{"id":"https://openalex.org/W2001825424","doi":"https://doi.org/10.1109/icra.2014.6907000","title":"Human aware UAS path planning in urban environments using nonstationary MDPs","display_name":"Human aware UAS path planning in urban environments using nonstationary MDPs","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2001825424","doi":"https://doi.org/10.1109/icra.2014.6907000","mag":"2001825424"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907000","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907000","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5061480582","display_name":"Rakshit Allamaraju","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rakshit Allamaraju","raw_affiliation_strings":["Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering, Stillwater, OK","Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering, Stillwater, OK","institution_ids":[]},{"raw_affiliation_string":"Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008425872","display_name":"Hassan A. Kingravi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hassan Kingravi","raw_affiliation_strings":["Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering, Stillwater, OK","Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering, Stillwater, OK","institution_ids":[]},{"raw_affiliation_string":"Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109289311","display_name":"Allan Axelrod","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Allan Axelrod","raw_affiliation_strings":["Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering, Stillwater, OK","Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering, Stillwater, OK","institution_ids":[]},{"raw_affiliation_string":"Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073739058","display_name":"Girish Chowdhary","orcid":"https://orcid.org/0000-0002-4657-307X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Girish Chowdhary","raw_affiliation_strings":["Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering, Stillwater, OK","Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering, Stillwater, OK","institution_ids":[]},{"raw_affiliation_string":"Distributed Autonomous Systems Laboratory of Mechanical and Aerospace Eningeering","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030570650","display_name":"Robert C. Grande","orcid":"https://orcid.org/0000-0003-0005-7130"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert Grande","raw_affiliation_strings":["LIDS at MIT, Stillwater, OK","LIDS at MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIDS at MIT, Stillwater, OK","institution_ids":[]},{"raw_affiliation_string":"LIDS at MIT","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011665886","display_name":"Jonathan P. How","orcid":"https://orcid.org/0000-0001-8576-1930"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan P. How","raw_affiliation_strings":["LIDS at MIT, Stillwater, OK","LIDS at MIT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIDS at MIT, Stillwater, OK","institution_ids":[]},{"raw_affiliation_string":"LIDS at MIT","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014357711","display_name":"Christopher Crick","orcid":"https://orcid.org/0000-0002-1635-823X"},"institutions":[{"id":"https://openalex.org/I115475287","display_name":"Oklahoma State University","ror":"https://ror.org/01g9vbr38","country_code":"US","type":"education","lineage":["https://openalex.org/I115475287"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher Crick","raw_affiliation_strings":["Department of computer science, Stillwater, OK","Department of computer science at Oklahoma State University, Stillwater OK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of computer science, Stillwater, OK","institution_ids":[]},{"raw_affiliation_string":"Department of computer science at Oklahoma State University, Stillwater OK","institution_ids":["https://openalex.org/I115475287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090289368","display_name":"Weihua Sheng","orcid":"https://orcid.org/0000-0003-2214-0373"},"institutions":[{"id":"https://openalex.org/I115475287","display_name":"Oklahoma State University","ror":"https://ror.org/01g9vbr38","country_code":"US","type":"education","lineage":["https://openalex.org/I115475287"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Weihua Sheng","raw_affiliation_strings":["Electrical Engineering at Oklahoma State University, Stillwater, OK","Electrical Engineering at Oklahoma State University, Stillwater OK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering at Oklahoma State University, Stillwater, OK","institution_ids":["https://openalex.org/I115475287"]},{"raw_affiliation_string":"Electrical Engineering at Oklahoma State University, Stillwater OK","institution_ids":["https://openalex.org/I115475287"]}]}],"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":17,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1161","last_page":"1167"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9977999925613403,"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"}},"topics":[{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9977999925613403,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9887999892234802,"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":0.9872000217437744,"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/markov-decision-process","display_name":"Markov decision process","score":0.6727179288864136},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6669032573699951},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.658062219619751},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5688761472702026},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5521897673606873},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5327323079109192},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.5115188360214233},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.48891153931617737},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4599733352661133},{"id":"https://openalex.org/keywords/population","display_name":"Population","score":0.45464926958084106},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.45367711782455444},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.4238380491733551},{"id":"https://openalex.org/keywords/human-in-the-loop","display_name":"Human-in-the-loop","score":0.411058247089386},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4105485677719116},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.390725314617157},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3633415102958679},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.3610028028488159},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12304842472076416},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10879495739936829},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10734084248542786}],"concepts":[{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.6727179288864136},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6669032573699951},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.658062219619751},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5688761472702026},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5521897673606873},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5327323079109192},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.5115188360214233},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.48891153931617737},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4599733352661133},{"id":"https://openalex.org/C2908647359","wikidata":"https://www.wikidata.org/wiki/Q2625603","display_name":"Population","level":2,"score":0.45464926958084106},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.45367711782455444},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.4238380491733551},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.411058247089386},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4105485677719116},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.390725314617157},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3633415102958679},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.3610028028488159},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12304842472076416},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10879495739936829},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10734084248542786},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","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},{"id":"https://openalex.org/C149923435","wikidata":"https://www.wikidata.org/wiki/Q37732","display_name":"Demography","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907000","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907000","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W155097506","https://openalex.org/W165060581","https://openalex.org/W1502922572","https://openalex.org/W1546511338","https://openalex.org/W1571870753","https://openalex.org/W1582706191","https://openalex.org/W1626155273","https://openalex.org/W1746819321","https://openalex.org/W1966312294","https://openalex.org/W1974516359","https://openalex.org/W2007223396","https://openalex.org/W2052551665","https://openalex.org/W2078895652","https://openalex.org/W2082585576","https://openalex.org/W2098432798","https://openalex.org/W2103988429","https://openalex.org/W2112271657","https://openalex.org/W2117629901","https://openalex.org/W2121863487","https://openalex.org/W2126025075","https://openalex.org/W2129092347","https://openalex.org/W2129564505","https://openalex.org/W2131824593","https://openalex.org/W2135829225","https://openalex.org/W2140947152","https://openalex.org/W2151268438","https://openalex.org/W2161966552","https://openalex.org/W2166724350","https://openalex.org/W2167583154","https://openalex.org/W2169033759","https://openalex.org/W2336416123","https://openalex.org/W2586680856","https://openalex.org/W2901136733","https://openalex.org/W3003506411","https://openalex.org/W3099646280","https://openalex.org/W3158724210","https://openalex.org/W4211049957","https://openalex.org/W4214717370","https://openalex.org/W4285719527","https://openalex.org/W6675335910","https://openalex.org/W6679608865","https://openalex.org/W6683603353","https://openalex.org/W6756486208","https://openalex.org/W7066478640"],"related_works":["https://openalex.org/W4288099294","https://openalex.org/W4213214852","https://openalex.org/W2512014291","https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W2556090351","https://openalex.org/W1589140671","https://openalex.org/W187740018","https://openalex.org/W2162286586","https://openalex.org/W4255368532"],"abstract_inverted_index":{"A":[0],"growing":[1],"concern":[2],"with":[3,101],"deploying":[4],"Unmanned":[5],"Aerial":[6],"Vehicles":[7],"(UAVs)":[8],"in":[9,78],"urban":[10],"environments":[11],"is":[12,27,72,87,92],"the":[13,20,37,45],"potential":[14],"violation":[15],"of":[16,39,47],"human":[17,41,79],"privacy,":[18],"and":[19,57,86,104],"backlash":[21],"this":[22],"could":[23],"entail.":[24],"Therefore,":[25],"there":[26],"a":[28,52,59,96],"need":[29],"for":[30],"UAV":[31],"path":[32,49],"planning":[33,50],"algorithms":[34],"that":[35,65],"minimize":[36],"likelihood":[38],"invading":[40],"privacy.":[42],"We":[43],"formulate":[44],"problem":[46],"human-aware":[48],"as":[51],"nonstationary":[53],"Markov":[54],"Decision":[55],"Process,":[56],"provide":[58],"novel":[60],"model-based":[61],"reinforcement":[62],"learning":[63],"solution":[64],"leverages":[66],"Gaussian":[67],"process":[68],"clustering.":[69],"Our":[70],"algorithm":[71],"flexible":[73],"enough":[74],"to":[75],"accommodate":[76],"changes":[77],"population":[80],"densities":[81],"by":[82],"employing":[83],"Bayesian":[84],"nonparametrics,":[85],"real-time":[88],"computable.":[89],"The":[90],"approach":[91],"validated":[93],"experimentally":[94],"on":[95],"large-scale":[97],"long":[98],"duration":[99],"experiment":[100],"both":[102],"simulated":[103],"real":[105],"UAVs.":[106]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
