{"id":"https://openalex.org/W4389666121","doi":"https://doi.org/10.1109/iros55552.2023.10341702","title":"Proactive Model Predictive Control with Multi-Modal Human Motion Prediction in Cluttered Dynamic Environments","display_name":"Proactive Model Predictive Control with Multi-Modal Human Motion Prediction in Cluttered Dynamic Environments","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666121","doi":"https://doi.org/10.1109/iros55552.2023.10341702"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341702","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341702","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5092393046","display_name":"Lukas Heuer","orcid":null},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Lukas Heuer","raw_affiliation_strings":["School of Science and Technology, Orebro University,Sweden","School of Science and Technology, Orebro University, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Science and Technology, Orebro University,Sweden","institution_ids":["https://openalex.org/I26437253"]},{"raw_affiliation_string":"School of Science and Technology, Orebro University, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017989436","display_name":"Luigi Palmieri","orcid":"https://orcid.org/0000-0002-4908-5434"},"institutions":[{"id":"https://openalex.org/I2802768257","display_name":"Robert Bosch Hospital","ror":"https://ror.org/034nkkr84","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802101015","https://openalex.org/I2802768257","https://openalex.org/I4403386655"]},{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Luigi Palmieri","raw_affiliation_strings":["Corporate Research, Stuttgart,Robert Bosch GmbH,Germany","Robert Bosch GmbH, Corporate Research, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Corporate Research, Stuttgart,Robert Bosch GmbH,Germany","institution_ids":["https://openalex.org/I889804353","https://openalex.org/I2802768257"]},{"raw_affiliation_string":"Robert Bosch GmbH, Corporate Research, Stuttgart, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046610614","display_name":"Andrey Rudenko","orcid":"https://orcid.org/0000-0002-2181-3444"},"institutions":[{"id":"https://openalex.org/I2802768257","display_name":"Robert Bosch Hospital","ror":"https://ror.org/034nkkr84","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802101015","https://openalex.org/I2802768257","https://openalex.org/I4403386655"]},{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andrey Rudenko","raw_affiliation_strings":["Corporate Research, Stuttgart,Robert Bosch GmbH,Germany","Robert Bosch GmbH, Corporate Research, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Corporate Research, Stuttgart,Robert Bosch GmbH,Germany","institution_ids":["https://openalex.org/I889804353","https://openalex.org/I2802768257"]},{"raw_affiliation_string":"Robert Bosch GmbH, Corporate Research, Stuttgart, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020930686","display_name":"Anna Mannucci","orcid":"https://orcid.org/0000-0003-1627-0921"},"institutions":[{"id":"https://openalex.org/I2802768257","display_name":"Robert Bosch Hospital","ror":"https://ror.org/034nkkr84","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802101015","https://openalex.org/I2802768257","https://openalex.org/I4403386655"]},{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Anna Mannucci","raw_affiliation_strings":["Corporate Research, Stuttgart,Robert Bosch GmbH,Germany","Robert Bosch GmbH, Corporate Research, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Corporate Research, Stuttgart,Robert Bosch GmbH,Germany","institution_ids":["https://openalex.org/I889804353","https://openalex.org/I2802768257"]},{"raw_affiliation_string":"Robert Bosch GmbH, Corporate Research, Stuttgart, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101576376","display_name":"Martin Magnusson","orcid":"https://orcid.org/0000-0001-8658-2985"},"institutions":[{"id":"https://openalex.org/I26437253","display_name":"\u00d6rebro University","ror":"https://ror.org/05kytsw45","country_code":"SE","type":"education","lineage":["https://openalex.org/I26437253"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Martin Magnusson","raw_affiliation_strings":["School of Science and Technology, Orebro University,Sweden","School of Science and Technology, Orebro University, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Science and Technology, Orebro University,Sweden","institution_ids":["https://openalex.org/I26437253"]},{"raw_affiliation_string":"School of Science and Technology, Orebro University, Sweden","institution_ids":["https://openalex.org/I26437253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111969299","display_name":"Kai O. Arras","orcid":null},"institutions":[{"id":"https://openalex.org/I2802768257","display_name":"Robert Bosch Hospital","ror":"https://ror.org/034nkkr84","country_code":"DE","type":"healthcare","lineage":["https://openalex.org/I2802101015","https://openalex.org/I2802768257","https://openalex.org/I4403386655"]},{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kai O. Arras","raw_affiliation_strings":["Corporate Research, Stuttgart,Robert Bosch GmbH,Germany","Robert Bosch GmbH, Corporate Research, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Corporate Research, Stuttgart,Robert Bosch GmbH,Germany","institution_ids":["https://openalex.org/I889804353","https://openalex.org/I2802768257"]},{"raw_affiliation_string":"Robert Bosch GmbH, Corporate Research, Stuttgart, Germany","institution_ids":["https://openalex.org/I889804353"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1371,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.77511386,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"229","last_page":"236"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9991999864578247,"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":0.9991999864578247,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9986000061035156,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"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/computer-science","display_name":"Computer science","score":0.7302336692810059},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6475155353546143},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6331599950790405},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.62198406457901},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.5840293169021606},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.543509304523468},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5375153422355652},{"id":"https://openalex.org/keywords/human-motion","display_name":"Human motion","score":0.4774887263774872},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4147636592388153},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3583850860595703},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18958041071891785},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06903624534606934}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7302336692810059},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6475155353546143},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6331599950790405},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.62198406457901},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.5840293169021606},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.543509304523468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5375153422355652},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.4774887263774872},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4147636592388153},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3583850860595703},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18958041071891785},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06903624534606934},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341702","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341702","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.7400000095367432}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W577841278","https://openalex.org/W1508779685","https://openalex.org/W1999131722","https://openalex.org/W2117211893","https://openalex.org/W2135198515","https://openalex.org/W2167052694","https://openalex.org/W2624934338","https://openalex.org/W2737223130","https://openalex.org/W2771809894","https://openalex.org/W2842089854","https://openalex.org/W2909324603","https://openalex.org/W2963001155","https://openalex.org/W2963809389","https://openalex.org/W2964147651","https://openalex.org/W2981759303","https://openalex.org/W2999968307","https://openalex.org/W3001538587","https://openalex.org/W3001894919","https://openalex.org/W3015470607","https://openalex.org/W3033530826","https://openalex.org/W3033920763","https://openalex.org/W3044582844","https://openalex.org/W3081975785","https://openalex.org/W3090020790","https://openalex.org/W3090255919","https://openalex.org/W3098201584","https://openalex.org/W3106257603","https://openalex.org/W3108653208","https://openalex.org/W3115747676","https://openalex.org/W3116651890","https://openalex.org/W3127710918","https://openalex.org/W3130046404","https://openalex.org/W3156470590","https://openalex.org/W3199113962","https://openalex.org/W3206681956","https://openalex.org/W6784755654"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W2804584315","https://openalex.org/W2035558540","https://openalex.org/W2332110715","https://openalex.org/W2167757589","https://openalex.org/W2988011613","https://openalex.org/W2806036343","https://openalex.org/W142482926"],"abstract_inverted_index":{"For":[0],"robots":[1],"navigating":[2,151],"in":[3,48,113,152],"dynamic":[4,154],"environments,":[5,50,116],"exploiting":[6],"and":[7,19,27,77,86,96,117,144],"understanding":[8],"uncertain":[9],"human":[10,65,97,120,167],"motion":[11,121,168],"prediction":[12],"is":[13,159],"key":[14],"to":[15,73,134,142,161],"generate":[16],"efficient,":[17],"safe":[18],"legible":[20],"actions.":[21],"The":[22],"robot":[23],"may":[24],"perform":[25],"poorly":[26],"cause":[28],"hindrances":[29],"if":[30],"it":[31],"does":[32],"not":[33],"reason":[34],"over":[35],"possible,":[36],"multi-modal":[37,62],"future":[38],"social":[39],"interactions.":[40],"With":[41],"the":[42,108,111,124,147,157],"goal":[43],"of":[44,64,84,110],"enhancing":[45],"autonomous":[46],"navigation":[47,80],"cluttered":[49,153],"we":[51,103,131],"propose":[52],"a":[53,68,88,139],"novel":[54],"formulation":[55],"for":[56],"nonlinear":[57],"model":[58],"predictive":[59],"control":[60],"including":[61],"predictions":[63],"motion.":[66],"As":[67],"result,":[69],"our":[70,105],"approach":[71,106],"leads":[72],"less":[74],"conservative,":[75],"smooth":[76],"intuitive":[78],"human-aware":[79],"with":[81,118,164],"reduced":[82],"risk":[83],"collisions,":[85],"shows":[87,129],"good":[89],"balance":[90],"between":[91],"task":[92,136],"efficiency,":[93,137],"collision":[94,148],"avoidance":[95],"comfort.":[98],"To":[99],"show":[100],"its":[101],"effectiveness,":[102],"compare":[104],"against":[107],"state":[109],"art":[112],"crowded":[114],"simulated":[115],"real-world":[119],"data":[122],"from":[123],"THOR":[125],"dataset.":[126],"This":[127],"comparison":[128],"that":[130],"are":[132],"able":[133],"improve":[135],"keep":[138],"larger":[140],"distance":[141],"humans":[143],"significantly":[145],"reduce":[146],"time,":[149],"when":[150],"environ-ments.":[155],"Furthermore,":[156],"method":[158],"shown":[160],"work":[162],"robustly":[163],"different":[165],"state-of-the-art":[166],"predictors.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
