{"id":"https://openalex.org/W4387089080","doi":"https://doi.org/10.1109/ecmr59166.2023.10256274","title":"Social APF-RL: Safe Mapless Navigation in Unknown & Human-Populated Environments","display_name":"Social APF-RL: Safe Mapless Navigation in Unknown & Human-Populated Environments","publication_year":2023,"publication_date":"2023-09-04","ids":{"openalex":"https://openalex.org/W4387089080","doi":"https://doi.org/10.1109/ecmr59166.2023.10256274"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr59166.2023.10256274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr59166.2023.10256274","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Conference on Mobile Robots (ECMR)","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/A5000028756","display_name":"S\u00fcleyman Batuhan Vatan","orcid":"https://orcid.org/0000-0001-8095-1612"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"S. Batuhan Vatan","raw_affiliation_strings":["Boğaziçi University,Intelligent Systems Laboratory, Electrical & Electronics Engineering,Istanbul,Turkey"],"affiliations":[{"raw_affiliation_string":"Boğaziçi University,Intelligent Systems Laboratory, Electrical & Electronics Engineering,Istanbul,Turkey","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010387826","display_name":"Kemal Bekta\u015f","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kemal Bekta\u015f","raw_affiliation_strings":["Boğaziçi University,Systems and Control Engineering"],"affiliations":[{"raw_affiliation_string":"Boğaziçi University,Systems and Control Engineering","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081079933","display_name":"H. I\u015f\u0131l Bozma","orcid":"https://orcid.org/0000-0002-0903-2979"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"H. I\u015f\u0131l Bozma","raw_affiliation_strings":["Boğaziçi University,Intelligent Systems Laboratory, Electrical & Electronics Engineering,Istanbul,Turkey"],"affiliations":[{"raw_affiliation_string":"Boğaziçi University,Intelligent Systems Laboratory, Electrical & Electronics Engineering,Istanbul,Turkey","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5000028756"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2469,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.52995135,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9993000030517578,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9976999759674072,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8610793352127075},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7093245983123779},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6906436681747437},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6252631545066833},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5465466976165771},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5300371646881104},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5282340049743652},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.49582967162132263},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4562283158302307},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3645767271518707},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.21350958943367004}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8610793352127075},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7093245983123779},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6906436681747437},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6252631545066833},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5465466976165771},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5300371646881104},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5282340049743652},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.49582967162132263},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4562283158302307},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3645767271518707},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.21350958943367004},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ecmr59166.2023.10256274","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ecmr59166.2023.10256274","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.75,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1771410628","https://openalex.org/W1996785616","https://openalex.org/W2000365432","https://openalex.org/W2026227292","https://openalex.org/W2057134775","https://openalex.org/W2059993653","https://openalex.org/W2110144538","https://openalex.org/W2141973273","https://openalex.org/W2167052694","https://openalex.org/W2414920489","https://openalex.org/W2604216058","https://openalex.org/W2736601468","https://openalex.org/W2781726626","https://openalex.org/W2890001928","https://openalex.org/W2904246096","https://openalex.org/W2963037989","https://openalex.org/W2963864421","https://openalex.org/W2964043796","https://openalex.org/W2964319688","https://openalex.org/W2971926293","https://openalex.org/W2984168904","https://openalex.org/W2999589019","https://openalex.org/W3018757597","https://openalex.org/W3026389972","https://openalex.org/W4285102644","https://openalex.org/W6638018090","https://openalex.org/W6684921986","https://openalex.org/W6692846177","https://openalex.org/W6754379355","https://openalex.org/W6777046832"],"related_works":["https://openalex.org/W2093507260","https://openalex.org/W2562628082","https://openalex.org/W2378318959","https://openalex.org/W2083994890","https://openalex.org/W2369541203","https://openalex.org/W2360994936","https://openalex.org/W3081536868","https://openalex.org/W2175714038","https://openalex.org/W2175869054","https://openalex.org/W2724299411"],"abstract_inverted_index":{"Safe":[0],"mapless":[1],"navigation":[2,121,125],"of":[3,59,81,96],"mobile":[4,35],"robots":[5],"in":[6,17,55,136,154,167],"unknown":[7],"and":[8,37,98,112],"human-populated":[9],"areas":[10],"is":[11,90],"integral":[12],"for":[13],"increasing":[14],"their":[15,101],"usage":[16],"our":[18,50],"daily":[19],"lives.":[20],"In":[21],"this":[22],"paper,":[23],"we":[24,160],"consider":[25],"how":[26,75],"such":[27],"a":[28,34],"behavior":[29],"can":[30,129],"be":[31],"exhibited":[32],"by":[33],"robot":[36,73,128],"introduce":[38],"Social":[39,47,86],"APF-RL":[40,48,54],"(Artificial":[41],"Potential":[42],"Functions":[43],"with":[44,64,139],"Reinforcement":[45],"Learning).":[46],"extends":[49],"previously":[51],"presented":[52],"approach":[53,166],"which":[56],"the":[57,72,78,82,88,94,119,127,164],"strengths":[58],"artificial":[60],"potential":[61],"functions":[62],"(APF)":[63],"deep":[65],"reinforcement":[66],"learning":[67],"are":[68],"combined":[69],"so":[70],"that":[71,116],"learns":[74],"to":[76,92,99,146,162,172],"adjust":[77],"input":[79],"parameters":[80],"APF":[83],"controller.":[84],"With":[85],"APF-RL,":[87],"model":[89],"extended":[91],"accommodate":[93],"presence":[95],"humans":[97,147],"respect":[100],"comfort":[102],"zones":[103],"while":[104,142,170],"navigating.":[105],"Our":[106],"experimental":[107],"results":[108],"including":[109],"both":[110],"simulation":[111],"real-life":[113,155],"scenarios":[114,138],"demonstrate":[115],"differing":[117],"from":[118],"classical":[120],"methods":[122],"or":[123],"social":[124,144,173],"methods,":[126],"navigate":[130],"successfully":[131],"on":[132],"its":[133],"own":[134],"even":[135],"complex":[137],"moving":[140],"entities":[141],"maintaining":[143],"distance":[145,174],"encountered.":[148],"Hence,":[149],"it":[150],"has":[151],"better":[152],"applicability":[153],"scenarios.":[156],"For":[157],"future":[158],"work,":[159],"plan":[161],"use":[163],"proposed":[165],"human":[168],"following":[169],"adhering":[171],"norms.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}