{"id":"https://openalex.org/W4401414613","doi":"https://doi.org/10.1109/icra57147.2024.10611239","title":"Integrated Data-driven Inference and Planning-based Human Motion Prediction for Safe Human-Robot Interaction","display_name":"Integrated Data-driven Inference and Planning-based Human Motion Prediction for Safe Human-Robot Interaction","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414613","doi":"https://doi.org/10.1109/icra57147.2024.10611239"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611239","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":"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/A5111208176","display_name":"Youngim Nam","orcid":null},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngim Nam","raw_affiliation_strings":["Ulsan National Institute of Science and Technology,Department of Mechanical Engineering,Ulsan,Republic of Korea,44919"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ulsan National Institute of Science and Technology,Department of Mechanical Engineering,Ulsan,Republic of Korea,44919","institution_ids":["https://openalex.org/I48566637"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072352116","display_name":"Cheolhyeon Kwon","orcid":"https://orcid.org/0000-0002-6084-8236"},"institutions":[{"id":"https://openalex.org/I48566637","display_name":"Ulsan National Institute of Science and Technology","ror":"https://ror.org/017cjz748","country_code":"KR","type":"education","lineage":["https://openalex.org/I48566637"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Cheolhyeon Kwon","raw_affiliation_strings":["Ulsan National Institute of Science and Technology,Department of Mechanical Engineering,Ulsan,Republic of Korea,44919"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ulsan National Institute of Science and Technology,Department of Mechanical Engineering,Ulsan,Republic of Korea,44919","institution_ids":["https://openalex.org/I48566637"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I48566637"],"apc_list":null,"apc_paid":null,"fwci":0.1642,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.44157238,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"13404","last_page":"13410"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991000294685364,"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":0.9991000294685364,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9977999925613403,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9973999857902527,"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/computer-science","display_name":"Computer science","score":0.6842607259750366},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.6426937580108643},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6318567991256714},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5400010943412781},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5297375917434692},{"id":"https://openalex.org/keywords/human-motion","display_name":"Human motion","score":0.5105739831924438},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49415114521980286},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4591282308101654},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.4332849085330963},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3250621557235718},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3209354281425476},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.10855448246002197}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6842607259750366},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.6426937580108643},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6318567991256714},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5400010943412781},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5297375917434692},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.5105739831924438},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49415114521980286},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4591282308101654},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.4332849085330963},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3250621557235718},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3209354281425476},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.10855448246002197}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611239","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":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1544016679","https://openalex.org/W1801976851","https://openalex.org/W2012849708","https://openalex.org/W2079150870","https://openalex.org/W2098450792","https://openalex.org/W2410617946","https://openalex.org/W2594908799","https://openalex.org/W2729776805","https://openalex.org/W2741066535","https://openalex.org/W2800727637","https://openalex.org/W2890092150","https://openalex.org/W2891385160","https://openalex.org/W2931996582","https://openalex.org/W2953931148","https://openalex.org/W2963888093","https://openalex.org/W2964147651","https://openalex.org/W2964264720","https://openalex.org/W2969076652","https://openalex.org/W2971215036","https://openalex.org/W2990116160","https://openalex.org/W3003397068","https://openalex.org/W3033920763","https://openalex.org/W3089576059","https://openalex.org/W3106257603","https://openalex.org/W3159447300","https://openalex.org/W3163257372","https://openalex.org/W3186450693","https://openalex.org/W3202626246","https://openalex.org/W3207842966","https://openalex.org/W4310983610","https://openalex.org/W4311443343","https://openalex.org/W6631190155","https://openalex.org/W6638440308","https://openalex.org/W6746136750","https://openalex.org/W6791253119"],"related_works":["https://openalex.org/W2055243143","https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W4321636575","https://openalex.org/W1986418932","https://openalex.org/W2357796999","https://openalex.org/W2045526782","https://openalex.org/W3000959466","https://openalex.org/W4310969919","https://openalex.org/W4391855104"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,45,101,112],"unified":[4],"prediction":[5,47],"and":[6,37,55,77,157],"planning":[7,103],"algorithm":[8],"for":[9,118],"an":[10,16,106],"autonomous":[11,120],"vehicle":[12,98,121,128],"to":[13,26,72,122],"interact":[14,124],"with":[15,125],"uncertain":[17],"human-driven":[18,97,127],"vehicle.":[19],"Predicting":[20],"human":[21,31,57,84,102,132,155],"motion":[22,58,82,156],"is":[23],"challenging":[24],"due":[25],"inherent":[27],"uncertainties":[28],"in":[29,151],"diverse":[30],"internal":[32,52,89,133],"states,":[33,90],"i.e.,":[34],"driving":[35,75],"styles":[36,76],"rationality.":[38],"To":[39],"address":[40],"these":[41,87],"complexities,":[42],"we":[43,61,91,110],"propose":[44],"hierarchical":[46],"strategy":[48],"that":[49],"combines":[50],"data-driven":[51],"state":[53],"inference":[54,70],"planning-based":[56],"prediction.":[59],"First,":[60],"employ":[62],"Long":[63],"Short":[64],"Term":[65],"Memory":[66],"Networks":[67],"(LSTM)":[68],"based":[69],"modules":[71],"capture":[73],"both":[74,152],"rationality":[78],"from":[79],"the":[80,93,119,126,139,144,148,154,159],"observed":[81],"of":[83,96],"driver.":[85],"With":[86],"inferred":[88],"predict":[92],"future":[94],"trajectories":[95],"by":[99],"formulating":[100],"model":[104],"as":[105],"optimization":[107],"problem.":[108],"Lastly,":[109],"present":[111],"Stochastic":[113],"Model":[114],"Predictive":[115],"Control":[116],"(SMPC)":[117],"safely":[123],"while":[129],"actively":[130],"inferring":[131],"states.":[134],"The":[135],"simulation":[136],"results,":[137],"demonstrating":[138],"lane":[140],"change":[141],"scenarios,":[142],"indicate":[143],"proposed":[145],"method":[146],"outperforms":[147],"existing":[149],"work":[150],"predicting":[153],"achieving":[158],"robot\u2019s":[160],"goal.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}