{"id":"https://openalex.org/W1507667015","doi":"https://doi.org/10.1109/icra.2015.7140063","title":"Including human factors for planning comfortable paths","display_name":"Including human factors for planning comfortable paths","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1507667015","doi":"https://doi.org/10.1109/icra.2015.7140063","mag":"1507667015"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7140063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140063","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5108556812","display_name":"Yoichi Morales","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yoichi Morales","raw_affiliation_strings":["Intelligent Robotics and Communication Laboratories, ATR, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics and Communication Laboratories, ATR, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109001226","display_name":"Atsushi Watanabe","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Atsushi Watanabe","raw_affiliation_strings":["Intelligent Robotics and Communication Laboratories, ATR, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics and Communication Laboratories, ATR, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086771173","display_name":"Florent Ferreri","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Florent Ferreri","raw_affiliation_strings":["Intelligent Robotics and Communication Laboratories, ATR, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics and Communication Laboratories, ATR, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033160141","display_name":"Jani Even","orcid":"https://orcid.org/0000-0003-0743-5384"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jani Even","raw_affiliation_strings":["Intelligent Robotics and Communication Laboratories, ATR, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics and Communication Laboratories, ATR, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101701304","display_name":"Tetsushi Ikeda","orcid":"https://orcid.org/0000-0003-0865-6322"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tetsushi Ikeda","raw_affiliation_strings":["Intelligent Robotics and Communication Laboratories, ATR, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics and Communication Laboratories, ATR, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022804221","display_name":"Kazuhiro Shinozawa","orcid":null},"institutions":[{"id":"https://openalex.org/I141479679","display_name":"Osaka Kyoiku University","ror":"https://ror.org/051j8zv27","country_code":"JP","type":"education","lineage":["https://openalex.org/I141479679"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhiro Shinozawa","raw_affiliation_strings":["Intelligent Robotics and Communication Laboratories, ATR, Japan","Osaka Kyoiku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics and Communication Laboratories, ATR, Japan","institution_ids":[]},{"raw_affiliation_string":"Osaka Kyoiku University, Japan","institution_ids":["https://openalex.org/I141479679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110483346","display_name":"Takahiro Miyashita","orcid":"https://orcid.org/0009-0001-1516-8565"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Takahiro Miyashita","raw_affiliation_strings":["Intelligent Robotics and Communication Laboratories, ATR, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics and Communication Laboratories, ATR, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058513264","display_name":"Norihiro Hagita","orcid":"https://orcid.org/0000-0001-8007-4701"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Norihiro Hagita","raw_affiliation_strings":["Intelligent Robotics and Communication Laboratories, ATR, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics and Communication Laboratories, ATR, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6153","last_page":"6159"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.9923999905586243,"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/planner","display_name":"Planner","score":0.9126429557800293},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7537687420845032},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.660573422908783},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6448065042495728},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6262458562850952},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.6059944033622742},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5819377899169922},{"id":"https://openalex.org/keywords/visibility-graph","display_name":"Visibility graph","score":0.5231527090072632},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.5191718339920044},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.42672330141067505},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4118371903896332},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3854200839996338},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37749674916267395},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32348716259002686},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3037152588367462},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2283095419406891},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1661393642425537},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.16105884313583374},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07900062203407288},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.07785812020301819}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.9126429557800293},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7537687420845032},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.660573422908783},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6448065042495728},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6262458562850952},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.6059944033622742},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5819377899169922},{"id":"https://openalex.org/C173362246","wikidata":"https://www.wikidata.org/wiki/Q8216024","display_name":"Visibility graph","level":3,"score":0.5231527090072632},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.5191718339920044},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.42672330141067505},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4118371903896332},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3854200839996338},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37749674916267395},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32348716259002686},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3037152588367462},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2283095419406891},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1661393642425537},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.16105884313583374},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07900062203407288},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.07785812020301819},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7140063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140063","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W8369482","https://openalex.org/W107426367","https://openalex.org/W198732646","https://openalex.org/W1424654272","https://openalex.org/W1969483458","https://openalex.org/W1977791508","https://openalex.org/W2004337793","https://openalex.org/W2005405247","https://openalex.org/W2021096542","https://openalex.org/W2032121298","https://openalex.org/W2046213647","https://openalex.org/W2052582959","https://openalex.org/W2054750703","https://openalex.org/W2059460472","https://openalex.org/W2066955564","https://openalex.org/W2074455322","https://openalex.org/W2099144379","https://openalex.org/W2102923246","https://openalex.org/W2114083919","https://openalex.org/W2117211893","https://openalex.org/W2125535099","https://openalex.org/W2128637458","https://openalex.org/W2133844819","https://openalex.org/W2148500748","https://openalex.org/W2160564335","https://openalex.org/W2161719938","https://openalex.org/W2162303553","https://openalex.org/W2169528473","https://openalex.org/W2176262128","https://openalex.org/W2236233024","https://openalex.org/W2294319407","https://openalex.org/W2611243847","https://openalex.org/W2901136733","https://openalex.org/W4236251699","https://openalex.org/W6600356965","https://openalex.org/W6608150121","https://openalex.org/W6683810392","https://openalex.org/W6696955428","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W2614449343","https://openalex.org/W2904203243","https://openalex.org/W4395071568","https://openalex.org/W3139139461","https://openalex.org/W2044243445","https://openalex.org/W2035333155"],"abstract_inverted_index":{"This":[0],"work":[1],"proposes":[2],"a":[3,18,110,144],"Human-Comfortable":[4],"Path":[5],"Planner":[6],"(HCoPP)":[7],"system":[8],"for":[9],"autonomous":[10,130],"passenger":[11],"vehicles.":[12],"The":[13,116,133],"aim":[14],"is":[15,32,73,98],"to":[16,50,62,100],"create":[17],"path":[19,58,139,150],"planner":[20,140,151],"that":[21,162],"improves":[22],"the":[23,28,51,71,76,87,92,107,119,137,147,154,163,167],"feeling":[24],"of":[25,27,118,146,157],"comfort":[26],"passenger,":[29],"this":[30,46],"topic":[31],"different":[33],"from":[34],"collision":[35],"free":[36],"planning":[37],"and":[38,85],"it":[39],"has":[40],"not":[41],"received":[42],"much":[43],"attention.":[44],"For":[45,68],"purpose,":[47],"in":[48,57,153],"addition":[49],"shortest":[52],"distance":[53],"constraint":[54,72,88],"conventionally":[55],"used":[56],"planning,":[59],"constraints":[60],"related":[61],"relevant":[63],"environmental":[64],"features":[65],"are":[66,170],"introduced.":[67],"straight":[69],"segments,":[70],"based":[74],"on":[75],"lane-circulation":[77],"pattern":[78],"preferred":[79],"by":[80,124,136,166],"humans.":[81],"In":[82],"curved":[83],"segments":[84],"intersections,":[86],"takes":[89],"into":[90],"account":[91],"visibility.":[93],"A":[94],"multi-layered":[95],"cost":[96],"map":[97],"proposed":[99,120,138,168],"integrate":[101],"these":[102],"additional":[103],"constraints.":[104],"To":[105],"compute":[106],"human-comfortable":[108],"path,":[109],"graph":[111],"search":[112],"algorithm":[113],"was":[114,122],"implemented.":[115],"evaluation":[117],"approach":[121,169],"conducted":[123],"having":[125],"30":[126],"participants":[127],"riding":[128],"an":[129],"robotic":[131],"wheelchair.":[132],"paths":[134,164],"computed":[135,165],"were":[141],"compared":[142],"towards":[143],"state":[145],"art":[148],"shortest-distance":[149],"implemented":[152],"navigation":[155],"stack":[156],"ROS.":[158],"Experimental":[159],"results":[160],"show":[161],"perceived":[171],"as":[172],"more":[173],"comfortable.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}