{"id":"https://openalex.org/W2967552374","doi":"https://doi.org/10.1109/icra.2019.8793608","title":"Group Surfing: A Pedestrian-Based Approach to Sidewalk Robot Navigation","display_name":"Group Surfing: A Pedestrian-Based Approach to Sidewalk Robot Navigation","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2967552374","doi":"https://doi.org/10.1109/icra.2019.8793608","mag":"2967552374"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793608","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2104.05933","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009235348","display_name":"Yuqing Du","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Yuqing Du","raw_affiliation_strings":["Collaborative Advanced Robotics and Intelligent Systems (CARIS) Laboratory, University of British Columbia"],"affiliations":[{"raw_affiliation_string":"Collaborative Advanced Robotics and Intelligent Systems (CARIS) Laboratory, University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087842924","display_name":"Nicholas J. Hetherington","orcid":"https://orcid.org/0000-0003-1117-5546"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Nicholas J. Hetherington","raw_affiliation_strings":["Collaborative Advanced Robotics and Intelligent Systems (CARIS) Laboratory, University of British Columbia"],"affiliations":[{"raw_affiliation_string":"Collaborative Advanced Robotics and Intelligent Systems (CARIS) Laboratory, University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057927508","display_name":"Chu Lip Oon","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Chu Lip Oon","raw_affiliation_strings":["Collaborative Advanced Robotics and Intelligent Systems (CARIS) Laboratory, University of British Columbia"],"affiliations":[{"raw_affiliation_string":"Collaborative Advanced Robotics and Intelligent Systems (CARIS) Laboratory, University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001915469","display_name":"Wesley P. Chan","orcid":"https://orcid.org/0000-0002-6299-2098"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Wesley P. Chan","raw_affiliation_strings":["Collaborative Advanced Robotics and Intelligent Systems (CARIS) Laboratory, University of British Columbia"],"affiliations":[{"raw_affiliation_string":"Collaborative Advanced Robotics and Intelligent Systems (CARIS) Laboratory, University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078104601","display_name":"Camilo Perez Quintero","orcid":"https://orcid.org/0000-0002-8323-8035"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Camilo Perez Quintero","raw_affiliation_strings":["Collaborative Advanced Robotics and Intelligent Systems (CARIS) Laboratory, University of British Columbia"],"affiliations":[{"raw_affiliation_string":"Collaborative Advanced Robotics and Intelligent Systems (CARIS) Laboratory, University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035882135","display_name":"Elizabeth A. Croft","orcid":"https://orcid.org/0000-0002-9639-5291"},"institutions":[{"id":"https://openalex.org/I2801239119","display_name":"Australian Regenerative Medicine Institute","ror":"https://ror.org/02qa5kg76","country_code":"AU","type":"facility","lineage":["https://openalex.org/I2801037857","https://openalex.org/I2801239119","https://openalex.org/I56590836"]},{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Elizabeth Croft","raw_affiliation_strings":["Monash University"],"affiliations":[{"raw_affiliation_string":"Monash University","institution_ids":["https://openalex.org/I2801239119","https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038741987","display_name":"H. F. Machiel Van der Loos","orcid":"https://orcid.org/0000-0003-1355-980X"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"H.F. Machiel Van der Loos","raw_affiliation_strings":["Collaborative Advanced Robotics and Intelligent Systems (CARIS) Laboratory, University of British Columbia"],"affiliations":[{"raw_affiliation_string":"Collaborative Advanced Robotics and Intelligent Systems (CARIS) Laboratory, University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5009235348"],"corresponding_institution_ids":["https://openalex.org/I141945490"],"apc_list":null,"apc_paid":null,"fwci":3.2936,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.91284349,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6518","last_page":"6524"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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":0.9861999750137329,"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/crowds","display_name":"Crowds","score":0.8916654586791992},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.8804306983947754},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6855015754699707},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6403969526290894},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6325156092643738},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.6181638240814209},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.581961452960968},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5120258927345276},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47550660371780396},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.390127956867218},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3734801113605499},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.29796165227890015},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.24728310108184814},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19849440455436707},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.1694614291191101},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.11492094397544861}],"concepts":[{"id":"https://openalex.org/C2777852691","wikidata":"https://www.wikidata.org/wiki/Q13430821","display_name":"Crowds","level":2,"score":0.8916654586791992},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.8804306983947754},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6855015754699707},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6403969526290894},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6325156092643738},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.6181638240814209},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.581961452960968},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5120258927345276},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47550660371780396},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.390127956867218},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3734801113605499},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.29796165227890015},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.24728310108184814},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19849440455436707},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.1694614291191101},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.11492094397544861}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2019.8793608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793608","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2104.05933","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.05933","pdf_url":"https://arxiv.org/pdf/2104.05933","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2104.05933","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.05933","pdf_url":"https://arxiv.org/pdf/2104.05933","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W62631087","https://openalex.org/W95960393","https://openalex.org/W1963649406","https://openalex.org/W2033921269","https://openalex.org/W2059993653","https://openalex.org/W2082585576","https://openalex.org/W2084572538","https://openalex.org/W2085261163","https://openalex.org/W2093628576","https://openalex.org/W2108162040","https://openalex.org/W2131923834","https://openalex.org/W2140542425","https://openalex.org/W2167052694","https://openalex.org/W2267107524","https://openalex.org/W2411443472","https://openalex.org/W2565402511","https://openalex.org/W2604216058","https://openalex.org/W2745787592","https://openalex.org/W4243493583","https://openalex.org/W6602563841","https://openalex.org/W6676264864"],"related_works":["https://openalex.org/W1749168706","https://openalex.org/W606709926","https://openalex.org/W2980347456","https://openalex.org/W1643071209","https://openalex.org/W4299159492","https://openalex.org/W422913495","https://openalex.org/W2148067325","https://openalex.org/W1869163116","https://openalex.org/W2093507260","https://openalex.org/W2562628082"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,127],"propose":[4,128],"a":[5,89,97,104,129],"novel":[6],"navigation":[7,69,95,139,149],"system":[8],"for":[9,67,116],"mobile":[10],"robots":[11],"in":[12,19,43,96,155],"pedestrian-rich":[13],"sidewalk":[14,76,94,130],"environments.":[15],"Sidewalks":[16],"are":[17,65],"unique":[18],"that":[20],"the":[21,47,75,112,118,141],"pedestrian-shared":[22],"space":[23],"has":[24],"characteristics":[25],"of":[26,83],"both":[27],"roads":[28],"and":[29,54,72,99,133,153],"indoor":[30],"spaces.":[31],"Like":[32],"vehicles":[33],"on":[34,74],"roads,":[35],"pedestrian":[36,114],"movement":[37],"often":[38],"manifests":[39],"as":[40],"linear":[41],"flows":[42],"opposing":[44],"directions.":[45],"On":[46],"other":[48],"hand,":[49],"pedestrians":[50,71],"also":[51,161],"form":[52],"crowds":[53],"can":[55],"exhibit":[56],"much":[57],"more":[58],"random":[59],"movements":[60],"than":[61],"vehicles.":[62],"Classical":[63],"algorithms":[64],"insufficient":[66],"safe":[68,98],"around":[70],"remaining":[73],"space.":[77],"Thus,":[78],"our":[79],"approach":[80],"takes":[81],"advantage":[82],"natural":[84],"human":[85],"motion":[86],"to":[87,91,93,110,121],"allow":[88],"robot":[90,119],"adapt":[92],"socially-compliant":[100],"manner.":[101],"We":[102],"developed":[103],"group":[105,115],"surfing":[106],"method":[107],"which":[108],"aims":[109],"imitate":[111],"optimal":[113],"bringing":[117],"closer":[120],"its":[122],"goal.":[123],"For":[124],"pedestrian-sparse":[125],"environments,":[126],"edge":[131],"detection":[132],"following":[134],"method.":[135],"Underlying":[136],"these":[137],"two":[138],"methods,":[140],"collision":[142],"avoidance":[143],"scheme":[144],"is":[145,151,160],"human-aware.":[146],"The":[147],"integrated":[148],"stack":[150],"evaluated":[152],"demonstrated":[154],"simulation.":[156],"A":[157],"hardware":[158],"demonstration":[159],"presented.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}