{"id":"https://openalex.org/W2101821104","doi":"https://doi.org/10.1109/iros.2009.5354147","title":"Planning-based prediction for pedestrians","display_name":"Planning-based prediction for pedestrians","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2101821104","doi":"https://doi.org/10.1109/iros.2009.5354147","mag":"2101821104"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354147","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354147","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/Planning-based_Prediction_for_Pedestrians/6558041","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024686404","display_name":"Brian D. Ziebart","orcid":"https://orcid.org/0000-0003-4041-6871"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian D. Ziebart","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, USA","School of Computer Science, Carnegie Mellon University, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA,","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017897684","display_name":"Nathan Ratliff","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Ratliff","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, USA","School of Computer Science, Carnegie Mellon University, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA,","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038065882","display_name":"Garratt Gallagher","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Garratt Gallagher","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, USA","School of Computer Science, Carnegie Mellon University, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA,","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030848390","display_name":"Christoph Mertz","orcid":"https://orcid.org/0000-0001-7540-5211"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christoph Mertz","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, USA","School of Computer Science, Carnegie Mellon University, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA,","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103924448","display_name":"Kevin Peterson","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Peterson","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, USA","School of Computer Science, Carnegie Mellon University, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA,","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112411386","display_name":"J. Andrew Bagnell","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Andrew Bagnell","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, USA","School of Computer Science, Carnegie Mellon University, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA,","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075246991","display_name":"Martial Hebert","orcid":"https://orcid.org/0000-0003-4566-5930"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Martial Hebert","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, USA","School of Computer Science, Carnegie Mellon University, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA,","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032134965","display_name":"Anind K. Dey","orcid":"https://orcid.org/0000-0002-3004-0770"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anind K. Dey","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, USA","School of Computer Science, Carnegie Mellon University, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA,","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddhartha Srinivasa","raw_affiliation_strings":["Intel Research, Pittsburgh, PA, USA","Intel Res. Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intel Research, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I1343180700"]},{"raw_affiliation_string":"Intel Res. Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I1343180700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.3953,"has_fulltext":false,"cited_by_count":469,"citation_normalized_percentile":{"value":0.98745495,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3931","last_page":"3936"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9980000257492065,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9976999759674072,"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/generality","display_name":"Generality","score":0.8729773759841919},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7355225682258606},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7050111293792725},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6758665442466736},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6498638391494751},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.6271839737892151},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.540972888469696},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5083274245262146},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.43162184953689575},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4259375035762787},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.32576870918273926},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16272002458572388}],"concepts":[{"id":"https://openalex.org/C2780767217","wikidata":"https://www.wikidata.org/wiki/Q5532421","display_name":"Generality","level":2,"score":0.8729773759841919},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7355225682258606},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7050111293792725},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6758665442466736},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6498638391494751},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.6271839737892151},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.540972888469696},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5083274245262146},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.43162184953689575},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4259375035762787},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32576870918273926},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16272002458572388},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/iros.2009.5354147","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354147","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.148.2405","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.148.2405","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/2009/10/planning-based-prediction-pedestrians.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.639.6961","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.639.6961","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/2009/6/peoplePrediction.pdf","raw_type":"text"},{"id":"pmh:oai:repository.cmu.edu:robotics-1330","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=1330&context=robotics","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics Institute","raw_type":"text"},{"id":"pmh:oai:figshare.com:article/6558041","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Planning-based_Prediction_for_Pedestrians/6558041","pdf_url":null,"source":{"id":"https://openalex.org/S4306402621","display_name":"INDIGO (University of Illinois at Chicago)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39422238","host_organization_name":"University of Illinois Chicago","host_organization_lineage":["https://openalex.org/I39422238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"doi:10.1184/r1/6558041.v1","is_oa":true,"landing_page_url":"https://doi.org/10.1184/r1/6558041.v1","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"JournalArticle"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/6558041","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Planning-based_Prediction_for_Pedestrians/6558041","pdf_url":null,"source":{"id":"https://openalex.org/S4306402621","display_name":"INDIGO (University of Illinois at Chicago)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39422238","host_organization_name":"University of Illinois Chicago","host_organization_lineage":["https://openalex.org/I39422238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W1515851193","https://openalex.org/W1585104299","https://openalex.org/W1591675293","https://openalex.org/W1749676856","https://openalex.org/W1780392298","https://openalex.org/W1991366868","https://openalex.org/W1999874108","https://openalex.org/W2000790002","https://openalex.org/W2083402998","https://openalex.org/W2091784955","https://openalex.org/W2098774185","https://openalex.org/W2120387504","https://openalex.org/W2121863487","https://openalex.org/W2145042013","https://openalex.org/W2146027604","https://openalex.org/W2149519014","https://openalex.org/W2169528473","https://openalex.org/W2305143128","https://openalex.org/W2404739891","https://openalex.org/W4212855783","https://openalex.org/W4214717370","https://openalex.org/W6635187633","https://openalex.org/W6635261211","https://openalex.org/W6637679536","https://openalex.org/W6674884181"],"related_works":["https://openalex.org/W2045049461","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"We":[0,63],"present":[1],"a":[2,74],"novel":[3,75],"approach":[4,26,44],"for":[5],"determining":[6],"robot":[7,85],"movements":[8,19],"that":[9],"efficiently":[10],"accomplish":[11],"the":[12,18,23,28,46,56,65,81],"robot's":[13],"tasks":[14],"while":[15],"not":[16],"hindering":[17],"of":[20,31,41,48,67,70],"people":[21],"within":[22],"environment.":[24],"Our":[25],"models":[27],"goal-directed":[29],"trajectories":[30,72],"pedestrians":[32],"using":[33],"maximum":[34],"entropy":[35],"inverse":[36],"optimal":[37],"control.":[38],"The":[39],"advantage":[40],"this":[42,68],"modeling":[43],"is":[45],"generality":[47],"its":[49],"learned":[50],"cost":[51],"function":[52],"to":[53,59],"changes":[54],"in":[55,73,83],"environment":[57],"and":[58,78],"entirely":[60],"different":[61],"environments.":[62],"employ":[64],"predictions":[66],"model":[69],"pedestrian":[71],"incremental":[76],"planner":[77],"quantitatively":[79],"show":[80],"improvement":[82],"hindrance-sensitive":[84],"trajectory":[86],"planning":[87],"provided":[88],"by":[89],"our":[90],"approach.":[91]},"counts_by_year":[{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":30},{"year":2022,"cited_by_count":30},{"year":2021,"cited_by_count":51},{"year":2020,"cited_by_count":40},{"year":2019,"cited_by_count":36},{"year":2018,"cited_by_count":51},{"year":2017,"cited_by_count":42},{"year":2016,"cited_by_count":38},{"year":2015,"cited_by_count":34},{"year":2014,"cited_by_count":30},{"year":2013,"cited_by_count":27},{"year":2012,"cited_by_count":17}],"updated_date":"2026-08-15T07:11:24.734988","created_date":"2025-10-10T00:00:00"}