{"id":"https://openalex.org/W4252022689","doi":"https://doi.org/10.1109/iecon.2016.7793766","title":"Robot navigation according to the characteristics of pedestrian flow","display_name":"Robot navigation according to the characteristics of pedestrian flow","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W4252022689","doi":"https://doi.org/10.1109/iecon.2016.7793766"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2016.7793766","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2016.7793766","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society","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/A5039892300","display_name":"Nozomi Nishino","orcid":null},"institutions":[{"id":"https://openalex.org/I206011266","display_name":"Kwansei Gakuin University","ror":"https://ror.org/02qf2tx24","country_code":"JP","type":"education","lineage":["https://openalex.org/I206011266"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Nozomi Nishino","raw_affiliation_strings":["Graduate School of Science and Technology, Kwansei Gakuin University Sanda, Hyogo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Kwansei Gakuin University Sanda, Hyogo, Japan","institution_ids":["https://openalex.org/I206011266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070183873","display_name":"Ryo Tsugita","orcid":null},"institutions":[{"id":"https://openalex.org/I206011266","display_name":"Kwansei Gakuin University","ror":"https://ror.org/02qf2tx24","country_code":"JP","type":"education","lineage":["https://openalex.org/I206011266"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryo Tsugita","raw_affiliation_strings":["Graduate School of Science and Technology, Kwansei Gakuin University Sanda, Hyogo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Kwansei Gakuin University Sanda, Hyogo, Japan","institution_ids":["https://openalex.org/I206011266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035037458","display_name":"Daisuke Chugo","orcid":"https://orcid.org/0000-0002-3884-3746"},"institutions":[{"id":"https://openalex.org/I206011266","display_name":"Kwansei Gakuin University","ror":"https://ror.org/02qf2tx24","country_code":"JP","type":"education","lineage":["https://openalex.org/I206011266"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daisuke Chugo","raw_affiliation_strings":["Graduate School of Science and Technology, Kwansei Gakuin University Sanda, Hyogo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Kwansei Gakuin University Sanda, Hyogo, Japan","institution_ids":["https://openalex.org/I206011266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083691433","display_name":"Sho Yokota","orcid":"https://orcid.org/0000-0002-8507-5620"},"institutions":[{"id":"https://openalex.org/I1314466530","display_name":"Tokai University","ror":"https://ror.org/01p7qe739","country_code":"JP","type":"education","lineage":["https://openalex.org/I1314466530"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sho Yokota","raw_affiliation_strings":["School of Information Science and Technology, Tokai University, Hiratsuka, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Tokai University, Hiratsuka, Kanagawa, Japan","institution_ids":["https://openalex.org/I1314466530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108217144","display_name":"Satoshi Muramatsu","orcid":null},"institutions":[{"id":"https://openalex.org/I158123994","display_name":"Toyo University","ror":"https://ror.org/059d6yn51","country_code":"JP","type":"education","lineage":["https://openalex.org/I158123994"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Muramatsu","raw_affiliation_strings":["School of Science and Engineering, Toyo University, Kawagoe Saitama, Japan"],"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, Toyo University, Kawagoe Saitama, Japan","institution_ids":["https://openalex.org/I158123994"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103125589","display_name":"Hiroshi Hashimoto","orcid":"https://orcid.org/0000-0003-2416-8038"},"institutions":[{"id":"https://openalex.org/I74640424","display_name":"Advanced Institute of Industrial Technology","ror":"https://ror.org/04f9apy08","country_code":"JP","type":"education","lineage":["https://openalex.org/I74640424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Hashimoto","raw_affiliation_strings":["Master Program of Innovation for Design and Engineering, Advanced Institute of Industrial Technology, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Master Program of Innovation for Design and Engineering, Advanced Institute of Industrial Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I74640424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5039892300"],"corresponding_institution_ids":["https://openalex.org/I206011266"],"apc_list":null,"apc_paid":null,"fwci":1.002,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.8430698,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5947","last_page":"5952"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9988999962806702,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9961000084877014,"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/pedestrian","display_name":"Pedestrian","score":0.8188583254814148},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7686960697174072},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7594138383865356},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7029302716255188},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.58587646484375},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5487766861915588},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5475505590438843},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5280730724334717},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.47913452982902527},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45834776759147644},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4337741732597351},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.42716896533966064},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41520678997039795},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28387776017189026},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13487258553504944},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.11879155039787292},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.0854438841342926},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07129731774330139}],"concepts":[{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.8188583254814148},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7686960697174072},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7594138383865356},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7029302716255188},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.58587646484375},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5487766861915588},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5475505590438843},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5280730724334717},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.47913452982902527},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45834776759147644},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4337741732597351},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.42716896533966064},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41520678997039795},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28387776017189026},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13487258553504944},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.11879155039787292},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0854438841342926},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07129731774330139},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon.2016.7793766","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2016.7793766","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1608481154","https://openalex.org/W2031424614","https://openalex.org/W2068878320","https://openalex.org/W2093628576","https://openalex.org/W2101043416","https://openalex.org/W2103120971","https://openalex.org/W2166967570","https://openalex.org/W2168763451","https://openalex.org/W2330705368","https://openalex.org/W2331703960","https://openalex.org/W2333061257","https://openalex.org/W6684904579"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W2991662304","https://openalex.org/W3119736302","https://openalex.org/W4381746183","https://openalex.org/W2015961810","https://openalex.org/W2956606787"],"abstract_inverted_index":{"In":[0,122,155],"recent":[1],"years,":[2],"service":[3],"robots":[4,25],"have":[5,8],"tended":[6],"to":[7,11,104,132,183,218],"the":[9,24,34,43,73,133,145,151,156,159,165,168,171,184,191,196,205,212,216],"ability":[10],"move":[12],"autonomously":[13],"in":[14,17,28,62],"an":[15,106,220],"environment":[16],"which":[18],"they":[19],"co-exist":[20],"with":[21,111,190,223],"humans.":[22],"Thus,":[23],"must":[26],"engage":[27],"obstacle":[29,48],"avoidance":[30,90],"and":[31,91],"arrive":[32],"at":[33],"goal":[35],"point.":[36],"The":[37,173,226],"potential":[38,61,95,142,147,161,193,197],"method":[39,65,96,130,214],"is":[40,52,81,199,230],"one":[41],"of":[42,59,135,170],"path":[44,108,177,222],"planning":[45],"methods":[46],"for":[47],"avoidance.":[49],"Because":[50],"pedestrian":[51,112,136,146,204,224],"moving":[53],"obstacle,":[54,211],"he/she":[55],"may":[56],"go":[57],"outside":[58],"artificial":[60],"a":[63,68,84,98,102,115,127,140,176,203,209],"similar":[64],"suggested":[66],"by":[67,113],"previous":[69,192],"study.":[70],"However,":[71],"if":[72],"robot":[74,103,120,128,174,217],"avoids":[75],"collision":[76,89,110],"too":[77],"securely,":[78],"robot's":[79,92],"performance":[80],"limited":[82],"so":[83],"trade-off":[85],"problem":[86],"arises":[87],"between":[88],"performance.":[93],"A":[94],"requires":[97],"function":[99],"that":[100,143],"allows":[101],"plan":[105,219],"effective":[107,221],"without":[109,178],"predicting":[114],"pedestrian's":[116,185],"next":[117],"position":[118,166],"during":[119],"operation.":[121],"this":[123],"study,":[124],"we":[125],"develop":[126],"navigation":[129],"according":[131,182],"characteristics":[134],"flow.":[137],"We":[138],"spread":[139],"repulsive":[141,160],"adapts":[144],"equation":[148],"based":[149],"on":[150,164],"route":[152,186],"estimation":[153,187],"model.":[154],"proposed":[157,213,227],"method,":[158,194],"changes":[162],"depending":[163],"or":[167],"velocity":[169],"pedestrian.":[172],"plans":[175],"including":[179],"unnecessary":[180],"potential,":[181],"range.":[188],"Compared":[189],"wherein":[195],"field":[198],"distributed":[200],"equally":[201],"around":[202],"same":[206],"way":[207],"as":[208],"static":[210],"enables":[215],"characteristics.":[225],"method's":[228],"effectiveness":[229],"demonstrated":[231],"through":[232],"experiments.":[233]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}