{"id":"https://openalex.org/W4401415486","doi":"https://doi.org/10.1109/icra57147.2024.10611014","title":"Probabilistic Motion Planning and Prediction via Partitioned Scenario Replay","display_name":"Probabilistic Motion Planning and Prediction via Partitioned Scenario Replay","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415486","doi":"https://doi.org/10.1109/icra57147.2024.10611014"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611014","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611014","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5069461952","display_name":"Oscar de Groot","orcid":"https://orcid.org/0000-0001-6527-7367"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Oscar de Groot","raw_affiliation_strings":["TU Delft,The Dept. of Cognitive Robotics,Delft,The Netherlands,2628 CD"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Delft,The Dept. of Cognitive Robotics,Delft,The Netherlands,2628 CD","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113325606","display_name":"Anish Sridharan","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Anish Sridharan","raw_affiliation_strings":["TU Delft,The Dept. of Cognitive Robotics,Delft,The Netherlands,2628 CD"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Delft,The Dept. of Cognitive Robotics,Delft,The Netherlands,2628 CD","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013297671","display_name":"Javier Alonso\u2013Mora","orcid":"https://orcid.org/0000-0003-0058-570X"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Javier Alonso-Mora","raw_affiliation_strings":["TU Delft,The Dept. of Cognitive Robotics,Delft,The Netherlands,2628 CD"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Delft,The Dept. of Cognitive Robotics,Delft,The Netherlands,2628 CD","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029788290","display_name":"Laura Ferranti","orcid":"https://orcid.org/0000-0003-3856-6221"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Laura Ferranti","raw_affiliation_strings":["TU Delft,The Dept. of Cognitive Robotics,Delft,The Netherlands,2628 CD"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU Delft,The Dept. of Cognitive Robotics,Delft,The Netherlands,2628 CD","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7546","last_page":"7552"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9873999953269958,"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/probabilistic-logic","display_name":"Probabilistic logic","score":0.7265053987503052},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7205196022987366},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5621405839920044},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5220422744750977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40231484174728394},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20867487788200378}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7265053987503052},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7205196022987366},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5621405839920044},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5220422744750977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40231484174728394},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20867487788200378}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611014","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611014","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"},{"score":0.46000000834465027,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W2098450792","https://openalex.org/W2098699644","https://openalex.org/W2101821104","https://openalex.org/W2111830885","https://openalex.org/W2143545157","https://openalex.org/W2159555929","https://openalex.org/W2206835661","https://openalex.org/W2424778531","https://openalex.org/W2774231091","https://openalex.org/W2790380176","https://openalex.org/W2905111361","https://openalex.org/W2909324603","https://openalex.org/W2963105220","https://openalex.org/W3035096461","https://openalex.org/W3038423780","https://openalex.org/W3108908812","https://openalex.org/W3116651890","https://openalex.org/W3159022532","https://openalex.org/W3204385750","https://openalex.org/W3206025046","https://openalex.org/W4212774754","https://openalex.org/W4243794628","https://openalex.org/W4248569664","https://openalex.org/W4249009392","https://openalex.org/W4255556797","https://openalex.org/W4293250436","https://openalex.org/W4298289240","https://openalex.org/W4313131073","https://openalex.org/W4383108442","https://openalex.org/W4383180485","https://openalex.org/W6617744952","https://openalex.org/W6637568146","https://openalex.org/W6640963894","https://openalex.org/W6687045409","https://openalex.org/W6749808448","https://openalex.org/W6757787546","https://openalex.org/W6779371077","https://openalex.org/W6784222152","https://openalex.org/W6786645817","https://openalex.org/W6799748510","https://openalex.org/W6809715023","https://openalex.org/W6840292344"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"Autonomous":[0],"mobile":[1,143],"robots":[2],"require":[3],"predictions":[4],"of":[5],"human":[6,17,77],"motion":[7,18,95],"to":[8,52,80,124],"plan":[9],"a":[10,61,142],"safe":[11],"trajectory":[12],"that":[13,71],"avoids":[14],"them.":[15],"Because":[16],"cannot":[19],"be":[20],"predicted":[21],"exactly,":[22],"future":[23],"trajectories":[24],"are":[25,90],"typically":[26],"inferred":[27],"from":[28,46],"real-world":[29],"data":[30,100],"via":[31],"learning-based":[32],"approximations.":[33],"These":[34],"approximations":[35],"provide":[36],"useful":[37],"information":[38],"on":[39,104,121,141],"the":[40,47,110,118],"pedestrian\u2019s":[41],"behavior,":[42],"but":[43],"may":[44],"deviate":[45],"data,":[48],"which":[49],"can":[50,128],"lead":[51],"collisions":[53],"during":[54],"planning.":[55],"In":[56],"this":[57,122],"work,":[58],"we":[59],"introduce":[60],"joint":[62],"prediction":[63,132],"and":[64,73,101,107,133],"planning":[65,134],"framework,":[66],"Partitioned":[67],"Scenario":[68],"Replay":[69],"(PSR),":[70],"stores":[72],"partitions":[74],"previously":[75],"observed":[76,86],"trajectories,":[78],"referred":[79],"as":[81,94],"scenarios.":[82],"During":[83],"planning,":[84],"scenarios":[85],"in":[87,117],"similar":[88],"situations":[89],"reintroduced":[91],"(or":[92],"replayed)":[93],"predictions.":[96],"By":[97],"sampling":[98],"real":[99],"by":[102],"building":[103],"scenario":[105],"optimization":[106],"predictive":[108],"control,":[109],"planner":[111],"provides":[112],"probabilistic":[113],"collision":[114],"avoidance":[115],"guarantees":[116],"real-world.":[119],"Relying":[120],"guarantee":[123],"remain":[125],"safe,":[126],"PSR":[127],"incrementally":[129],"improve":[130],"its":[131],"performance":[135],"online.":[136],"We":[137],"demonstrate":[138],"our":[139],"approach":[140],"robot":[144],"navigating":[145],"around":[146],"pedestrians.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}