{"id":"https://openalex.org/W2984168904","doi":"https://doi.org/10.1109/icra40945.2020.9197148","title":"Mapless Navigation among Dynamics with Social-safety-awareness: a reinforcement learning approach from 2D laser scans","display_name":"Mapless Navigation among Dynamics with Social-safety-awareness: a reinforcement learning approach from 2D laser scans","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W2984168904","doi":"https://doi.org/10.1109/icra40945.2020.9197148","mag":"2984168904"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197148","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1911.03074","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085327057","display_name":"Jun Jin","orcid":"https://orcid.org/0000-0002-4295-502X"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jun Jin","raw_affiliation_strings":["Department of Computing Science, University of Alberta, Edmonton, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computing Science, University of Alberta, Edmonton, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046413911","display_name":"Nhat M. Nguyen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210115038","display_name":"Huawei Technologies (Canada)","ror":"https://ror.org/026venb53","country_code":"CA","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210115038"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Nhat M. Nguyen","raw_affiliation_strings":["Noah\u2019s Ark Lab, Huawei Technologies Canada, Ltd., Edmonton, Canada","Noah's Ark Lab, Huawei Technologies Canada, Ltd., Edmonton, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Noah\u2019s Ark Lab, Huawei Technologies Canada, Ltd., Edmonton, Canada","institution_ids":["https://openalex.org/I4210115038"]},{"raw_affiliation_string":"Noah's Ark Lab, Huawei Technologies Canada, Ltd., Edmonton, Canada","institution_ids":["https://openalex.org/I4210115038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064445643","display_name":"Nazmus Sakib","orcid":"https://orcid.org/0000-0001-7671-9888"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Nazmus Sakib","raw_affiliation_strings":["Department of Computing Science, University of Alberta, Edmonton, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computing Science, University of Alberta, Edmonton, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101753111","display_name":"Daniel Graves","orcid":"https://orcid.org/0000-0002-5345-6584"},"institutions":[{"id":"https://openalex.org/I4210115038","display_name":"Huawei Technologies (Canada)","ror":"https://ror.org/026venb53","country_code":"CA","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210115038"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Daniel Graves","raw_affiliation_strings":["Noah\u2019s Ark Lab, Huawei Technologies Canada, Ltd., Edmonton, Canada","Noah's Ark Lab, Huawei Technologies Canada, Ltd., Edmonton, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Noah\u2019s Ark Lab, Huawei Technologies Canada, Ltd., Edmonton, Canada","institution_ids":["https://openalex.org/I4210115038"]},{"raw_affiliation_string":"Noah's Ark Lab, Huawei Technologies Canada, Ltd., Edmonton, Canada","institution_ids":["https://openalex.org/I4210115038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050876115","display_name":"Hengshuai Yao","orcid":"https://orcid.org/0000-0003-1258-1845"},"institutions":[{"id":"https://openalex.org/I4210115038","display_name":"Huawei Technologies (Canada)","ror":"https://ror.org/026venb53","country_code":"CA","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210115038"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hengshuai Yao","raw_affiliation_strings":["Noah\u2019s Ark Lab, Huawei Technologies Canada, Ltd., Edmonton, Canada","Noah's Ark Lab, Huawei Technologies Canada, Ltd., Edmonton, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Noah\u2019s Ark Lab, Huawei Technologies Canada, Ltd., Edmonton, Canada","institution_ids":["https://openalex.org/I4210115038"]},{"raw_affiliation_string":"Noah's Ark Lab, Huawei Technologies Canada, Ltd., Edmonton, Canada","institution_ids":["https://openalex.org/I4210115038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030948380","display_name":"Martin J\u00e4gersand","orcid":null},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Martin Jagersand","raw_affiliation_strings":["Department of Computing Science, University of Alberta, Edmonton, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computing Science, University of Alberta, Edmonton, Canada","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.8834,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":{"value":0.97315215,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6979","last_page":"6985"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9991000294685364,"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":0.9991000294685364,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9984999895095825,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9980999827384949,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7720242738723755},{"id":"https://openalex.org/keywords/crowds","display_name":"Crowds","score":0.7520051002502441},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6818808913230896},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6542848944664001},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6339123249053955},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6139239072799683},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49870777130126953},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4898216426372528},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4553767144680023},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4325544238090515},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4257206320762634},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4014657437801361},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.340110719203949},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.2683105766773224},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17975515127182007}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7720242738723755},{"id":"https://openalex.org/C2777852691","wikidata":"https://www.wikidata.org/wiki/Q13430821","display_name":"Crowds","level":2,"score":0.7520051002502441},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6818808913230896},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6542848944664001},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6339123249053955},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6139239072799683},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49870777130126953},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4898216426372528},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4553767144680023},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4325544238090515},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4257206320762634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4014657437801361},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.340110719203949},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.2683105766773224},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17975515127182007},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9197148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197148","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1911.03074","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1911.03074","pdf_url":"https://arxiv.org/pdf/1911.03074","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:1911.03074","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1911.03074","pdf_url":"https://arxiv.org/pdf/1911.03074","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1930406944","https://openalex.org/W1967740178","https://openalex.org/W2046213647","https://openalex.org/W2059993653","https://openalex.org/W2122198685","https://openalex.org/W2126011766","https://openalex.org/W2142943472","https://openalex.org/W2173248099","https://openalex.org/W2267412135","https://openalex.org/W2320277277","https://openalex.org/W2566180428","https://openalex.org/W2604216058","https://openalex.org/W2619543829","https://openalex.org/W2736601468","https://openalex.org/W2766207971","https://openalex.org/W2796447411","https://openalex.org/W2800978878","https://openalex.org/W2884233967","https://openalex.org/W2890001928","https://openalex.org/W2918728527","https://openalex.org/W2962812366","https://openalex.org/W2962887844","https://openalex.org/W2962907394","https://openalex.org/W2962954724","https://openalex.org/W2963428623","https://openalex.org/W2963809389","https://openalex.org/W2963821308","https://openalex.org/W2963864421","https://openalex.org/W2964061993","https://openalex.org/W4214682273","https://openalex.org/W4250696540","https://openalex.org/W4301683025","https://openalex.org/W6684921986","https://openalex.org/W6693603493","https://openalex.org/W6738700159","https://openalex.org/W6741002519","https://openalex.org/W6745899410","https://openalex.org/W6750185400","https://openalex.org/W6753807494","https://openalex.org/W6992389911"],"related_works":["https://openalex.org/W4240200267","https://openalex.org/W1511510665","https://openalex.org/W2154955495","https://openalex.org/W1869163116","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W2742483371","https://openalex.org/W3005999311","https://openalex.org/W4381746183"],"abstract_inverted_index":{"We":[0,59,96],"consider":[1],"the":[2,25,32,41,45,49,53,61,73,84,111],"problem":[3],"of":[4,34,48],"mapless":[5,112],"collision-avoidance":[6],"navigation":[7,113,122],"where":[8],"humans":[9],"are":[10,156],"present":[11],"using":[12,63],"2D":[13],"laser":[14],"scans.":[15],"Our":[16,134],"proposed":[17],"method":[18,100,119],"uses":[19],"ego-safety":[20],"to":[21,30,89,151],"measure":[22,31],"collision":[23],"from":[24],"robot's":[26,35,50],"perspective":[27],"and":[28,70,78,130],"social-safety":[29,42],"impact":[33,47],"actions":[36],"on":[37,66],"surrounding":[38,57],"pedestrians.":[39,153],"Specifically,":[40],"part":[43],"predicts":[44],"intrusion":[46],"action":[51],"into":[52,145],"interaction":[54],"area":[55],"with":[56,106],"humans.":[58],"train":[60],"policy":[62,75,86,136],"reinforcement":[64],"learning":[65],"a":[67,121],"simple":[68],"simulator":[69],"directly":[71],"evaluate":[72],"learned":[74,85,135],"in":[76,110,120],"Gazebo":[77],"real":[79],"robot":[80,144],"tests.":[81],"Experiments":[82],"show":[83],"smoothly":[87],"transferred":[88],"different":[90],"scenarios":[91],"without":[92],"any":[93],"fine":[94],"tuning.":[95],"observe":[97],"that":[98,140],"our":[99,118,143],"demonstrates":[101,137],"time-efficient":[102],"path":[103],"planning":[104],"behavior":[105,139],"high":[107,131],"success":[108],"rate":[109],"task.":[114],"Furthermore,":[115],"we":[116],"test":[117],"task":[123],"among":[124],"dynamic":[125],"crowds,":[126],"considering":[127],"both":[128],"low":[129],"volume":[132],"traffic.":[133],"cooperative":[138],"actively":[141],"drives":[142],"traffic":[146],"flows":[147],"while":[148],"showing":[149],"respect":[150],"nearby":[152],"Evaluation":[154],"videos":[155],"at":[157],"https://sites.google.com/view/ssw-batman.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2019-11-22T00:00:00"}
