{"id":"https://openalex.org/W3003397068","doi":"https://doi.org/10.1109/iros40897.2019.8967873","title":"Context and Intention Aware Planning for Urban Driving","display_name":"Context and Intention Aware Planning for Urban Driving","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003397068","doi":"https://doi.org/10.1109/iros40897.2019.8967873","mag":"3003397068"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967873","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967873","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":"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/A5082684563","display_name":"Malika Meghjani","orcid":"https://orcid.org/0000-0002-8609-3142"},"institutions":[{"id":"https://openalex.org/I4210167254","display_name":"Singapore-MIT Alliance for Research and Technology","ror":"https://ror.org/05yb3w112","country_code":"SG","type":"education","lineage":["https://openalex.org/I4210167254"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Malika Meghjani","raw_affiliation_strings":["Singapore-MIT Alliance for Research and Technology1,Singapore","Singapore-MIT Alliance for Research and Technology1, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore-MIT Alliance for Research and Technology1,Singapore","institution_ids":["https://openalex.org/I4210167254"]},{"raw_affiliation_string":"Singapore-MIT Alliance for Research and Technology1, Singapore","institution_ids":["https://openalex.org/I4210167254"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008799105","display_name":"Yuanfu Luo","orcid":"https://orcid.org/0000-0002-9804-6204"},"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":"Yuanfu Luo","raw_affiliation_strings":["National University of Singapore3,Singapore","National University of Singapore3, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore3,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"National University of Singapore3, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025954739","display_name":"Qi Heng Ho","orcid":null},"institutions":[{"id":"https://openalex.org/I4210167254","display_name":"Singapore-MIT Alliance for Research and Technology","ror":"https://ror.org/05yb3w112","country_code":"SG","type":"education","lineage":["https://openalex.org/I4210167254"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Qi Heng Ho","raw_affiliation_strings":["Singapore-MIT Alliance for Research and Technology1,Singapore","Singapore-MIT Alliance for Research and Technology1, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore-MIT Alliance for Research and Technology1,Singapore","institution_ids":["https://openalex.org/I4210167254"]},{"raw_affiliation_string":"Singapore-MIT Alliance for Research and Technology1, Singapore","institution_ids":["https://openalex.org/I4210167254"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077008575","display_name":"Panpan Cai","orcid":"https://orcid.org/0000-0003-1926-4842"},"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":"Panpan Cai","raw_affiliation_strings":["National University of Singapore3,Singapore","National University of Singapore3, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore3,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"National University of Singapore3, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112047093","display_name":"Shashwat Verma","orcid":null},"institutions":[{"id":"https://openalex.org/I152815399","display_name":"Singapore University of Technology and Design","ror":"https://ror.org/05j6fvn87","country_code":"SG","type":"education","lineage":["https://openalex.org/I152815399"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shashwat Verma","raw_affiliation_strings":["Singapore University of Technology and Design2"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Singapore University of Technology and Design2","institution_ids":["https://openalex.org/I152815399"]}]},{"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/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":["Massachusetts Institute of Technology4,Cambridge,MA,USA","Massachusetts Institute of Technology4, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology4,Cambridge,MA,USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology4, Cambridge, MA, USA","institution_ids":["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":["National University of Singapore3,Singapore","National University of Singapore3, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore3,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"National University of Singapore3, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6787,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.90181718,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2891","last_page":"2898"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9944000244140625,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.875190794467926},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7052893042564392},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.633974552154541},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5786778926849365},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5652214288711548},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5412606000900269},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5376653671264648},{"id":"https://openalex.org/keywords/decision-making","display_name":"Decision-making","score":0.41299524903297424},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.4075956642627716},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3668714761734009},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2751242518424988},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1806493103504181}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.875190794467926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7052893042564392},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.633974552154541},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5786778926849365},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5652214288711548},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5412606000900269},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5376653671264648},{"id":"https://openalex.org/C122308676","wikidata":"https://www.wikidata.org/wiki/Q1331926","display_name":"Decision-making","level":3,"score":0.41299524903297424},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.4075956642627716},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3668714761734009},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2751242518424988},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1806493103504181},{"id":"https://openalex.org/C2778813691","wikidata":"https://www.wikidata.org/wiki/Q1369832","display_name":"Purchasing","level":2,"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/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8967873","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967873","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7900000214576721,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W100138691","https://openalex.org/W155097506","https://openalex.org/W1502485165","https://openalex.org/W1522301498","https://openalex.org/W1605929701","https://openalex.org/W2034725503","https://openalex.org/W2045701477","https://openalex.org/W2055556996","https://openalex.org/W2287992105","https://openalex.org/W2343568200","https://openalex.org/W2565370028","https://openalex.org/W2565402511","https://openalex.org/W2587460705","https://openalex.org/W2741087535","https://openalex.org/W2782474430","https://openalex.org/W2783466847","https://openalex.org/W2890326098","https://openalex.org/W2898900571","https://openalex.org/W2905155303","https://openalex.org/W2952258289","https://openalex.org/W2962801399","https://openalex.org/W2963914175","https://openalex.org/W2964121744","https://openalex.org/W2964136016","https://openalex.org/W3000770372","https://openalex.org/W3098184036","https://openalex.org/W6631190155","https://openalex.org/W6661827400","https://openalex.org/W6747446728","https://openalex.org/W6755864109","https://openalex.org/W6773260074"],"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/W2381278952","https://openalex.org/W2146449547","https://openalex.org/W618994464"],"abstract_inverted_index":{"We":[0,100],"present":[1],"a":[2,46,78,108],"novel":[3],"autonomous":[4,137],"driving":[5,138],"system":[6],"which":[7],"uses":[8],"the":[9,27,56,59,71,74,83,96],"road":[10,17,84,121],"contextual":[11,85,122],"information":[12,86,123],"and":[13,33,52,63,81,92,106,120,127,133],"intentions":[14,72],"of":[15,73,135],"other":[16],"users":[18],"for":[19,40,124],"urban":[20,24,110],"driving.":[21],"Unlike":[22],"highways,":[23],"environments":[25],"require":[26],"drivers":[28],"to":[29,50,61,87],"follow":[30],"traffic":[31],"signs":[32],"signals":[34],"while":[35],"using":[36],"their":[37],"best":[38],"judgment":[39],"anomalous":[41],"situations.":[42],"In":[43],"such":[44],"scenarios,":[45],"self-driving":[47],"car":[48],"needs":[49],"understand":[51],"take":[53],"into":[54],"account":[55],"uncertainties":[57,91],"in":[58,104,107],"environment":[60,90],"plan":[62],"decide":[64],"its":[65,89],"action":[66],"accordingly.":[67],"Our":[68,112],"planner":[69,103],"models":[70],"surrounding":[75],"vehicles":[76],"leveraging":[77],"neural":[79],"network,":[80],"integrates":[82],"reduce":[88],"also":[93],"speed":[94],"up":[95],"decision":[97,128],"making":[98,129],"process.":[99],"validate":[101],"our":[102,136],"simulation":[105],"real":[109],"environment.":[111],"experimental":[113],"results":[114],"show":[115],"that":[116],"integrating":[117],"intention":[118],"inference":[119],"prediction,":[125],"planning":[126],"help":[130],"improve":[131],"safety":[132],"efficiency":[134],"system.":[139]},"counts_by_year":[{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}