{"id":"https://openalex.org/W3188815642","doi":"https://doi.org/10.1109/icra48506.2021.9562003","title":"Towards providing explanations for robot motion planning","display_name":"Towards providing explanations for robot motion planning","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3188815642","doi":"https://doi.org/10.1109/icra48506.2021.9562003","mag":"3188815642"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9562003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5088379096","display_name":"Martim Brand\u00e3o","orcid":"https://orcid.org/0000-0002-2003-0675"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Martim Brandao","raw_affiliation_strings":["King's College, London, UK"],"affiliations":[{"raw_affiliation_string":"King's College, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033243253","display_name":"Gerard Canal","orcid":"https://orcid.org/0000-0002-6718-1198"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Gerard Canal","raw_affiliation_strings":["King's College, London, UK"],"affiliations":[{"raw_affiliation_string":"King's College, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023757252","display_name":"Senka Krivi\u0107","orcid":"https://orcid.org/0000-0001-8045-427X"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Senka Krivic","raw_affiliation_strings":["King's College, London, UK"],"affiliations":[{"raw_affiliation_string":"King's College, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055757002","display_name":"Daniele Magazzeni","orcid":"https://orcid.org/0000-0002-1934-3447"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Daniele Magazzeni","raw_affiliation_strings":["King's College, London, UK"],"affiliations":[{"raw_affiliation_string":"King's College, London, UK","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5088379096"],"corresponding_institution_ids":["https://openalex.org/I183935753"],"apc_list":null,"apc_paid":null,"fwci":3.4032,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.92791751,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3927","last_page":"3933"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10883","display_name":"Ethics and Social Impacts of AI","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/3311","display_name":"Safety Research"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10883","display_name":"Ethics and Social Impacts of AI","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/3311","display_name":"Safety Research"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T12026","display_name":"Explainable Artificial Intelligence (XAI)","score":0.9958999752998352,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.994700014591217,"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/planner","display_name":"Planner","score":0.8712343573570251},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.763792872428894},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6942049264907837},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6936689615249634},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6434894800186157},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5978348851203918},{"id":"https://openalex.org/keywords/taxonomy","display_name":"Taxonomy (biology)","score":0.5417003035545349},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5211220383644104},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5195418000221252},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4650375247001648},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4650254249572754},{"id":"https://openalex.org/keywords/management-science","display_name":"Management science","score":0.4190128445625305},{"id":"https://openalex.org/keywords/data-science","display_name":"Data science","score":0.3252902626991272},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1713140606880188}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8712343573570251},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.763792872428894},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6942049264907837},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6936689615249634},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6434894800186157},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5978348851203918},{"id":"https://openalex.org/C58642233","wikidata":"https://www.wikidata.org/wiki/Q8269924","display_name":"Taxonomy (biology)","level":2,"score":0.5417003035545349},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5211220383644104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5195418000221252},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4650375247001648},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4650254249572754},{"id":"https://openalex.org/C539667460","wikidata":"https://www.wikidata.org/wiki/Q2414942","display_name":"Management science","level":1,"score":0.4190128445625305},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.3252902626991272},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1713140606880188},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9562003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5899999737739563}],"awards":[],"funders":[{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W18339673","https://openalex.org/W46565623","https://openalex.org/W371619641","https://openalex.org/W1561643832","https://openalex.org/W1777783943","https://openalex.org/W1814533834","https://openalex.org/W1969483458","https://openalex.org/W1971044761","https://openalex.org/W1977189000","https://openalex.org/W1992787855","https://openalex.org/W2023862787","https://openalex.org/W2101993361","https://openalex.org/W2110762409","https://openalex.org/W2142224528","https://openalex.org/W2161076907","https://openalex.org/W2282821441","https://openalex.org/W2383103400","https://openalex.org/W2471969791","https://openalex.org/W2615896489","https://openalex.org/W2789347656","https://openalex.org/W2804623852","https://openalex.org/W2808460052","https://openalex.org/W2811164150","https://openalex.org/W2852897855","https://openalex.org/W2883418145","https://openalex.org/W2884533761","https://openalex.org/W2891122218","https://openalex.org/W2945976633","https://openalex.org/W2963095307","https://openalex.org/W2963125461","https://openalex.org/W2964122810","https://openalex.org/W2968941434","https://openalex.org/W2979893369","https://openalex.org/W2981646383","https://openalex.org/W2997947190","https://openalex.org/W2998073506","https://openalex.org/W3011608390","https://openalex.org/W3021601434","https://openalex.org/W3037454447","https://openalex.org/W3038064687","https://openalex.org/W3102870387","https://openalex.org/W3103346840","https://openalex.org/W3106029456","https://openalex.org/W3122175177","https://openalex.org/W6683620479","https://openalex.org/W6767197045","https://openalex.org/W6772444409","https://openalex.org/W6780343270","https://openalex.org/W6903373631"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W2002361198","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2101105382"],"abstract_inverted_index":{"Recent":[0],"research":[1,141],"in":[2,27,46,62,75],"AI":[3,14],"ethics":[4],"has":[5],"put":[6],"forth":[7],"explainability":[8],"as":[9,34],"an":[10],"essential":[11],"principle":[12],"for":[13,29],"algorithms.":[15],"However,":[16],"it":[17],"is":[18,23],"still":[19],"unclear":[20],"how":[21],"this":[22,38,63],"to":[24,135],"be":[25],"implemented":[26],"practice":[28],"specific":[30],"classes":[31],"of":[32,44,49,56,60,71,95,121],"algorithms\u2014such":[33],"motion":[35,50,76,108],"planners.":[36],"In":[37],"paper":[39],"we":[40],"unpack":[41],"the":[42,47,102,114],"concept":[43],"explanation":[45],"context":[48],"planning,":[51],"introducing":[52],"a":[53,86,92,96,132,137],"new":[54],"taxonomy":[55],"kinds":[57],"and":[58,124,131,139],"purposes":[59],"explanations":[61,70],"context.":[64],"We":[65,104,127],"focus":[66],"not":[67],"only":[68],"on":[69,81,112,116],"failure":[72,123],"(previously":[73],"addressed":[74],"planning":[77],"literature)":[78],"but":[79],"also":[80],"contrastive":[82],"explanations\u2014which":[83],"explain":[84],"why":[85],"trajectory":[87,98],"A":[88],"was":[89],"returned":[90],"by":[91,101],"planner,":[93],"instead":[94],"different":[97],"B":[99],"expected":[100],"user.":[103],"develop":[105],"two":[106],"explainable":[107],"planners,":[109],"one":[110],"based":[111],"optimization,":[113],"other":[115],"sampling,":[117],"which":[118],"are":[119],"capable":[120],"answering":[122],"constrastive":[125],"questions.":[126],"use":[128],"simulation":[129],"experiments":[130],"user":[133],"study":[134],"motivate":[136],"technical":[138],"social":[140],"agenda.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
