{"id":"https://openalex.org/W4413918636","doi":"https://doi.org/10.1109/icra55743.2025.11127475","title":"A Hybrid Approach to Indoor Social Navigation: Integrating Reactive Local Planning and Proactive Global Planning","display_name":"A Hybrid Approach to Indoor Social Navigation: Integrating Reactive Local Planning and Proactive Global Planning","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413918636","doi":"https://doi.org/10.1109/icra55743.2025.11127475"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127475","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5074543743","display_name":"Arnab Debnath","orcid":"https://orcid.org/0000-0003-1928-240X"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arnab Debnath","raw_affiliation_strings":["George Mason University,Department of Computer Science,Fairfax,VA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"George Mason University,Department of Computer Science,Fairfax,VA,USA","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042000667","display_name":"G. Stein","orcid":"https://orcid.org/0000-0003-1981-4154"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory J. Stein","raw_affiliation_strings":["George Mason University,Department of Computer Science,Fairfax,VA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"George Mason University,Department of Computer Science,Fairfax,VA,USA","institution_ids":["https://openalex.org/I162714631"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086078885","display_name":"Jana Ko\u0161eck\u00e1","orcid":"https://orcid.org/0000-0003-4619-3277"},"institutions":[{"id":"https://openalex.org/I162714631","display_name":"George Mason University","ror":"https://ror.org/02jqj7156","country_code":"US","type":"education","lineage":["https://openalex.org/I162714631"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jana Ko\u0161eck\u00e1","raw_affiliation_strings":["George Mason University,Department of Computer Science,Fairfax,VA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"George Mason University,Department of Computer Science,Fairfax,VA,USA","institution_ids":["https://openalex.org/I162714631"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I162714631"],"apc_list":null,"apc_paid":null,"fwci":9.0997,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.97775629,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"10432","last_page":"10438"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14147","display_name":"Innovative Approaches in Technology and Social Development","score":0.6274999976158142,"subfield":{"id":"https://openalex.org/subfields/1405","display_name":"Management of Technology and Innovation"},"field":{"id":"https://openalex.org/fields/14","display_name":"Business, Management and Accounting"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T14147","display_name":"Innovative Approaches in Technology and Social Development","score":0.6274999976158142,"subfield":{"id":"https://openalex.org/subfields/1405","display_name":"Management of Technology and Innovation"},"field":{"id":"https://openalex.org/fields/14","display_name":"Business, Management and Accounting"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6006459593772888},{"id":"https://openalex.org/keywords/process-management","display_name":"Process management","score":0.371213436126709},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.2627730965614319}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6006459593772888},{"id":"https://openalex.org/C195094911","wikidata":"https://www.wikidata.org/wiki/Q14167904","display_name":"Process management","level":1,"score":0.371213436126709},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.2627730965614319}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127475","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127475","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W178419168","https://openalex.org/W2069830673","https://openalex.org/W2117211893","https://openalex.org/W2125409550","https://openalex.org/W2137448073","https://openalex.org/W2142943472","https://openalex.org/W2153809277","https://openalex.org/W2158400962","https://openalex.org/W2163061173","https://openalex.org/W2170903322","https://openalex.org/W2210721416","https://openalex.org/W2227909145","https://openalex.org/W2604216058","https://openalex.org/W2890001928","https://openalex.org/W2909624178","https://openalex.org/W2962954724","https://openalex.org/W2963722165","https://openalex.org/W2963809389","https://openalex.org/W2963821308","https://openalex.org/W2964319688","https://openalex.org/W2998903229","https://openalex.org/W3134399564","https://openalex.org/W3207033280","https://openalex.org/W3208248092","https://openalex.org/W4200523064","https://openalex.org/W4304172573","https://openalex.org/W4312574158","https://openalex.org/W4312751955","https://openalex.org/W4385833986","https://openalex.org/W4386363039","https://openalex.org/W4401416954","https://openalex.org/W4405785726"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"We":[0,57,189],"consider":[1],"the":[2,10,40,49,65,101,119,149],"problem":[3],"of":[4,42,67,98,115,151,179],"indoor":[5,43,184],"building-scale":[6],"social":[7,139,180],"navigation,":[8],"where":[9],"robot":[11],"must":[12],"reach":[13],"a":[14,53,59,79,169],"point":[15],"goal":[16],"as":[17,19,32],"quickly":[18],"possible":[20],"without":[21],"colliding":[22],"with":[23],"humans":[24],"who":[25],"are":[26,141],"freely":[27],"moving":[28],"around.":[29],"Factors":[30],"such":[31],"varying":[33],"crowd":[34],"densities,":[35],"unpredictable":[36],"human":[37],"behavior,":[38],"and":[39,71,125,129,177,186,195],"constraints":[41],"spaces":[44],"add":[45],"significant":[46],"complexity":[47],"to":[48,82,121,154,174],"navigation":[50,61,140,181,197],"task,":[51],"necessitating":[52],"more":[54],"advanced":[55],"approach.":[56],"propose":[58],"modular":[60],"framework":[62],"that":[63,200],"leverages":[64],"strengths":[66],"both":[68],"classical":[69],"methods":[70],"deep":[72],"reinforcement":[73],"learning":[74],"(DRL).":[75],"Our":[76],"approach":[77,202],"employs":[78],"global":[80],"planner":[81],"generate":[83],"waypoints,":[84],"assigning":[85],"soft":[86],"costs":[87],"around":[88,94],"anticipated":[89],"pedestrian":[90],"locations,":[91],"encouraging":[92],"caution":[93],"potential":[95],"future":[96],"positions":[97],"humans.":[99],"Simultaneously,":[100],"local":[102],"planner,":[103],"powered":[104],"by":[105],"DRL,":[106],"follows":[107],"these":[108,116],"waypoints":[109],"while":[110,132],"avoiding":[111],"collisions.":[112],"The":[113],"combination":[114],"planners":[117],"enables":[118],"agent":[120],"perform":[122,155],"complex":[123],"maneuvers":[124],"effectively":[126],"navigate":[127],"crowded":[128],"constrained":[130],"environments":[131],"improving":[133],"reliability.":[134],"Many":[135],"existing":[136],"studies":[137],"on":[138],"conducted":[142],"in":[143,157,164,183],"simplistic":[144],"or":[145],"open":[146],"environments,":[147],"limiting":[148],"ability":[150],"trained":[152],"models":[153],"well":[156],"complex,":[158],"real-world":[159],"settings.":[160],"To":[161],"advance":[162],"research":[163],"this":[165],"area,":[166],"we":[167],"introduce":[168],"new":[170],"2D":[171],"benchmark":[172,190],"designed":[173],"facilitate":[175],"development":[176],"testing":[178],"strategies":[182],"environments.22Simulator":[185],"code:":[187],"https://github.com/arnabGMU/hybrid_social_nav":[188],"our":[191,201],"method":[192],"against":[193],"traditional":[194],"RL-based":[196],"strategies,":[198],"demonstrating":[199],"outperforms":[203],"both.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}