{"id":"https://openalex.org/W4402727746","doi":"https://doi.org/10.1109/cis-ram61939.2024.10672669","title":"Towards Safe and Efficient Last-Mile Delivery: A Multi-Modal Socially Aware Navigation Framework for Autonomous Robots on Pedestrian-Crowded Sidewalks","display_name":"Towards Safe and Efficient Last-Mile Delivery: A Multi-Modal Socially Aware Navigation Framework for Autonomous Robots on Pedestrian-Crowded Sidewalks","publication_year":2024,"publication_date":"2024-08-08","ids":{"openalex":"https://openalex.org/W4402727746","doi":"https://doi.org/10.1109/cis-ram61939.2024.10672669"},"language":"en","primary_location":{"id":"doi:10.1109/cis-ram61939.2024.10672669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram61939.2024.10672669","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)","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/A5014133410","display_name":"Yichen Zhou","orcid":"https://orcid.org/0009-0000-3888-0224"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yichen Zhou","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059520724","display_name":"Mingxing Wen","orcid":"https://orcid.org/0000-0002-9751-2648"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mingxing Wen","raw_affiliation_strings":["China-Singapore International Joint Research Institute,Guangzhou,PRC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China-Singapore International Joint Research Institute,Guangzhou,PRC","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100451602","display_name":"Xun Chen","orcid":"https://orcid.org/0000-0002-4922-8116"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xun Chen","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103249275","display_name":"Chunyang Zhao","orcid":"https://orcid.org/0009-0004-4351-9336"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chunyang Zhao","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060352114","display_name":"Jiajie Guo","orcid":"https://orcid.org/0000-0002-7740-6792"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jiajie Guo","raw_affiliation_strings":["Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,School of Electrical and Electronic Engineering,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100754322","display_name":"Jun Zhang","orcid":"https://orcid.org/0000-0001-7406-5243"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jun Zhang","raw_affiliation_strings":["Nanyang Technological University,Continental-NTU Corporate Lab,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,Continental-NTU Corporate Lab,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068949782","display_name":"Yufeng Yue","orcid":"https://orcid.org/0000-0001-6628-7946"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yufeng Yue","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China,100811"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China,100811","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004545978","display_name":"Yingchong Ma","orcid":"https://orcid.org/0000-0002-6663-8811"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yingchong Ma","raw_affiliation_strings":["Nanyang Technological University,Continental-NTU Corporate Lab,Singapore,639798"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanyang Technological University,Continental-NTU Corporate Lab,Singapore,639798","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"392","last_page":"398"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9975000023841858,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9965999722480774,"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/pedestrian","display_name":"Pedestrian","score":0.7877397537231445},{"id":"https://openalex.org/keywords/last-mile","display_name":"Last mile (transportation)","score":0.7192807793617249},{"id":"https://openalex.org/keywords/mile","display_name":"Mile","score":0.7141006588935852},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6437346339225769},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6268913745880127},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6009453535079956},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44036608934402466},{"id":"https://openalex.org/keywords/pedestrian-crossing","display_name":"Pedestrian crossing","score":0.4379204511642456},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.3996484875679016},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3429355025291443},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3057277202606201},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24049979448318481},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10090932250022888}],"concepts":[{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.7877397537231445},{"id":"https://openalex.org/C45440154","wikidata":"https://www.wikidata.org/wiki/Q6494801","display_name":"Last mile (transportation)","level":3,"score":0.7192807793617249},{"id":"https://openalex.org/C186379835","wikidata":"https://www.wikidata.org/wiki/Q253276","display_name":"Mile","level":2,"score":0.7141006588935852},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6437346339225769},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6268913745880127},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6009453535079956},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44036608934402466},{"id":"https://openalex.org/C2777819797","wikidata":"https://www.wikidata.org/wiki/Q8010","display_name":"Pedestrian crossing","level":3,"score":0.4379204511642456},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.3996484875679016},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3429355025291443},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3057277202606201},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24049979448318481},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10090932250022888},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cis-ram61939.2024.10672669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram61939.2024.10672669","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2082927964","https://openalex.org/W2132570625","https://openalex.org/W2167052694","https://openalex.org/W2210721416","https://openalex.org/W2286744228","https://openalex.org/W2340897893","https://openalex.org/W2413995699","https://openalex.org/W2604216058","https://openalex.org/W2884822772","https://openalex.org/W2890001928","https://openalex.org/W2904839202","https://openalex.org/W2966865642","https://openalex.org/W2967552374","https://openalex.org/W2979565629","https://openalex.org/W3035564946","https://openalex.org/W3035574168","https://openalex.org/W3090169770","https://openalex.org/W3090345358","https://openalex.org/W3116651890","https://openalex.org/W3132973354","https://openalex.org/W3156851382","https://openalex.org/W3159637683","https://openalex.org/W3180130487","https://openalex.org/W3207293238","https://openalex.org/W3208797976","https://openalex.org/W3211490618","https://openalex.org/W4210491718","https://openalex.org/W4285296730","https://openalex.org/W4312815172","https://openalex.org/W4313055208","https://openalex.org/W4315472366","https://openalex.org/W4319866011","https://openalex.org/W6755791307","https://openalex.org/W6792369536"],"related_works":["https://openalex.org/W4224920455","https://openalex.org/W2974961843","https://openalex.org/W187110833","https://openalex.org/W4387715617","https://openalex.org/W2905794575","https://openalex.org/W2736109931","https://openalex.org/W122740207","https://openalex.org/W4388221821","https://openalex.org/W650967530","https://openalex.org/W4390813505"],"abstract_inverted_index":{"Last-mile":[0],"delivery":[1,69,121],"robot":[2,35,70,122],"has":[3,104],"been":[4,105,132],"attracted":[5],"increasing":[6],"attention":[7],"from":[8],"industry":[9],"and":[10,21,95,136],"comes":[11],"into":[12],"our":[13],"daily":[14],"life":[15],"recently.":[16],"However,":[17],"how":[18],"to":[19,107,134],"safely":[20],"effectively":[22],"navigate":[23],"among":[24],"crowded":[25,73],"pedestrians":[26],"is":[27,123],"still":[28],"an":[29],"open":[30],"problem.":[31],"It":[32],"requires":[33],"the":[34,44,50,78,100,109,120,138,141],"capable":[36],"of":[37,46,68,111,140],"analysing":[38],"where":[39],"it":[40],"can":[41],"traverse,":[42],"understanding":[43],"intentions":[45],"surrounding":[47],"pedestrians,":[48],"planning":[49],"trajectory":[51],"with":[52,99],"social":[53,101],"awareness,":[54],"etc.":[55],"In":[56],"this":[57],"paper,":[58],"we":[59,76],"have":[60,131],"successfully":[61],"completed":[62],"a":[63,91,114],"systematic":[64],"implementation":[65],"for":[66,84,119],"navigation":[67],"in":[71],"pedestrian":[72,127],"environments.":[74],"First,":[75],"introduced":[77,106],"Nanyang":[79],"Sidewalk":[80],"dataset,":[81],"designed":[82],"explicitly":[83],"class":[85],"segmentation":[86],"tasks":[87],"on":[88],"sidewalks.":[89],"Second,":[90],"multi-modal":[92],"3D":[93],"detection":[94],"motion":[96,117],"prediction":[97],"integrated":[98],"force":[102],"model":[103],"perceive":[108],"intention":[110],"pedestrians.":[112],"Then,":[113],"socially":[115],"aware":[116],"planner":[118],"demonstrated":[124],"by":[125],"following":[126],"etiquette.":[128],"Extensive":[129],"experiments":[130],"conducted":[133],"verify":[135],"evaluate":[137],"performance":[139],"proposed":[142],"algorithm.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}