{"id":"https://openalex.org/W3183306336","doi":"https://doi.org/10.1109/icra46639.2022.9811772","title":"Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation","display_name":"Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W3183306336","doi":"https://doi.org/10.1109/icra46639.2022.9811772","mag":"3183306336"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811772","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/536376","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089837387","display_name":"Diego P\u00e1ez-Granados","orcid":"https://orcid.org/0000-0002-6143-1432"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Diego Paez-Granados","raw_affiliation_strings":["LASA, EPFL, SCAI Lab at SPZ, ETH Zurich,Switzerland","LASA, EPFL, SCAI Lab at SPZ, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASA, EPFL, SCAI Lab at SPZ, ETH Zurich,Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I5124864"]},{"raw_affiliation_string":"LASA, EPFL, SCAI Lab at SPZ, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079641721","display_name":"Vaibhav Gupta","orcid":"https://orcid.org/0000-0003-4159-6261"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Vaibhav Gupta","raw_affiliation_strings":["Swiss Federal School of Technology in Lausanne - EPFL,Learning Algorithms and Systems Laboratory (LASA),Switzerland","Learning Algorithms and Systems Laboratory (LASA), Swiss Federal School of Technology in Lausanne - EPFL, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal School of Technology in Lausanne - EPFL,Learning Algorithms and Systems Laboratory (LASA),Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), Swiss Federal School of Technology in Lausanne - EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["Swiss Federal School of Technology in Lausanne - EPFL,Learning Algorithms and Systems Laboratory (LASA),Switzerland","Learning Algorithms and Systems Laboratory (LASA), Swiss Federal School of Technology in Lausanne - EPFL, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Swiss Federal School of Technology in Lausanne - EPFL,Learning Algorithms and Systems Laboratory (LASA),Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), Swiss Federal School of Technology in Lausanne - EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"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":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8368","last_page":"8374"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9980000257492065,"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":0.9980000257492065,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9957000017166138,"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/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.6503056883811951},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5787418484687805},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5711719989776611},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.5077072381973267},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5059365630149841},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.49265342950820923},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4491911232471466},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.39245668053627014},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38911348581314087},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33030158281326294},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32614612579345703}],"concepts":[{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.6503056883811951},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5787418484687805},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5711719989776611},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.5077072381973267},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5059365630149841},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.49265342950820923},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4491911232471466},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.39245668053627014},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38911348581314087},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33030158281326294},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32614612579345703}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/icra46639.2022.9811772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811772","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/536376","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/536376","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:arXiv.org:2203.01053","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.01053","pdf_url":"https://arxiv.org/pdf/2203.01053","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"},{"id":"pmh:oai:infoscience.epfl.ch:287442","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/287442","pdf_url":"https://infoscience.epfl.ch/record/287442/files/Paez-Granados%2C%20Gupta%2C%20Billard%20-%202021%20-%20Unfreezing%20Social%20Navigation%20Dynamical%20Systems%20based%20Compliance%20for%20Contact%20Control%20in%20Robot%20Nav.pdf","source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"},{"id":"pmh:oai:infoscience.epfl.ch:292503","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/record/292503/files/DS_based_Compliant_control_for_post_collision___ArXiv.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"conference proceedings"},{"id":"doi:10.3929/ethz-b-000536376","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000536376","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/536376","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/536376","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7450227545","display_name":null,"funder_award_id":"HREC-032-2019","funder_id":"https://openalex.org/F4320320915","funder_display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne"}],"funders":[{"id":"https://openalex.org/F4320320915","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052"},{"id":"https://openalex.org/F4320323954","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W49331655","https://openalex.org/W1530864507","https://openalex.org/W2116139612","https://openalex.org/W2118301273","https://openalex.org/W2122510944","https://openalex.org/W2517641405","https://openalex.org/W2588114174","https://openalex.org/W2604372349","https://openalex.org/W2624938388","https://openalex.org/W2762248135","https://openalex.org/W2890926857","https://openalex.org/W2909411248","https://openalex.org/W2911028283","https://openalex.org/W2914066120","https://openalex.org/W2953931148","https://openalex.org/W2963262330","https://openalex.org/W3026389972","https://openalex.org/W3089749396","https://openalex.org/W3129432647","https://openalex.org/W3136225517","https://openalex.org/W3138277108","https://openalex.org/W3148967004","https://openalex.org/W3165688178","https://openalex.org/W3174411578","https://openalex.org/W3208209406","https://openalex.org/W4206195644","https://openalex.org/W4299913535","https://openalex.org/W6796422122","https://openalex.org/W6797102532"],"related_works":["https://openalex.org/W2122735287","https://openalex.org/W2080635515","https://openalex.org/W1886477626","https://openalex.org/W1540467731","https://openalex.org/W2419867673","https://openalex.org/W2538037439","https://openalex.org/W167006473","https://openalex.org/W2803104311","https://openalex.org/W2175869054","https://openalex.org/W2175714038"],"abstract_inverted_index":{"Large":[0],"efforts":[1],"have":[2],"focused":[3],"on":[4],"ensuring":[5],"that":[6,105],"the":[7,36,48,75,107,115,121,129,141,149,176,188,205],"controllers":[8],"for":[9,193],"mobile":[10],"service":[11],"robots":[12,81],"follow":[13],"proxemics":[14],"and":[15,23,60,77,89,136,171],"other":[16,212],"social":[17],"rules":[18],"to":[19,27,52,57,73,111,114,179,207],"ensure":[20,74],"both":[21],"safe":[22,76],"socially":[24],"acceptable":[25],"distance":[26],"pedestrians.":[28,46,119],"Nonetheless,":[29],"involuntary":[30],"contact":[31,53,112,135,142,167,191],"may":[32],"be":[33,55,71],"unavoidable":[34],"when":[35,43,148],"robot":[37,49,108,150,164,177],"travels":[38],"in":[39,50,82,100],"crowded":[40],"areas":[41],"or":[42,113],"encountering":[44],"adversarial":[45,182],"Freezing":[47],"response":[51],"might":[54],"detrimental":[56],"bystanders'":[58],"safety":[59],"prevents":[61],"it":[62],"from":[63],"achieving":[64],"its":[65],"task.":[66],"Unavoidable":[67],"contacts":[68],"must":[69],"hence":[70],"controlled":[72],"smooth":[78],"travelling":[79],"of":[80,118,123,140,187],"pedestrian":[83,183],"alleys.":[84],"We":[85,156,174],"present":[86],"a":[87,95,101,134,154,161],"force-limited":[88],"obstacle":[90,202],"avoidance":[91,203],"controller":[92,104],"integrated":[93,201],"into":[94],"time-invariant":[96],"dynamical":[97],"system":[98],"(DS)":[99],"closed-loop":[102],"force":[103,143,192],"let":[106],"react":[109],"instantaneously":[110],"sudden":[116],"appearance":[117],"Mitigating":[120],"risk":[122],"collision":[124],"is":[125],"done":[126],"by":[127,137],"modulating":[128],"velocity":[130],"commands":[131],"upon":[132],"detecting":[133],"absorbing":[138],"part":[139],"through":[144],"active":[145,172],"compliant":[146],"control":[147],"bumps":[151],"inad-vertently":[152],"against":[153],"pedestrian.":[155],"evaluated":[157,200],"our":[158],"method":[159],"with":[160,169],"personal":[162],"mobility":[163],"-Qolo-":[165],"showing":[166],"mitigation":[168],"passive":[170],"compliance.":[173],"showed":[175],"able":[178],"overcome":[180],"an":[181],"within":[184],"9":[185],"N":[186],"set":[189],"limit":[190],"speeds":[194],"under":[195],"1":[196],"m/s.":[197],"Moreover,":[198],"we":[199],"proving":[204],"ability":[206],"advance":[208],"without":[209],"Incurring":[210],"any":[211],"collision.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}