{"id":"https://openalex.org/W2973702581","doi":"https://doi.org/10.1109/iros40897.2019.8967743","title":"Agent Prioritization for Autonomous Navigation","display_name":"Agent Prioritization for Autonomous Navigation","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2973702581","doi":"https://doi.org/10.1109/iros40897.2019.8967743","mag":"2973702581"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967743","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967743","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.08792","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031024662","display_name":"Khaled S. Refaat","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Khaled S. Refaat","raw_affiliation_strings":["Waymo, Mountain View, CA, USA","Waymo,Mountain View,CA,USA,94043"],"affiliations":[{"raw_affiliation_string":"Waymo, Mountain View, CA, USA","institution_ids":[]},{"raw_affiliation_string":"Waymo,Mountain View,CA,USA,94043","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101873754","display_name":"Kai Ding","orcid":"https://orcid.org/0000-0002-4214-1923"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kai Ding","raw_affiliation_strings":["Waymo, Mountain View, CA, USA","Waymo,Mountain View,CA,USA,94043"],"affiliations":[{"raw_affiliation_string":"Waymo, Mountain View, CA, USA","institution_ids":[]},{"raw_affiliation_string":"Waymo,Mountain View,CA,USA,94043","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102899387","display_name":"Natalia Ponomareva","orcid":"https://orcid.org/0009-0005-6761-1468"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Natalia Ponomareva","raw_affiliation_strings":["Google Research, Mountain View, CA, USA","Google Research,Mountain View,CA,USA,94043"],"affiliations":[{"raw_affiliation_string":"Google Research, Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]},{"raw_affiliation_string":"Google Research,Mountain View,CA,USA,94043","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057087592","display_name":"St\u00e9phane Ross","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Stephane Ross","raw_affiliation_strings":["Waymo, Mountain View, CA, USA","Waymo,Mountain View,CA,USA,94043"],"affiliations":[{"raw_affiliation_string":"Waymo, Mountain View, CA, USA","institution_ids":[]},{"raw_affiliation_string":"Waymo,Mountain View,CA,USA,94043","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031024662"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1273,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.51372688,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2060","last_page":"2067"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9959999918937683,"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":0.9959999918937683,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9889000058174133,"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/T11106","display_name":"Data Management and Algorithms","score":0.9850000143051147,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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":0.7899249792098999},{"id":"https://openalex.org/keywords/ranking","display_name":"Ranking (information retrieval)","score":0.6986299157142639},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6287725567817688},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6207681894302368},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5976012349128723},{"id":"https://openalex.org/keywords/rank","display_name":"Rank (graph theory)","score":0.595416247844696},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5675672888755798},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5576528906822205},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48324379324913025},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.47737523913383484},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.47683826088905334},{"id":"https://openalex.org/keywords/data-set","display_name":"Data set","score":0.42944759130477905},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.41851794719696045},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.4063863754272461},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20167037844657898}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7899249792098999},{"id":"https://openalex.org/C189430467","wikidata":"https://www.wikidata.org/wiki/Q7293293","display_name":"Ranking (information retrieval)","level":2,"score":0.6986299157142639},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6287725567817688},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6207681894302368},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5976012349128723},{"id":"https://openalex.org/C164226766","wikidata":"https://www.wikidata.org/wiki/Q7293202","display_name":"Rank (graph theory)","level":2,"score":0.595416247844696},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5675672888755798},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5576528906822205},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48324379324913025},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.47737523913383484},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.47683826088905334},{"id":"https://openalex.org/C58489278","wikidata":"https://www.wikidata.org/wiki/Q1172284","display_name":"Data set","level":2,"score":0.42944759130477905},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.41851794719696045},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.4063863754272461},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20167037844657898},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"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":4,"locations":[{"id":"doi:10.1109/iros40897.2019.8967743","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967743","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1909.08792","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.08792","pdf_url":"https://arxiv.org/pdf/1909.08792","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2973702581","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1909.08792","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1909.08792","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1909.08792","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.08792","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.08792","pdf_url":"https://arxiv.org/pdf/1909.08792","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.49000000953674316,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2973702581.pdf","grobid_xml":"https://content.openalex.org/works/W2973702581.grobid-xml"},"referenced_works_count":51,"referenced_works":["https://openalex.org/W116902681","https://openalex.org/W1558918611","https://openalex.org/W1678356000","https://openalex.org/W1928278792","https://openalex.org/W1985554184","https://openalex.org/W1986864914","https://openalex.org/W2064675550","https://openalex.org/W2088241859","https://openalex.org/W2101234009","https://openalex.org/W2115584760","https://openalex.org/W2120391124","https://openalex.org/W2126366119","https://openalex.org/W2128877075","https://openalex.org/W2143331230","https://openalex.org/W2147839884","https://openalex.org/W2155211665","https://openalex.org/W2158592639","https://openalex.org/W2295598076","https://openalex.org/W2424778531","https://openalex.org/W2528043655","https://openalex.org/W2768348081","https://openalex.org/W2887286974","https://openalex.org/W2891376043","https://openalex.org/W2904024302","https://openalex.org/W2905173465","https://openalex.org/W2949822670","https://openalex.org/W2953787907","https://openalex.org/W2962917663","https://openalex.org/W2963020293","https://openalex.org/W2963208306","https://openalex.org/W2963858432","https://openalex.org/W2964105113","https://openalex.org/W2964253307","https://openalex.org/W2964300898","https://openalex.org/W3100437087","https://openalex.org/W3102476541","https://openalex.org/W4251560691","https://openalex.org/W6607690188","https://openalex.org/W6672161608","https://openalex.org/W6675354045","https://openalex.org/W6677385034","https://openalex.org/W6677732584","https://openalex.org/W6679071365","https://openalex.org/W6679739311","https://openalex.org/W6682975109","https://openalex.org/W6683029835","https://openalex.org/W6703518758","https://openalex.org/W6704559304","https://openalex.org/W6745609711","https://openalex.org/W6754031341","https://openalex.org/W6763296836"],"related_works":["https://openalex.org/W2786622370","https://openalex.org/W1590924371","https://openalex.org/W2943516367","https://openalex.org/W2895938197","https://openalex.org/W2897205373","https://openalex.org/W2141208494","https://openalex.org/W2791803308","https://openalex.org/W3203595923","https://openalex.org/W3179146632","https://openalex.org/W2067118997","https://openalex.org/W3094188159","https://openalex.org/W3032731803","https://openalex.org/W2770014065","https://openalex.org/W3092600649","https://openalex.org/W2738129230","https://openalex.org/W3135314352","https://openalex.org/W2103064945","https://openalex.org/W2086969707","https://openalex.org/W1978614948","https://openalex.org/W2128426625"],"abstract_inverted_index":{"In":[0,150],"autonomous":[1,85],"navigation,":[2],"a":[3,12,40,78,94,161],"planning":[4,18],"system":[5,79,188],"reasons":[6],"about":[7],"other":[8],"agents":[9,20,44,56,82],"to":[10,45,53,58,80,112,146,169],"plan":[11],"safe":[13],"and":[14,33,39,116,131],"plausible":[15],"trajectory.":[16],"Before":[17],"starts,":[19],"are":[21,129],"typically":[22],"processed":[23],"with":[24,165],"computationally":[25],"intensive":[26],"models":[27,118],"for":[28,133],"recognition,":[29],"tracking,":[30],"motion":[31],"estimation":[32],"prediction.":[34],"With":[35],"limited":[36],"computational":[37],"resources":[38],"large":[41],"number":[42],"of":[43,125,156,177,192],"process":[46],"in":[47,88,102],"real":[48,89,185],"time,":[49],"it":[50],"becomes":[51],"important":[52,74],"efficiently":[54],"rank":[55,81],"according":[57],"their":[59],"impact":[60],"on":[61,104,119,184],"the":[62,72,100,121,154,175,190],"decision":[63],"making":[64],"process.":[65],"This":[66],"allows":[67],"spending":[68],"more":[69,114],"time":[70],"processing":[71],"most":[73],"agents.":[75,122],"We":[76,91,173],"propose":[77],"around":[83],"an":[84],"vehicle":[86],"(AV)":[87],"time.":[90],"automatically":[92],"generate":[93],"ranking":[95,148],"data":[96,141],"set":[97,142],"by":[98],"running":[99],"planner":[101,127],"simulation":[103],"real-world":[105],"logged":[106,130],"data,":[107],"where":[108],"we":[109,152],"can":[110,143],"afford":[111],"run":[113],"accurate":[115],"expensive":[117],"all":[120],"The":[123,139],"causes":[124],"various":[126,178],"actions":[128],"used":[132,145],"assigning":[134],"ground":[135],"truth":[136],"importance":[137],"scores.":[138],"generated":[140],"be":[144],"learn":[147],"models.":[149],"particular,":[151],"show":[153,174],"utility":[155],"combining":[157],"learned":[158],"features,":[159],"via":[160],"convolutional":[162],"neural":[163],"network,":[164],"engineered":[166],"features":[167],"designed":[168],"capture":[170],"domain":[171],"knowledge.":[172],"benefits":[176],"design":[179],"choices":[180],"experimentally.":[181],"When":[182],"tested":[183],"AVs,":[186],"our":[187],"demonstrates":[189],"capability":[191],"understanding":[193],"complex":[194],"driving":[195],"situations.":[196]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}