{"id":"https://openalex.org/W2415177987","doi":"https://doi.org/10.1109/icra.2016.7487135","title":"Learning optimal navigation actions for foresighted robot behavior during assistance tasks","display_name":"Learning optimal navigation actions for foresighted robot behavior during assistance tasks","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2415177987","doi":"https://doi.org/10.1109/icra.2016.7487135","mag":"2415177987"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487135","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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/A5020468928","display_name":"AbdElMoniem Bayoumi","orcid":"https://orcid.org/0000-0002-1334-8095"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"AbdElMoniem Bayoumi","raw_affiliation_strings":["Institute of Computer Science, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Computer Science, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["Institute of Computer Science, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Computer Science, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5020468928"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":0.501,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.71460218,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"207","last_page":"212"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.998199999332428,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9970999956130981,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7230547666549683},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6448382139205933},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.623059093952179},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.5990831851959229},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5761817693710327},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5571585893630981},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5522637963294983},{"id":"https://openalex.org/keywords/q-learning","display_name":"Q-learning","score":0.5343856811523438},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5309075117111206},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.5285248756408691},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5183111429214478},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5153176784515381},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4955705404281616},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.45779165625572205},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.45490771532058716},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38491374254226685},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.3607678711414337},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2881591022014618},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09785875678062439}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7230547666549683},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6448382139205933},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.623059093952179},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.5990831851959229},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5761817693710327},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5571585893630981},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5522637963294983},{"id":"https://openalex.org/C188116033","wikidata":"https://www.wikidata.org/wiki/Q2664563","display_name":"Q-learning","level":3,"score":0.5343856811523438},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5309075117111206},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.5285248756408691},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5183111429214478},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5153176784515381},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4955705404281616},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.45779165625572205},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.45490771532058716},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38491374254226685},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.3607678711414337},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2881591022014618},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09785875678062439},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0},{"id":"https://openalex.org/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","level":1,"score":0.0},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487135","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487135","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W139877375","https://openalex.org/W235018009","https://openalex.org/W1507270444","https://openalex.org/W1515851193","https://openalex.org/W2007553829","https://openalex.org/W2013690139","https://openalex.org/W2017834396","https://openalex.org/W2072824953","https://openalex.org/W2088604406","https://openalex.org/W2093051821","https://openalex.org/W2100780067","https://openalex.org/W2101821104","https://openalex.org/W2109340362","https://openalex.org/W2131583384","https://openalex.org/W2162303553","https://openalex.org/W3144375092","https://openalex.org/W6683810392"],"related_works":["https://openalex.org/W2808418668","https://openalex.org/W2357975469","https://openalex.org/W2101748387","https://openalex.org/W3096874164","https://openalex.org/W4281812492","https://openalex.org/W3105579180","https://openalex.org/W2970347269","https://openalex.org/W2146763310","https://openalex.org/W3167472281","https://openalex.org/W4400868993"],"abstract_inverted_index":{"We":[0,91,156],"present":[1],"an":[2,93],"approach":[3,94,123,174],"to":[4,30,57,63,99,176,190],"learn":[5],"optimal":[6],"navigation":[7,22,80,117,145,178],"actions":[8],"for":[9,105,119],"assistance":[10],"tasks":[11],"in":[12,44,161],"which":[13],"the":[14,20,35,54,65,77,109,115,120,128,144,169,183],"robot":[15,74],"aims":[16],"at":[17,37],"efficiently":[18],"reaching":[19],"final":[21],"goal":[23,81],"of":[24,108,127],"a":[25,38,69,72,101,125,133,165],"human":[26,36],"where":[27],"service":[28,73],"has":[29],"be":[31],"provided.":[32],"Always":[33],"following":[34,192],"close":[39],"distance":[40],"might":[41],"hereby":[42],"result":[43],"inefficient":[45],"trajectories,":[46],"since":[47],"people":[48],"regularly":[49],"do":[50],"not":[51],"move":[52,62],"on":[53,88,132,152,164],"shortest":[55],"path":[56,184],"their":[58],"destination":[59],"(e.g.,":[60],"they":[61],"grab":[64],"phone":[66],"or":[67],"make":[68],"note).":[70],"Therefore,":[71],"should":[75],"infer":[76],"human's":[78,112,129],"intended":[79],"and":[82,111,148,163,180,186],"compute":[83],"its":[84],"own":[85],"motion":[86,130],"based":[87,131],"that":[89,95,103],"prediction.":[90],"developed":[92],"applies":[96,124],"reinforcement":[97],"learning":[98,146],"get":[100],"Q-function":[102],"determines":[104],"each":[106],"pair":[107],"robot's":[110],"relative":[113],"positions":[114],"best":[116],"action":[118],"robot.":[121,167],"Our":[122],"prediction":[126],"softened":[134],"Markov":[135],"decision":[136],"process":[137],"(MDP).":[138],"This":[139],"MDP":[140],"is":[141,149],"independent":[142],"from":[143],"framework":[147],"learned":[150],"beforehand":[151],"previously":[153],"observed":[154],"trajectories.":[155],"thoroughly":[157],"evaluated":[158],"our":[159,173],"method":[160],"simulation":[162],"real":[166],"As":[168],"experimental":[170],"results":[171],"show,":[172],"leads":[175],"foresighted":[177],"behavior":[179],"significantly":[181],"reduces":[182],"length":[185],"completion":[187],"time":[188],"compared":[189],"naive":[191],"strategies.":[193]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}