{"id":"https://openalex.org/W3132907331","doi":"https://doi.org/10.1109/iros45743.2020.9341210","title":"A Data-driven Framework for Proactive Intention-Aware Motion Planning of a Robot in a Human Environment","display_name":"A Data-driven Framework for Proactive Intention-Aware Motion Planning of a Robot in a Human Environment","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3132907331","doi":"https://doi.org/10.1109/iros45743.2020.9341210","mag":"3132907331"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341210","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341210","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5090961751","display_name":"Rahul Peddi","orcid":"https://orcid.org/0000-0002-4468-2221"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Rahul Peddi","raw_affiliation_strings":["Department of Systems and Information Engineering and the Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Systems and Information Engineering and the Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001113179","display_name":"Carmelo Di Franco","orcid":"https://orcid.org/0000-0003-3518-8050"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carmelo Di Franco","raw_affiliation_strings":["Department of Systems and Information Engineering and the Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Systems and Information Engineering and the Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039111871","display_name":"Shijie Gao","orcid":"https://orcid.org/0000-0003-4717-4094"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shijie Gao","raw_affiliation_strings":["Department of Systems and Information Engineering and the Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Systems and Information Engineering and the Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091277504","display_name":"Nicola Bezzo","orcid":"https://orcid.org/0000-0001-6627-5048"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicola Bezzo","raw_affiliation_strings":["Department of Systems and Information Engineering and the Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Systems and Information Engineering and the Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA, USA","institution_ids":["https://openalex.org/I51556381"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5090961751"],"corresponding_institution_ids":["https://openalex.org/I51556381"],"apc_list":null,"apc_paid":null,"fwci":0.8793,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.77171137,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5738","last_page":"5744"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9965999722480774,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.991599977016449,"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/robot","display_name":"Robot","score":0.7293708920478821},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6904716491699219},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.6430324912071228},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6238520741462708},{"id":"https://openalex.org/keywords/hidden-markov-model","display_name":"Hidden Markov model","score":0.5911028385162354},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5804288983345032},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5430241823196411},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5354300737380981},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5346419215202332},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4493008553981781},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4352940320968628},{"id":"https://openalex.org/keywords/behavior-based-robotics","display_name":"Behavior-based robotics","score":0.4280150830745697},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4166214168071747},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.10612770915031433}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7293708920478821},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6904716491699219},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.6430324912071228},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6238520741462708},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.5911028385162354},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5804288983345032},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5430241823196411},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5354300737380981},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5346419215202332},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4493008553981781},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4352940320968628},{"id":"https://openalex.org/C19766214","wikidata":"https://www.wikidata.org/wiki/Q4880688","display_name":"Behavior-based robotics","level":4,"score":0.4280150830745697},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4166214168071747},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.10612770915031433},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341210","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341210","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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":0.5299999713897705,"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/W2002440441","https://openalex.org/W2042147924","https://openalex.org/W2046187727","https://openalex.org/W2082585576","https://openalex.org/W2084583469","https://openalex.org/W2168424616","https://openalex.org/W2199373886","https://openalex.org/W2411443472","https://openalex.org/W2596720518","https://openalex.org/W2604216058","https://openalex.org/W2799059904","https://openalex.org/W2807662017","https://openalex.org/W2887223169","https://openalex.org/W2963731007","https://openalex.org/W2964040381","https://openalex.org/W2964203186","https://openalex.org/W2982376712","https://openalex.org/W3090020790","https://openalex.org/W3149551512","https://openalex.org/W6769978507"],"related_works":["https://openalex.org/W4380590094","https://openalex.org/W2050548713","https://openalex.org/W3119736302","https://openalex.org/W3200041777","https://openalex.org/W2015961810","https://openalex.org/W2956606787","https://openalex.org/W4324119010","https://openalex.org/W3110652258","https://openalex.org/W3036618925","https://openalex.org/W2153702122"],"abstract_inverted_index":{"For":[0],"safe":[1,155],"and":[2,11,98,111,116,138,166,186],"efficient":[3],"human-robot":[4],"interaction,":[5],"a":[6,79,89,109,139],"robot":[7],"needs":[8],"to":[9,27,41,131,153,193],"predict":[10,95],"understand":[12],"the":[13,19,100,106,118,178],"intentions":[14],"of":[15,91,108,135,180,188],"humans":[16,103],"who":[17],"share":[18],"same":[20],"space.":[21],"Mobile":[22],"robots":[23,54,71],"are":[24],"traditionally":[25],"built":[26],"be":[28,51],"reactive,":[29],"moving":[30],"in":[31,177],"unnatural":[32],"ways":[33],"without":[34],"following":[35],"social":[36],"protocol,":[37],"hence":[38],"forcing":[39],"people":[40],"behave":[42],"very":[43],"differently":[44],"from":[45],"human-human":[46],"interaction":[47],"rules,":[48],"which":[49],"can":[50],"overcome":[52],"if":[53],"instead":[55],"were":[56],"proactive.":[57],"In":[58],"this":[59],"paper,":[60],"we":[61],"build":[62],"an":[63,169],"intention-aware":[64],"proactive":[65,156],"motion":[66,157],"planning":[67],"strategy":[68],"for":[69],"mobile":[70],"that":[72,81,102,142],"coexist":[73],"with":[74,88,121,164],"multiple":[75,133,181],"humans.":[76],"We":[77],"propose":[78],"framework":[80],"uses":[82],"Hidden":[83],"Markov":[84],"Model":[85],"(HMM)":[86],"theory":[87],"history":[90],"observations":[92,123],"to:":[93],"i)":[94],"future":[96,136],"states":[97,137],"estimate":[99],"likelihood":[101],"will":[104],"cross":[105],"path":[107],"robot,":[110],"ii)":[112],"concurrently":[113],"learn,":[114],"update,":[115],"improve":[117],"predictive":[119],"model":[120],"new":[122],"at":[124],"run-time.":[125],"Stochastic":[126],"reachability":[127],"analysis":[128],"is":[129,151,162],"proposed":[130,152,160],"identify":[132],"possibilities":[134],"control":[140],"scheme":[141],"leverages":[143],"temporal":[144],"virtual":[145],"physics":[146],"inspired":[147],"by":[148],"spring-mass":[149],"systems":[150],"enable":[154],"planning.":[158],"The":[159],"approach":[161],"validated":[163],"simulations":[165],"experiments":[167],"involving":[168],"unmanned":[170],"ground":[171],"vehicle":[172],"(UGV)":[173],"performing":[174],"go-to-goal":[175],"operations":[176],"presence":[179],"humans,":[182],"demonstrating":[183],"improved":[184],"performance":[185],"effectiveness":[187],"online":[189],"learning":[190],"when":[191],"compared":[192],"reactive":[194],"obstacle":[195],"avoidance":[196],"approaches.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
