{"id":"https://openalex.org/W2773965764","doi":"https://doi.org/10.1109/iros.2017.8206601","title":"Socially competent navigation planning by deep learning of multi-agent path topologies","display_name":"Socially competent navigation planning by deep learning of multi-agent path topologies","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2773965764","doi":"https://doi.org/10.1109/iros.2017.8206601","mag":"2773965764"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206601","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067086333","display_name":"Christoforos Mavrogiannis","orcid":"https://orcid.org/0000-0003-4476-1920"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Christoforos I. Mavrogiannis","raw_affiliation_strings":["Sibley School of Mechanical & Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical & Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062182459","display_name":"Valts Blukis","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Valts Blukis","raw_affiliation_strings":["Department of Computer Science, Cornell University, Ithaca, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027264368","display_name":"Ross A. Knepper","orcid":"https://orcid.org/0000-0003-0462-5502"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ross A. Knepper","raw_affiliation_strings":["Department of Computer Science, Cornell University, Ithaca, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5067086333"],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":4.0719,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.93324424,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6817","last_page":"6824"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9998000264167786,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9682000279426575,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9650999903678894,"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/computer-science","display_name":"Computer science","score":0.6635907888412476},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6452186107635498},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5763871073722839},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5673816800117493},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.5581221580505371},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5473785400390625},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4798109829425812},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4581195116043091},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.431826114654541},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.41417092084884644},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.4103240370750427},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3431497812271118}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6635907888412476},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6452186107635498},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5763871073722839},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5673816800117493},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.5581221580505371},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5473785400390625},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4798109829425812},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4581195116043091},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.431826114654541},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.41417092084884644},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.4103240370750427},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3431497812271118},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206601","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W613428505","https://openalex.org/W1525312156","https://openalex.org/W1531355326","https://openalex.org/W1820081798","https://openalex.org/W1900532003","https://openalex.org/W1970650938","https://openalex.org/W1998716564","https://openalex.org/W2014767144","https://openalex.org/W2036536917","https://openalex.org/W2046213647","https://openalex.org/W2064675550","https://openalex.org/W2095705004","https://openalex.org/W2101821104","https://openalex.org/W2107530627","https://openalex.org/W2111285461","https://openalex.org/W2117266227","https://openalex.org/W2130942839","https://openalex.org/W2140542425","https://openalex.org/W2165619060","https://openalex.org/W2167052694","https://openalex.org/W2227909145","https://openalex.org/W2424778531","https://openalex.org/W2488883109","https://openalex.org/W2532516272","https://openalex.org/W2592031441","https://openalex.org/W2735576970","https://openalex.org/W3022573402","https://openalex.org/W4234923808","https://openalex.org/W6631685650","https://openalex.org/W6674330103","https://openalex.org/W6679436768","https://openalex.org/W6728740164","https://openalex.org/W6776592691"],"related_works":["https://openalex.org/W2610446193","https://openalex.org/W2762832356","https://openalex.org/W2366039691","https://openalex.org/W2060743914","https://openalex.org/W1806452788","https://openalex.org/W2078299415","https://openalex.org/W2107501891","https://openalex.org/W4364374222","https://openalex.org/W2910269409","https://openalex.org/W2903765850"],"abstract_inverted_index":{"We":[0,60],"present":[1],"a":[2,21,41,69,89,115],"novel,":[3],"data-driven":[4],"framework":[5,142],"for":[6,37,91,151,157,173],"planning":[7,106,141,153],"socially":[8,145],"competent":[9,146],"robot":[10],"behaviors":[11,99,148],"in":[12,101,123,144,177],"crowded":[13],"environments.":[14],"The":[15,105],"core":[16],"of":[17,24,40,50,57,64,77,85,110],"our":[18,140],"approach":[19],"is":[20],"topological":[22],"model":[23,33],"collective":[25,78],"navigation":[26,79,147],"behaviors,":[27],"based":[28],"on":[29,74],"braid":[30],"groups.":[31],"This":[32],"constitutes":[34],"the":[35,38,48,58,93,121,124,152,174,178],"basis":[36],"design":[39],"human-inspired":[42],"probabilistic":[43],"inference":[44],"mechanism":[45,66,87],"that":[46,118,139],"predicts":[47],"topology":[49],"multiple":[51],"agents'":[52],"future":[53,98],"trajectories,":[54],"given":[55],"observations":[56],"context.":[59],"derive":[61],"an":[62],"approximation":[63],"this":[65,86,111],"by":[67],"employing":[68],"neural":[70],"network":[71],"learning":[72],"architecture":[73],"synthetic":[75],"data":[76],"behaviors.":[80],"Our":[81,135],"planner":[82],"makes":[83,108],"use":[84,109],"as":[88],"tool":[90],"interpreting":[92],"context":[94,122],"and":[95,168],"understanding":[96,112],"what":[97],"are":[100],"compliance":[102],"with":[103],"it.":[104],"agent":[107],"to":[113,120,132],"determine":[114],"personal":[116],"action":[117],"contributes":[119],"most":[125],"clear":[126],"way":[127],"possible,":[128],"while":[129],"ensuring":[130],"progress":[131],"its":[133],"destination.":[134],"simulations":[136],"provide":[137],"evidence":[138],"results":[143],"not":[149],"only":[150],"agent,":[154],"but":[155],"also":[156],"interacting":[158],"naive":[159],"agents.":[160],"Performance":[161],"benefits":[162],"include":[163],"(1)":[164],"early":[165],"conflict":[166],"resolutions":[167],"(2)":[169],"faster":[170],"uncertainty":[171],"decrease":[172],"other":[175],"agents":[176],"scene.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4}],"updated_date":"2026-04-12T07:58:50.170612","created_date":"2025-10-10T00:00:00"}