{"id":"https://openalex.org/W2221280282","doi":"https://doi.org/10.1109/iros.2015.7353877","title":"Towards autonomous navigation of unsignalized intersections under uncertainty of human driver intent","display_name":"Towards autonomous navigation of unsignalized intersections under uncertainty of human driver intent","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2221280282","doi":"https://doi.org/10.1109/iros.2015.7353877","mag":"2221280282"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353877","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353877","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5039372152","display_name":"Volkan Sezer","orcid":"https://orcid.org/0000-0001-9658-2153"},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Volkan Sezer","raw_affiliation_strings":["Department of Mechanical Engineering, Istanbul Technical University, Istanbul, Turkey"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Istanbul Technical University, Istanbul, Turkey","institution_ids":["https://openalex.org/I48912391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010359470","display_name":"Tirthankar Bandyopadhyay","orcid":"https://orcid.org/0000-0003-2229-5383"},"institutions":[{"id":"https://openalex.org/I4210101388","display_name":"Health Sciences and Nutrition","ror":"https://ror.org/0152bt112","country_code":"AU","type":"facility","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4210101388","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Tirthankar Bandyopadhyay","raw_affiliation_strings":["Tirthankar Bandyopadhyay is with Autonomous Systems Program, Commonwealth Scientific and Industrial Research Organization, Australia"],"affiliations":[{"raw_affiliation_string":"Tirthankar Bandyopadhyay is with Autonomous Systems Program, Commonwealth Scientific and Industrial Research Organization, Australia","institution_ids":["https://openalex.org/I4210101388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Daniela Rus and Emilio Frazzoli are with the Department of Electri-cal&Engineering and Aeronautics&Astronautic respectively, Massachusetts Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"Daniela Rus and Emilio Frazzoli are with the Department of Electri-cal&Engineering and Aeronautics&Astronautic respectively, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029069358","display_name":"Emilio Frazzoli","orcid":null},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emilio Frazzoli","raw_affiliation_strings":["Daniela Rus and Emilio Frazzoli are with the Department of Electri-cal&Engineering and Aeronautics&Astronautic respectively, Massachusetts Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"Daniela Rus and Emilio Frazzoli are with the Department of Electri-cal&Engineering and Aeronautics&Astronautic respectively, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082344124","display_name":"David Hsu","orcid":"https://orcid.org/0000-0002-2309-4535"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"David Hsu","raw_affiliation_strings":["Department of Computer Science, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5039372152"],"corresponding_institution_ids":["https://openalex.org/I48912391"],"apc_list":null,"apc_paid":null,"fwci":3.4974,"has_fulltext":false,"cited_by_count":62,"citation_normalized_percentile":{"value":0.92832631,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3578","last_page":"3585"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"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":0.9998999834060669,"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/T10524","display_name":"Traffic control and management","score":0.9962999820709229,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.8227840662002563},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7061862945556641},{"id":"https://openalex.org/keywords/merge","display_name":"Merge (version control)","score":0.6904067993164062},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.6557133197784424},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5957158207893372},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.5121905207633972},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4634416401386261},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.458683043718338},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.4276137948036194},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3779197335243225},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36211735010147095},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.3150772452354431},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.25676557421684265},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2379949390888214},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19602429866790771}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.8227840662002563},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7061862945556641},{"id":"https://openalex.org/C197129107","wikidata":"https://www.wikidata.org/wiki/Q1921621","display_name":"Merge (version control)","level":2,"score":0.6904067993164062},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.6557133197784424},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5957158207893372},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.5121905207633972},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4634416401386261},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.458683043718338},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.4276137948036194},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3779197335243225},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36211735010147095},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.3150772452354431},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.25676557421684265},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2379949390888214},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19602429866790771},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2015.7353877","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353877","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:polen.itu.edu.tr:11527/44609","is_oa":false,"landing_page_url":"https://hdl.handle.net/11527/44609","pdf_url":null,"source":{"id":"https://openalex.org/S4306400460","display_name":"Istanbul Technical University Academic Open Archive (Istanbul Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I48912391","host_organization_name":"Istanbul Technical University","host_organization_lineage":["https://openalex.org/I48912391"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W42560795","https://openalex.org/W54056894","https://openalex.org/W155097506","https://openalex.org/W170770739","https://openalex.org/W1504992226","https://openalex.org/W1532688806","https://openalex.org/W1533557532","https://openalex.org/W1988760242","https://openalex.org/W2010780110","https://openalex.org/W2028592553","https://openalex.org/W2029276435","https://openalex.org/W2054161738","https://openalex.org/W2055501135","https://openalex.org/W2079496932","https://openalex.org/W2084246939","https://openalex.org/W2089112725","https://openalex.org/W2099430963","https://openalex.org/W2107556430","https://openalex.org/W2111299724","https://openalex.org/W2116446771","https://openalex.org/W2121806728","https://openalex.org/W2126639569","https://openalex.org/W2131470622","https://openalex.org/W2131762276","https://openalex.org/W2134802714","https://openalex.org/W2137514195","https://openalex.org/W2153323685","https://openalex.org/W2406067508","https://openalex.org/W2505763307","https://openalex.org/W3142587173","https://openalex.org/W4401639369","https://openalex.org/W6601709353","https://openalex.org/W6606330063","https://openalex.org/W6631864160","https://openalex.org/W6631931890","https://openalex.org/W6676416636","https://openalex.org/W6679977494","https://openalex.org/W6680582463"],"related_works":["https://openalex.org/W2046459260","https://openalex.org/W1971989957","https://openalex.org/W3157641275","https://openalex.org/W2517338020","https://openalex.org/W4312300846","https://openalex.org/W2615757685","https://openalex.org/W3000546688","https://openalex.org/W2110237297","https://openalex.org/W2162286586","https://openalex.org/W4255368532"],"abstract_inverted_index":{"In":[0,40],"a":[1,27,33,83,163],"mixed":[2],"environment":[3],"of":[4,19,45,89,102,124,171],"autonomous":[5,165],"driverless":[6,38],"vehicles":[7,11,174],"and":[8,22,29,96,153],"human":[9,20,90,104,172],"driven":[10,173],"operating":[12],"on":[13,162],"the":[14,37,43,62,73,87,100,103,119,125,169],"same":[15],"road,":[16],"identifying":[17],"intentions":[18,101],"drivers":[21,91],"interacting":[23],"with":[24],"them":[25],"in":[26,86,115,141,168],"compliant":[28],"responsible":[30],"manner":[31],"becomes":[32],"challenging":[34],"problem":[35,44,60],"for":[36,110],"vehicles.":[39],"this":[41],"paper,":[42],"vehicle":[46,166],"interaction":[47],"at":[48],"an":[49,56],"intersection":[50,154],"merging":[51,84],"scenario":[52],"is":[53,113,132,160],"formulated":[54],"as":[55],"Intention-Aware":[57],"motion":[58],"planning":[59,79,138],"using":[61,135],"tools":[63,74],"from":[64,75],"Mixed":[65],"Observability":[66],"Markov":[67],"Decision":[68],"Process":[69],"(MOMDP).":[70],"We":[71],"utilize":[72],"recent":[76],"intention":[77,136],"aware":[78,137],"framework":[80],"to":[81,94,99,117,143,146,175],"demonstrate":[82],"behavior":[85,108],"presence":[88,170],"by":[92,149],"trying":[93],"infer":[95],"act":[97],"according":[98],"drivers.":[105],"A":[106],"driver":[107],"model":[109],"T-junction":[111],"intersections":[112],"developed":[114],"order":[116],"calculate":[118],"probabilistic":[120],"state":[121],"transition":[122],"functions":[123],"MOMDP":[126],"model.":[127],"With":[128],"proposed":[129,158],"solution,":[130],"it":[131],"demonstrated":[133],"that":[134],"improves":[139],"performance":[140],"comparison":[142],"present":[144],"time":[145],"merge":[147],"approach":[148],"lowering":[150],"accident":[151],"probability":[152],"navigation":[155],"duration.":[156],"The":[157],"method":[159],"tested":[161],"real":[164],"(AV)":[167],"validate":[176],"our":[177],"approach.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2}],"updated_date":"2026-03-06T13:50:29.536080","created_date":"2025-10-10T00:00:00"}