{"id":"https://openalex.org/W4377704720","doi":"https://doi.org/10.1109/icara56516.2023.10125630","title":"RL-DWA Omnidirectional Motion Planning for Person Following in Domestic Assistance and Monitoring","display_name":"RL-DWA Omnidirectional Motion Planning for Person Following in Domestic Assistance and Monitoring","publication_year":2023,"publication_date":"2023-02-10","ids":{"openalex":"https://openalex.org/W4377704720","doi":"https://doi.org/10.1109/icara56516.2023.10125630"},"language":"en","primary_location":{"id":"doi:10.1109/icara56516.2023.10125630","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara56516.2023.10125630","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","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/A5065713459","display_name":"Andrea Eirale","orcid":"https://orcid.org/0000-0003-4172-0365"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Andrea Eirale","raw_affiliation_strings":["Politecnico di Torino,Department of Electronics and Telecommunications,Torino,Italy","Department of Electronics and Telecommunications, Politecnico di Torino, Torino, Italy"],"affiliations":[{"raw_affiliation_string":"Politecnico di Torino,Department of Electronics and Telecommunications,Torino,Italy","institution_ids":["https://openalex.org/I177477856"]},{"raw_affiliation_string":"Department of Electronics and Telecommunications, Politecnico di Torino, Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041311494","display_name":"Mauro Martini","orcid":"https://orcid.org/0000-0002-6204-3845"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mauro Martini","raw_affiliation_strings":["Politecnico di Torino,Department of Electronics and Telecommunications,Torino,Italy","Department of Electronics and Telecommunications, Politecnico di Torino, Torino, Italy"],"affiliations":[{"raw_affiliation_string":"Politecnico di Torino,Department of Electronics and Telecommunications,Torino,Italy","institution_ids":["https://openalex.org/I177477856"]},{"raw_affiliation_string":"Department of Electronics and Telecommunications, Politecnico di Torino, Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009477620","display_name":"Marcello Chiaberge","orcid":"https://orcid.org/0000-0002-1921-0126"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marcello Chiaberge","raw_affiliation_strings":["Politecnico di Torino,Department of Electronics and Telecommunications,Torino,Italy","Department of Electronics and Telecommunications, Politecnico di Torino, Torino, Italy"],"affiliations":[{"raw_affiliation_string":"Politecnico di Torino,Department of Electronics and Telecommunications,Torino,Italy","institution_ids":["https://openalex.org/I177477856"]},{"raw_affiliation_string":"Department of Electronics and Telecommunications, Politecnico di Torino, Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5065713459"],"corresponding_institution_ids":["https://openalex.org/I177477856"],"apc_list":null,"apc_paid":null,"fwci":1.3516,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.80392711,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"86","last_page":"90"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9990000128746033,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.996999979019165,"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/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.7803447246551514},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.6927568912506104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6754251718521118},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.557715892791748},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.518846869468689},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5058069229125977},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.47730815410614014},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45023640990257263},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.42945927381515503},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4281049966812134},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.413796603679657},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.40005287528038025},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08314645290374756}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.7803447246551514},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.6927568912506104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6754251718521118},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.557715892791748},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.518846869468689},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5058069229125977},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47730815410614014},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45023640990257263},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.42945927381515503},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4281049966812134},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.413796603679657},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.40005287528038025},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08314645290374756},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icara56516.2023.10125630","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara56516.2023.10125630","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","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":21,"referenced_works":["https://openalex.org/W1970563618","https://openalex.org/W2148725385","https://openalex.org/W2252355370","https://openalex.org/W2781726626","https://openalex.org/W2797805147","https://openalex.org/W2867323991","https://openalex.org/W2888482633","https://openalex.org/W2889300219","https://openalex.org/W2905187039","https://openalex.org/W2946615175","https://openalex.org/W2962773068","https://openalex.org/W2981997809","https://openalex.org/W3082503137","https://openalex.org/W3104218139","https://openalex.org/W3164743056","https://openalex.org/W4200635690","https://openalex.org/W4214717370","https://openalex.org/W4385452652","https://openalex.org/W6642789613","https://openalex.org/W6747473740","https://openalex.org/W6846524431"],"related_works":["https://openalex.org/W2898919627","https://openalex.org/W4379536980","https://openalex.org/W2666300258","https://openalex.org/W2118689766","https://openalex.org/W1989062809","https://openalex.org/W2625795345","https://openalex.org/W2215517927","https://openalex.org/W2137384304","https://openalex.org/W114721022","https://openalex.org/W1966688224"],"abstract_inverted_index":{"Robot":[0],"assistants":[1],"are":[2,75],"emerging":[3],"as":[4],"high-tech":[5],"solutions":[6],"to":[7,25,36,50,94,132],"support":[8],"people":[9],"in":[10,18,28,120],"everyday":[11],"life.":[12],"Following":[13],"and":[14,41,56,59,100],"assisting":[15],"the":[16,19,52,62,69,102,105,108,125],"user":[17],"domestic":[20,63],"environment":[21,64],"requires":[22],"flexible":[23],"mobility":[24],"safely":[26],"move":[27],"cluttered":[29],"spaces.":[30],"We":[31,110],"introduce":[32],"a":[33,78,88,116,133],"new":[34],"approach":[35],"person":[37],"following":[38],"for":[39],"assistance":[40],"monitoring.":[42],"Our":[43],"methodology":[44],"exploits":[45],"an":[46],"omnidirectional":[47,118],"robotic":[48],"platform":[49,119],"detach":[51],"computation":[53],"of":[54,68,104,128],"linear":[55,73],"angular":[57,97],"velocities":[58,74,98],"navigate":[60],"within":[61],"without":[65],"losing":[66],"track":[67],"assisted":[70],"person.":[71],"While":[72],"managed":[76],"by":[77],"conventional":[79],"Dynamic":[80],"Window":[81],"Approach":[82],"(DWA)":[83],"local":[84],"planner,":[85],"we":[86],"trained":[87],"Deep":[89],"Reinforcement":[90],"Learning":[91],"(DRL)":[92],"agent":[93],"predict":[95],"optimized":[96],"commands":[99],"maintain":[101],"orientation":[103],"robot":[106],"towards":[107],"user.":[109],"evaluate":[111],"our":[112,129],"navigation":[113],"system":[114],"on":[115],"real":[117],"various":[121],"indoor":[122],"scenarios,":[123],"demonstrating":[124],"competitive":[126],"advantage":[127],"solution":[130],"compared":[131],"standard":[134],"differential":[135],"steering":[136],"following.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
