{"id":"https://openalex.org/W4383108497","doi":"https://doi.org/10.1109/icra48891.2023.10160715","title":"Occlusion-Aware Crowd Navigation Using People as Sensors","display_name":"Occlusion-Aware Crowd Navigation Using People as Sensors","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108497","doi":"https://doi.org/10.1109/icra48891.2023.10160715"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160715","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160715","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5060382692","display_name":"Ye-Ji Mun","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ye-Ji Mun","raw_affiliation_strings":["University of Illinois at Urbana-Champaign,Electrical and Computer Engineering Department,USA","Electrical and Computer Engineering Department, University of Illinois at Urbana-Champaign, USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign,Electrical and Computer Engineering Department,USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Illinois at Urbana-Champaign, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032917230","display_name":"Masha Itkina","orcid":null},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]},{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Masha Itkina","raw_affiliation_strings":["Stanford University,Aeronautics and Astronautics Department,USA","Aeronautics and Astronautics Department, Stanford University, USA"],"affiliations":[{"raw_affiliation_string":"Stanford University,Aeronautics and Astronautics Department,USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I9842412","https://openalex.org/I13805885"]},{"raw_affiliation_string":"Aeronautics and Astronautics Department, Stanford University, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052644162","display_name":"Shuijing Liu","orcid":"https://orcid.org/0000-0002-0038-2956"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shuijing Liu","raw_affiliation_strings":["University of Illinois at Urbana-Champaign,Electrical and Computer Engineering Department,USA","Electrical and Computer Engineering Department, University of Illinois at Urbana-Champaign, USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign,Electrical and Computer Engineering Department,USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Illinois at Urbana-Champaign, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059066811","display_name":"Katherine Driggs-Campbell","orcid":"https://orcid.org/0000-0003-3760-9859"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katherine Driggs-Campbell","raw_affiliation_strings":["University of Illinois at Urbana-Champaign,Electrical and Computer Engineering Department,USA","Electrical and Computer Engineering Department, University of Illinois at Urbana-Champaign, USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign,Electrical and Computer Engineering Department,USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Illinois at Urbana-Champaign, USA","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5060382692"],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":2.4381,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.88075447,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"12031","last_page":"12037"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9911999702453613,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9879000186920166,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7168291807174683},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.663556694984436},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6251701712608337},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5858767032623291},{"id":"https://openalex.org/keywords/autoencoder","display_name":"Autoencoder","score":0.5585917830467224},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.530480682849884},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.52716463804245},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.507958710193634},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4985466003417969},{"id":"https://openalex.org/keywords/occlusion","display_name":"Occlusion","score":0.48487934470176697},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3578026294708252},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34268730878829956},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.2770676612854004},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.22086063027381897},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.16217273473739624}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7168291807174683},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.663556694984436},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6251701712608337},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5858767032623291},{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.5585917830467224},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.530480682849884},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.52716463804245},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.507958710193634},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4985466003417969},{"id":"https://openalex.org/C2776268601","wikidata":"https://www.wikidata.org/wiki/Q968808","display_name":"Occlusion","level":2,"score":0.48487934470176697},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3578026294708252},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34268730878829956},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.2770676612854004},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.22086063027381897},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.16217273473739624},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C164705383","wikidata":"https://www.wikidata.org/wiki/Q10379","display_name":"Cardiology","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160715","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160715","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3142811343","display_name":null,"funder_award_id":"2143435","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W2092921","https://openalex.org/W192919555","https://openalex.org/W1522301498","https://openalex.org/W1539216098","https://openalex.org/W1836465849","https://openalex.org/W1959608418","https://openalex.org/W1999050017","https://openalex.org/W2029724021","https://openalex.org/W2064675550","https://openalex.org/W2071005201","https://openalex.org/W2072195747","https://openalex.org/W2097639646","https://openalex.org/W2140542425","https://openalex.org/W2142943472","https://openalex.org/W2167052694","https://openalex.org/W2227909145","https://openalex.org/W2410981078","https://openalex.org/W2604216058","https://openalex.org/W2631888524","https://openalex.org/W2653246566","https://openalex.org/W2736601468","https://openalex.org/W2765973103","https://openalex.org/W2963625099","https://openalex.org/W2963804019","https://openalex.org/W2963809389","https://openalex.org/W2970675230","https://openalex.org/W2970787054","https://openalex.org/W2990956645","https://openalex.org/W3003111774","https://openalex.org/W3003267985","https://openalex.org/W3020825567","https://openalex.org/W3098650412","https://openalex.org/W3099370753","https://openalex.org/W3104898494","https://openalex.org/W3115608750","https://openalex.org/W3131623996","https://openalex.org/W3173480723","https://openalex.org/W3198513998","https://openalex.org/W3199257196","https://openalex.org/W3205400264","https://openalex.org/W3205945099","https://openalex.org/W4206055888","https://openalex.org/W4298159930","https://openalex.org/W6631190155","https://openalex.org/W6638667902","https://openalex.org/W6640963894","https://openalex.org/W6741002519","https://openalex.org/W6745193426","https://openalex.org/W6786234212","https://openalex.org/W6797300678","https://openalex.org/W6801892274"],"related_works":["https://openalex.org/W2159052453","https://openalex.org/W3013693939","https://openalex.org/W2566616303","https://openalex.org/W3131327266","https://openalex.org/W2752972570","https://openalex.org/W4297051394","https://openalex.org/W2734887215","https://openalex.org/W2803255133","https://openalex.org/W2909431601","https://openalex.org/W4294770367"],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1,118],"in":[2,23,122],"crowded":[3],"spaces":[4],"poses":[5],"a":[6,28,71,75,92],"challenge":[7],"for":[8,86,153],"mobile":[9],"robots":[10],"due":[11,26],"to":[12,27,52,80,97,115,132,148],"the":[13,66,99,133,138,146],"highly":[14,21],"dynamic,":[15],"partially":[16],"observable":[17,117],"environment.":[18],"Occlusions":[19],"are":[20,84],"prevalent":[22],"such":[24,61],"settings":[25],"limited":[29],"sensor":[30],"field":[31],"of":[32,46,140],"view":[33],"and":[34],"obstructing":[35],"human":[36,47],"agents.":[37],"Previous":[38],"work":[39,90,144],"has":[40],"shown":[41],"that":[42,83],"observed":[43],"interactive":[44],"behaviors":[45],"agents":[48,121],"can":[49],"be":[50],"used":[51],"estimate":[53],"potential":[54],"obstacles":[55],"despite":[56],"occlusions.":[57],"We":[58,69,125],"propose":[59],"integrating":[60],"social":[62,150],"inference":[63,152],"techniques":[64],"into":[65,102],"planning":[67],"pipeline.":[68],"use":[70,149],"variational":[72],"autoencoder":[73],"with":[74],"specially":[76],"designed":[77],"loss":[78],"function":[79],"learn":[81],"representations":[82],"meaningful":[85],"occlusion":[87,151],"inference.":[88],"This":[89],"adopts":[91],"deep":[93],"reinforcement":[94],"learning":[95],"approach":[96],"incorporate":[98],"learned":[100],"representation":[101],"occlusion-aware":[103,108],"planning.":[104],"In":[105],"simulation,":[106],"our":[107,141],"policy":[109,128],"achieves":[110],"comparable":[111],"collision":[112],"avoidance":[113],"performance":[114],"fully":[116],"by":[119],"estimating":[120],"occluded":[123],"spaces.":[124],"demonstrate":[126],"successful":[127],"transfer":[129],"from":[130],"simulation":[131],"real-world":[134],"Turtlebot":[135],"2i.":[136],"To":[137],"best":[139],"knowledge,":[142],"this":[143],"is":[145,158],"first":[147],"crowd":[154],"navigation.":[155],"Our":[156],"implementation":[157],"available":[159],"at":[160],"https://github.com/yejimun/PaS_CrowdNav.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
