],"optimization":[138],"framework":[139],"extract":[141],"such":[142],"specific":[143],"solutions":[144],"from":[145],"entire":[147],"solution":[148],"that":[150,169],"achieves":[151],"elegant":[153],"balance":[154],"between":[155],"objective":[157],"minimizing":[159],"risk":[160],"ease":[162],"maneuver.":[165],"further":[167],"show":[168],"accounting":[171],"intents":[174],"motion,":[177],"method":[179],"transcends":[180],"realm":[182],"reactive":[184],"proactive":[187],"anticipation":[188],"collisions":[190],"effective":[193],"avoidance,":[194],"thereby":[195],"increasing":[196],"overall":[198],"safety":[199],"navigation.":[201]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
