{"id":"https://openalex.org/W4401413908","doi":"https://doi.org/10.1109/icra57147.2024.10611204","title":"Multi-Robot Cooperative Navigation in Crowds: A Game-Theoretic Learning-Based Model Predictive Control Approach","display_name":"Multi-Robot Cooperative Navigation in Crowds: A Game-Theoretic Learning-Based Model Predictive Control Approach","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413908","doi":"https://doi.org/10.1109/icra57147.2024.10611204"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611204","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/A5065617320","display_name":"Viet-Anh Le","orcid":"https://orcid.org/0000-0002-9829-7150"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Viet-Anh Le","raw_affiliation_strings":["University of Delaware,Department of Mechanical Engineering,DE,USA,19716"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Delaware,Department of Mechanical Engineering,DE,USA,19716","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024302009","display_name":"Vaishnav Tadiparthi","orcid":"https://orcid.org/0000-0001-9897-0600"},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vaishnav Tadiparthi","raw_affiliation_strings":["Honda Research Institute USA, Inc"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute USA, Inc","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068009319","display_name":"Behdad Chalaki","orcid":"https://orcid.org/0000-0002-3055-1693"},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Behdad Chalaki","raw_affiliation_strings":["Honda Research Institute USA, Inc"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute USA, Inc","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001543635","display_name":"Hossein Nourkhiz Mahjoub","orcid":"https://orcid.org/0000-0002-8380-3241"},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hossein Nourkhiz Mahjoub","raw_affiliation_strings":["Honda Research Institute USA, Inc"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute USA, Inc","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033048366","display_name":"Jovin D\u2019sa","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jovin D\u2019Sa","raw_affiliation_strings":["Honda Research Institute USA, Inc"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute USA, Inc","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032101438","display_name":"Ehsan Moradi\u2010Pari","orcid":"https://orcid.org/0000-0002-4822-3196"},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ehsan Moradi-Pari","raw_affiliation_strings":["Honda Research Institute USA, Inc"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute USA, Inc","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076592878","display_name":"Andreas A. Malikopoulos","orcid":"https://orcid.org/0000-0003-4817-0976"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andreas A. Malikopoulos","raw_affiliation_strings":["Cornell University,System Engineering,NY,USA,14850"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cornell University,System Engineering,NY,USA,14850","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4834","last_page":"4840"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9961000084877014,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9961000084877014,"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/T10524","display_name":"Traffic control and management","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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9947999715805054,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/crowds","display_name":"Crowds","score":0.8697941303253174},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7057703733444214},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.580093502998352},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.49321526288986206},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.48236626386642456},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4595441222190857},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.44783735275268555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4414959251880646},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.430264949798584},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.42711108922958374},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09004482626914978},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07402613759040833}],"concepts":[{"id":"https://openalex.org/C2777852691","wikidata":"https://www.wikidata.org/wiki/Q13430821","display_name":"Crowds","level":2,"score":0.8697941303253174},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7057703733444214},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.580093502998352},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.49321526288986206},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.48236626386642456},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4595441222190857},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.44783735275268555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4414959251880646},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.430264949798584},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.42711108922958374},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09004482626914978},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07402613759040833},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611204","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611204","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2123871098","https://openalex.org/W2142943472","https://openalex.org/W2424778531","https://openalex.org/W2532516272","https://openalex.org/W2604216058","https://openalex.org/W2842089854","https://openalex.org/W2890001928","https://openalex.org/W2892105102","https://openalex.org/W2963001155","https://openalex.org/W2963114745","https://openalex.org/W2964319688","https://openalex.org/W2969076652","https://openalex.org/W2997492753","https://openalex.org/W3115517346","https://openalex.org/W3118688377","https://openalex.org/W3124040029","https://openalex.org/W3124260346","https://openalex.org/W3130046404","https://openalex.org/W3134972302","https://openalex.org/W3142049818","https://openalex.org/W3155186850","https://openalex.org/W4221154737","https://openalex.org/W4226016029","https://openalex.org/W4251248339","https://openalex.org/W4294576339","https://openalex.org/W4315488806","https://openalex.org/W4365420215","https://openalex.org/W4377717016","https://openalex.org/W4383109004","https://openalex.org/W4383109360","https://openalex.org/W4383112515","https://openalex.org/W4387088911","https://openalex.org/W4389665364","https://openalex.org/W7046037741"],"related_works":["https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880","https://openalex.org/W4210919297"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,73,110],"develop":[4],"a":[5,24,34,83,87,104],"control":[6,28],"framework":[7,21],"for":[8,30,50],"the":[9,46,63,66,75,99,112],"coordination":[10,69,115],"of":[11,23,68,114],"multiple":[12],"robots":[13,117],"as":[14,82],"they":[15],"navigate":[16],"through":[17],"crowded":[18],"environments.":[19],"Our":[20],"comprises":[22],"local":[25,47],"model":[26,39],"predictive":[27],"(MPC)":[29],"each":[31,51],"robot":[32,53],"and":[33,58,78,86,106],"social":[35],"long":[36],"short-term":[37],"memory":[38],"that":[40,54],"forecasts":[41],"pedestrians\u2019":[42],"trajectories.":[43],"We":[44],"formulate":[45],"MPC":[48],"formulation":[49],"individual":[52,57],"includes":[55],"both":[56],"shared":[59],"objectives,":[60],"in":[61,103,118],"which":[62],"latter":[64],"encourages":[65],"emergence":[67],"among":[70,116],"robots.":[71],"Next,":[72],"consider":[74],"multi-robot":[76],"navigation":[77],"human-robot":[79],"interaction,":[80],"respectively,":[81],"potential":[84],"game":[85],"two-player":[88],"game,":[89],"then":[90],"employ":[91],"an":[92],"iterative":[93],"best":[94],"response":[95],"approach":[96],"to":[97],"solve":[98],"resulting":[100],"optimization":[101],"problems":[102],"centralized":[105],"distributed":[107],"fashion.":[108],"Finally,":[109],"demonstrate":[111],"effectiveness":[113],"simulated":[119],"crowd":[120],"navigation.":[121]},"counts_by_year":[{"year":2025,"cited_by_count":7}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
