{"id":"https://openalex.org/W2751704030","doi":"https://doi.org/10.1109/iros.2017.8206314","title":"Calculating human reachable occupancy for guaranteed collision-free planning","display_name":"Calculating human reachable occupancy for guaranteed collision-free planning","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2751704030","doi":"https://doi.org/10.1109/iros.2017.8206314","mag":"2751704030"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206314","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206314","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1379670","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045503600","display_name":"Aaron Pereira","orcid":"https://orcid.org/0000-0003-3797-2981"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Aaron Pereira","raw_affiliation_strings":["Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005383495","display_name":"Matthias Althoff","orcid":"https://orcid.org/0000-0003-3733-842X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Althoff","raw_affiliation_strings":["Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5045503600"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.6035,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.69485294,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4473","last_page":"4480"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.996399998664856,"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/T10142","display_name":"Formal Methods in Verification","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/trajectory","display_name":"Trajectory","score":0.78470778465271},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7502102851867676},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7151176929473877},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6561362147331238},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5955802798271179},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5487833023071289},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5236860513687134},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4903371334075928},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4416859447956085},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4200698137283325},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.41704100370407104},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41390299797058105},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3813095688819885},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3763296604156494},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37083709239959717},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.368837833404541},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2680610716342926},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1910364329814911},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13032886385917664},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1278662383556366}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.78470778465271},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7502102851867676},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7151176929473877},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6561362147331238},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5955802798271179},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5487833023071289},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5236860513687134},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4903371334075928},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4416859447956085},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4200698137283325},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.41704100370407104},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41390299797058105},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3813095688819885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3763296604156494},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37083709239959717},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.368837833404541},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2680610716342926},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1910364329814911},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13032886385917664},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1278662383556366},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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":2,"locations":[{"id":"doi:10.1109/iros.2017.8206314","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206314","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1379670","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1379670","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1379670","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1379670","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4399999976158142,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W202141910","https://openalex.org/W1483019628","https://openalex.org/W1505088365","https://openalex.org/W1508779685","https://openalex.org/W1535148878","https://openalex.org/W1974475984","https://openalex.org/W1975738862","https://openalex.org/W1992461594","https://openalex.org/W2000790002","https://openalex.org/W2021667711","https://openalex.org/W2108341823","https://openalex.org/W2132397500","https://openalex.org/W2166316739","https://openalex.org/W2169508341","https://openalex.org/W2339842460","https://openalex.org/W2567711677","https://openalex.org/W2586840159","https://openalex.org/W2626617000","https://openalex.org/W2750147881","https://openalex.org/W4210631977"],"related_works":["https://openalex.org/W804484174","https://openalex.org/W1568779110","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W2002361198","https://openalex.org/W56933075","https://openalex.org/W2168364913","https://openalex.org/W1548568597","https://openalex.org/W2482749251","https://openalex.org/W2766493616"],"abstract_inverted_index":{"We":[0,77,112,154],"address":[1],"the":[2,69,73,90,97,115,141,145],"problem":[3],"of":[4,8,29,68,92,102,122,126],"overapproximative":[5],"short-term":[6],"prediction":[7,28,152],"arm":[9],"movement,":[10],"for":[11,18,40,167],"safe":[12],"human-robot":[13,110],"co-existence.":[14],"A":[15],"trajectory":[16,107],"planner":[17],"a":[19,52,65,86],"robot":[20,87],"manipulator":[21],"which":[22,33],"formally":[23,105],"verifies":[24],"non-collision":[25],"requires":[26],"fast":[27],"human":[30,43,70,143],"future":[31],"occupancy,":[32],"must":[34],"be":[35],"accurate":[36],"yet":[37],"still":[38],"account":[39,166],"all":[41,168],"possible":[42],"movement.":[44,170],"This":[45],"work":[46],"presents":[47],"two":[48],"approaches":[49,80,103,163],"to":[50,104,138,140,159],"this:":[51],"novel,":[53],"simple":[54],"approach":[55,63,117,147],"calculated":[56],"directly":[57],"in":[58,81,109,120],"task":[59],"space,":[60],"and":[61,100,124,128,134],"another":[62],"using":[64],"kinematic":[66],"model":[67],"based":[71],"on":[72],"authors'":[74],"previous":[75,146],"work.":[76],"compare":[78],"both":[79,162],"an":[82],"experimental":[83],"setup":[84],"with":[85],"manipulator.":[88],"To":[89],"best":[91],"our":[93],"knowledge,":[94],"this":[95],"is":[96,135],"first":[98],"implementation":[99],"comparison":[101],"verified":[106],"planning":[108],"co-working.":[111],"find":[113],"that":[114,161],"novel":[116],"has":[118],"advantages":[119,149],"terms":[121],"ease":[123],"speed":[125],"computation":[127],"tightness":[129],"at":[130,150],"short":[131],"time":[132],"horizons":[133],"more":[136],"intuitive":[137],"extend":[139],"whole":[142],"body;":[144],"offers":[148],"longer":[151],"horizons.":[153],"also":[155],"perform":[156],"conformance":[157],"checking":[158],"show":[160],"do":[164],"indeed":[165],"relevant":[169]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}