{"id":"https://openalex.org/W2017834396","doi":"https://doi.org/10.1109/humanoids.2014.7041445","title":"Continuous real time POMCP to find-and-follow people by a humanoid service robot","display_name":"Continuous real time POMCP to find-and-follow people by a humanoid service robot","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2017834396","doi":"https://doi.org/10.1109/humanoids.2014.7041445","mag":"2017834396"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041445","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/2117/76344","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013651122","display_name":"Alex Goldhoorn","orcid":"https://orcid.org/0000-0001-9257-2564"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alex Goldhoorn","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial (CSIC-UPC), Spain","Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Llorens Artigas 4-6, 08028, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial (CSIC-UPC), Spain","institution_ids":["https://openalex.org/I4210093282"]},{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Llorens Artigas 4-6, 08028, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089475086","display_name":"Ana\u00eds Garrell","orcid":"https://orcid.org/0000-0002-4629-0723"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Anais Garrell","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial (CSIC-UPC), Spain","Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Llorens Artigas 4-6, 08028, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial (CSIC-UPC), Spain","institution_ids":["https://openalex.org/I4210093282"]},{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Llorens Artigas 4-6, 08028, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091272329","display_name":"Ren\u00e9 Alqu\u00e9zar","orcid":"https://orcid.org/0000-0002-6420-0517"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Rene Alquezar","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial (CSIC-UPC), Spain","Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Llorens Artigas 4-6, 08028, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial (CSIC-UPC), Spain","institution_ids":["https://openalex.org/I4210093282"]},{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Llorens Artigas 4-6, 08028, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041730641","display_name":"Alberto Sanfeliu","orcid":"https://orcid.org/0000-0003-3868-9678"},"institutions":[{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]},{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alberto Sanfeliu","raw_affiliation_strings":["Institut de Rob\u00f2tica i Inform\u00e0tica Industrial (CSIC-UPC), Spain","Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Llorens Artigas 4-6, 08028, Barcelona, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial (CSIC-UPC), Spain","institution_ids":["https://openalex.org/I4210093282"]},{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC-UPC, Llorens Artigas 4-6, 08028, Barcelona, Spain","institution_ids":["https://openalex.org/I4210093282","https://openalex.org/I9617848"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"741","last_page":"747"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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":0.9986000061035156,"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":0.992900013923645,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9887999892234802,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7409867644309998},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6910422444343567},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6026593446731567},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.5575962066650391},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5392640233039856},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5107600688934326},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.500312089920044},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.4978146553039551},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.44591736793518066},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.429073303937912},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4054935872554779},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.395053505897522},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3738655745983124}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7409867644309998},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6910422444343567},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6026593446731567},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.5575962066650391},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5392640233039856},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5107600688934326},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.500312089920044},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.4978146553039551},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.44591736793518066},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.429073303937912},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4054935872554779},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.395053505897522},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3738655745983124},{"id":"https://openalex.org/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","level":1,"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/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/humanoids.2014.7041445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041445","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:upcommons.upc.edu:2117/76344","is_oa":false,"landing_page_url":"https://hdl.handle.net/2117/76344","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Conference report"},{"id":"pmh:oai:www.recercat.cat:2072/253640","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/76344","pdf_url":null,"source":{"id":"https://openalex.org/S4306402147","display_name":"RECERCAT (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.654.5317","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.654.5317","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.iri.upc.edu/files/scidoc/1564-Continuous-Real-Time-POMCP-to-Find-and-Follow-People-by-a-Humanoid-Service-Robot.pdf","raw_type":"text"},{"id":"pmh:oai:digital.csic.es:10261/127332","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/127332","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Comunicaci\u00f3n de congreso"}],"best_oa_location":{"id":"pmh:oai:www.recercat.cat:2072/253640","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/76344","pdf_url":null,"source":{"id":"https://openalex.org/S4306402147","display_name":"RECERCAT (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8299999833106995,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2214249","https://openalex.org/W170770739","https://openalex.org/W827476122","https://openalex.org/W967453109","https://openalex.org/W1532688806","https://openalex.org/W1625390266","https://openalex.org/W1962965017","https://openalex.org/W1964150751","https://openalex.org/W2010780110","https://openalex.org/W2017613479","https://openalex.org/W2032100464","https://openalex.org/W2076337359","https://openalex.org/W2081529134","https://openalex.org/W2090598305","https://openalex.org/W2099430963","https://openalex.org/W2103955729","https://openalex.org/W2111020647","https://openalex.org/W2113284964","https://openalex.org/W2120108324","https://openalex.org/W2131872848","https://openalex.org/W2136556525","https://openalex.org/W2151140688","https://openalex.org/W2162428884","https://openalex.org/W2171084228","https://openalex.org/W2171880534","https://openalex.org/W2296381616","https://openalex.org/W3148269042","https://openalex.org/W6600089385","https://openalex.org/W6631794187","https://openalex.org/W6631864160","https://openalex.org/W6636578284","https://openalex.org/W6683336107","https://openalex.org/W6684973485"],"related_works":["https://openalex.org/W2979649235","https://openalex.org/W2540925674","https://openalex.org/W2392565008","https://openalex.org/W2047788632","https://openalex.org/W2123436641","https://openalex.org/W2965672371","https://openalex.org/W2118648141","https://openalex.org/W2058063222","https://openalex.org/W2146369460","https://openalex.org/W4361027579"],"abstract_inverted_index":{"This":[0],"study":[1],"describes":[2],"and":[3,10,26,88,102],"evaluates":[4],"two":[5,107],"new":[6,81],"methods":[7,50,82],"for":[8],"finding":[9],"following":[11],"people":[12],"in":[13,43,45,64,99,126],"urban":[14,127],"settings":[15],"using":[16],"a":[17,84,122],"humanoid":[18,124],"service":[19],"robot:":[20],"the":[21,54],"Continuous":[22,34],"Real-time":[23,35],"POMCP":[24,36],"method,":[25],"its":[27],"improved":[28],"extension":[29],"called":[30],"Adaptive":[31],"Highest":[32],"Belief":[33],"follower.":[37],"They":[38],"are":[39],"able":[40],"to":[41,66],"run":[42],"real-time,":[44],"large":[46,75],"continuous":[47],"environments.":[48,128],"These":[49],"make":[51],"use":[52],"of":[53,112],"online":[55],"search":[56],"algorithm":[57],"Partially":[58],"Observable":[59],"Monte-Carlo":[60],"Planning":[61],"(POMCP),":[62],"which":[63],"contrast":[65],"other":[67],"previous":[68],"approaches,":[69],"can":[70],"plan":[71],"under":[72],"uncertainty":[73],"on":[74],"state":[76],"spaces.":[77],"We":[78],"compare":[79],"our":[80],"with":[83,121],"heuristic":[85],"person":[86],"follower":[87],"demonstrate":[89],"that":[90],"they":[91],"obtain":[92],"better":[93],"results":[94],"by":[95],"testing":[96],"them":[97],"extensively":[98],"both":[100],"simulated":[101],"real-life":[103,116],"experiments.":[104],"More":[105],"than":[106],"hours,":[108],"over":[109],"3":[110],"km,":[111],"autonomous":[113],"navigation":[114],"during":[115],"experiments":[117],"have":[118],"been":[119],"done":[120],"mobile":[123],"robot":[125]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":8},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
