{"id":"https://openalex.org/W1981786360","doi":"https://doi.org/10.1109/iros.2013.6696726","title":"Local reactive robot navigation: A comparison between reciprocal velocity obstacle variants and human-like behavior","display_name":"Local reactive robot navigation: A comparison between reciprocal velocity obstacle variants and human-like behavior","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W1981786360","doi":"https://doi.org/10.1109/iros.2013.6696726","mag":"1981786360"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696726","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5076974790","display_name":"J\u00e9r\u00f4me Guzzi","orcid":"https://orcid.org/0000-0002-1263-4110"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jerome Guzzi","raw_affiliation_strings":["USI-SUPSI, Dalle Molle Institute for Artificial Intelligence (lDSIA), Switzerland","Dalle Molle Inst. for Artificial Intell. (IDSIA), USI-SUPSI, Lugano, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"USI-SUPSI, Dalle Molle Institute for Artificial Intelligence (lDSIA), Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279"]},{"raw_affiliation_string":"Dalle Molle Inst. for Artificial Intell. (IDSIA), USI-SUPSI, Lugano, Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052119291","display_name":"Alessandro Giusti","orcid":"https://orcid.org/0000-0003-1240-0768"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alessandro Giusti","raw_affiliation_strings":["USI-SUPSI, Dalle Molle Institute for Artificial Intelligence (lDSIA), Switzerland","Dalle Molle Inst. for Artificial Intell. (IDSIA), USI-SUPSI, Lugano, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"USI-SUPSI, Dalle Molle Institute for Artificial Intelligence (lDSIA), Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279"]},{"raw_affiliation_string":"Dalle Molle Inst. for Artificial Intell. (IDSIA), USI-SUPSI, Lugano, Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109533956","display_name":"Luca Maria Gambardella","orcid":"https://orcid.org/0009-0004-2555-1762"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Luca M. Gambardella","raw_affiliation_strings":["USI-SUPSI, Dalle Molle Institute for Artificial Intelligence (lDSIA), Switzerland","Dalle Molle Inst. for Artificial Intell. (IDSIA), USI-SUPSI, Lugano, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"USI-SUPSI, Dalle Molle Institute for Artificial Intelligence (lDSIA), Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279"]},{"raw_affiliation_string":"Dalle Molle Inst. for Artificial Intell. (IDSIA), USI-SUPSI, Lugano, Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002388392","display_name":"Gianni A. Di","orcid":"https://orcid.org/0000-0002-2125-0557"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Gianni A. Di Caro","raw_affiliation_strings":["USI-SUPSI, Dalle Molle Institute for Artificial Intelligence (lDSIA), Switzerland","Dalle Molle Inst. for Artificial Intell. (IDSIA), USI-SUPSI, Lugano, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"USI-SUPSI, Dalle Molle Institute for Artificial Intelligence (lDSIA), Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279"]},{"raw_affiliation_string":"Dalle Molle Inst. for Artificial Intell. (IDSIA), USI-SUPSI, Lugano, Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2622","last_page":"2629"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9993000030517578,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9886000156402588,"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/obstacle","display_name":"Obstacle","score":0.8853862881660461},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7228541970252991},{"id":"https://openalex.org/keywords/reciprocal","display_name":"Reciprocal","score":0.7008236050605774},{"id":"https://openalex.org/keywords/crowd-simulation","display_name":"Crowd simulation","score":0.6633090972900391},{"id":"https://openalex.org/keywords/crowds","display_name":"Crowds","score":0.6616662740707397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6166860461235046},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5796090960502625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5645228624343872},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5177704095840454},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5176894664764404},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.47764790058135986},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46666544675827026},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41171061992645264},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4019126892089844},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3704853951931},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0830858051776886},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0671195387840271}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8853862881660461},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7228541970252991},{"id":"https://openalex.org/C2777742833","wikidata":"https://www.wikidata.org/wiki/Q1964083","display_name":"Reciprocal","level":2,"score":0.7008236050605774},{"id":"https://openalex.org/C45617602","wikidata":"https://www.wikidata.org/wiki/Q465266","display_name":"Crowd simulation","level":3,"score":0.6633090972900391},{"id":"https://openalex.org/C2777852691","wikidata":"https://www.wikidata.org/wiki/Q13430821","display_name":"Crowds","level":2,"score":0.6616662740707397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6166860461235046},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5796090960502625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5645228624343872},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5177704095840454},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5176894664764404},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.47764790058135986},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46666544675827026},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41171061992645264},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4019126892089844},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3704853951931},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0830858051776886},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0671195387840271},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696726","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W6827933","https://openalex.org/W178419168","https://openalex.org/W192919555","https://openalex.org/W978109559","https://openalex.org/W1424654272","https://openalex.org/W1606797603","https://openalex.org/W1608481154","https://openalex.org/W1888172398","https://openalex.org/W1976517551","https://openalex.org/W1988994102","https://openalex.org/W1993643921","https://openalex.org/W2002440441","https://openalex.org/W2009827927","https://openalex.org/W2014767144","https://openalex.org/W2023473795","https://openalex.org/W2050484682","https://openalex.org/W2084916646","https://openalex.org/W2097639646","https://openalex.org/W2117211893","https://openalex.org/W2125409550","https://openalex.org/W2133552987","https://openalex.org/W2142943472","https://openalex.org/W2155974215","https://openalex.org/W2165852544","https://openalex.org/W2477261615","https://openalex.org/W2611243847","https://openalex.org/W3101207396","https://openalex.org/W6600296044","https://openalex.org/W6625801794","https://openalex.org/W6635984658","https://openalex.org/W6663231029","https://openalex.org/W6721402123"],"related_works":["https://openalex.org/W2036586770","https://openalex.org/W2094931707","https://openalex.org/W2911613207","https://openalex.org/W3043995842","https://openalex.org/W2944838502","https://openalex.org/W2535198484","https://openalex.org/W2060401867","https://openalex.org/W4230189742","https://openalex.org/W2559730559","https://openalex.org/W2077952221"],"abstract_inverted_index":{"Most":[0],"local":[1],"robot":[2,53],"navigation":[3,18,54],"algorithms":[4,120],"are":[5,100],"based":[6],"on":[7],"the":[8,17,29,62,92,118,119],"concept":[9],"of":[10,33,66,68,127],"velocity":[11,35],"obstacle,":[12],"a":[13,22,31],"mechanistic":[14],"approach":[15,51],"to":[16,41],"problem":[19],"in":[20,130],"which":[21,59],"solution":[23],"is":[24],"engineered":[25],"from":[26,61],"scratch.":[27],"Over":[28],"years,":[30],"number":[32],"different":[34,131],"obstacle":[36],"variants":[37],"have":[38],"been":[39,56],"developed":[40],"effectively":[42],"handle":[43],"multi-robot":[44,133],"systems.":[45],"In":[46],"parallel,":[47],"an":[48],"alternative,":[49],"human-inspired":[50,93],"for":[52,121,141],"has":[55],"recently":[57],"proposed,":[58],"derives":[60],"observation":[63],"and":[64,73,86,91,105,125,138,143],"modeling":[65],"crowds":[67],"pedestrians.":[69],"We":[70,107],"discuss":[71],"similarities":[72],"differences":[74,98],"among":[75],"two":[76],"broadly":[77],"used":[78],"obstacle-velocity":[79],"variants,":[80],"namely":[81],"Hybrid":[82],"Reciprocal":[83,88],"Velocity":[84],"Obstacle":[85],"Optimal":[87],"Collision":[89],"Avoidance,":[90],"approach.":[94],"How":[95],"do":[96],"these":[97,109],"(which":[99],"often":[101],"subtle)":[102],"impact":[103],"performance,":[104],"why?":[106],"answer":[108],"questions":[110],"through":[111],"extensive":[112],"simulation":[113],"experiments,":[114],"wherein":[115],"we":[116],"evaluate":[117],"safety,":[122],"trajectory":[123],"efficiency,":[124],"emergence":[126],"collective":[128],"behaviors,":[129],"challenging":[132],"scenarios":[134],"using":[135],"both":[136],"ideal":[137],"realistic":[139],"models":[140],"robots":[142],"sensing.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}