{"id":"https://openalex.org/W4391768704","doi":"https://doi.org/10.1109/itsc57777.2023.10422197","title":"From Probabilistic Occupancy Grids to versatile Collision Avoidance using Predictive Collision Detection","display_name":"From Probabilistic Occupancy Grids to versatile Collision Avoidance using Predictive Collision Detection","publication_year":2023,"publication_date":"2023-09-24","ids":{"openalex":"https://openalex.org/W4391768704","doi":"https://doi.org/10.1109/itsc57777.2023.10422197"},"language":"en","primary_location":{"id":"doi:10.1109/itsc57777.2023.10422197","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/itsc57777.2023.10422197","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/hal-04225028/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057514162","display_name":"Thomas Genevois","orcid":null},"institutions":[{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Thomas Genevois","raw_affiliation_strings":["Univ. Grenoble Alpes, INRIA,Grenoble,France,38000"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, INRIA,Grenoble,France,38000","institution_ids":["https://openalex.org/I899635006","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085449695","display_name":"Lukas Rummelhard","orcid":null},"institutions":[{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Lukas Rummelhard","raw_affiliation_strings":["Univ. Grenoble Alpes, INRIA,Grenoble,France,38000"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, INRIA,Grenoble,France,38000","institution_ids":["https://openalex.org/I899635006","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070587077","display_name":"Anne Spalanzani","orcid":"https://orcid.org/0000-0003-4813-4940"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Anne Spalanzani","raw_affiliation_strings":["Univ. Grenoble Alpes, INRIA,Grenoble,France,38000"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, INRIA,Grenoble,France,38000","institution_ids":["https://openalex.org/I899635006","https://openalex.org/I1326498283"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109557660","display_name":"Christian Laugier","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christian Laugier","raw_affiliation_strings":["Univ. Grenoble Alpes, INRIA,Grenoble,France,38000"],"affiliations":[{"raw_affiliation_string":"Univ. Grenoble Alpes, INRIA,Grenoble,France,38000","institution_ids":["https://openalex.org/I899635006","https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5057514162"],"corresponding_institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I899635006"],"apc_list":null,"apc_paid":null,"fwci":0.2218,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.5350335,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"79","last_page":"85"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9915000200271606,"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.983299970626831,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/collision-avoidance","display_name":"Collision avoidance","score":0.7345909476280212},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7234573364257812},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7189831733703613},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.6597449779510498},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6596627831459045},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.5001041889190674},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26151949167251587},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.12438014149665833},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08970746397972107}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7345909476280212},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7234573364257812},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7189831733703613},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.6597449779510498},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6596627831459045},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.5001041889190674},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26151949167251587},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.12438014149665833},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08970746397972107},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/itsc57777.2023.10422197","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/itsc57777.2023.10422197","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04225028v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-04225028","pdf_url":"https://inria.hal.science/hal-04225028/document","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ITSC 2023 - IEEE International Conference on Intelligent Transportation Systems, IEEE, Sep 2023, Bilbao, Spain. pp.1-7","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04225028v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-04225028","pdf_url":"https://inria.hal.science/hal-04225028/document","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ITSC 2023 - IEEE International Conference on Intelligent Transportation Systems, IEEE, Sep 2023, Bilbao, Spain. pp.1-7","raw_type":"Conference papers"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.6200000047683716,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391768704.pdf","grobid_xml":"https://content.openalex.org/works/W4391768704.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1763528081","https://openalex.org/W1946092254","https://openalex.org/W2134638437","https://openalex.org/W2170901118","https://openalex.org/W2203271201","https://openalex.org/W2306644740","https://openalex.org/W2410617946","https://openalex.org/W2491679780","https://openalex.org/W2646828615","https://openalex.org/W2791970884","https://openalex.org/W2941647785","https://openalex.org/W2953303875","https://openalex.org/W3095412765","https://openalex.org/W3119812378","https://openalex.org/W3135594603","https://openalex.org/W4229444815","https://openalex.org/W4283373058","https://openalex.org/W4285813084","https://openalex.org/W4285813092","https://openalex.org/W4297781990","https://openalex.org/W4306399965","https://openalex.org/W6723581266","https://openalex.org/W6775299407","https://openalex.org/W6797215272"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408","https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W3215492696","https://openalex.org/W2257960210","https://openalex.org/W2028510469","https://openalex.org/W913501818"],"abstract_inverted_index":{"As":[0],"robots":[1],"are":[2,27],"spreading":[3],"in":[4,32,47,148],"diverse":[5],"environments,":[6],"new":[7,66],"collision":[8,14,50,165],"avoidance":[9,15,51,166],"challenges":[10],"arise.":[11],"Real":[12],"world":[13],"often":[16],"includes":[17],"dynamic,":[18],"complex,":[19],"unstructured":[20],"and":[21,34,80,94,108,117,142,167,177],"uncertain":[22],"environments.":[23],"While":[24],"these":[25,59],"constraints":[26],"rarely":[28],"considered":[29],"all":[30],"together":[31],"perception":[33,44,79,176],"navigation":[35,46],"research":[36],"works,":[37],"we":[38,71,127,154],"present":[39],"a":[40,48,65,124],"broad":[41],"integration":[42],"from":[43],"to":[45,56,156,168],"versatile":[49],"approach":[52],"that":[53,70,103,129,136],"is":[54],"designed":[55],"operate":[57],"under":[58],"constraints.":[60],"Our":[61],"solution":[62,131],"relies":[63],"on":[64,90,120],"Predictive":[67],"Collision":[68],"Detector":[69],"propose":[72],"as":[73],"an":[74],"interface":[75],"between":[76],"state-of-art":[77,141,174],"grid-based":[78],"sampling-based":[81],"planners.":[82],"Unlike":[83],"most":[84],"other":[85],"approaches,":[86],"ours":[87],"operates":[88],"only":[89],"elementary":[91],"spatial":[92],"occupancy":[93,112,162],"does":[95],"not":[96],"use":[97,159],"the":[98,106,139,158,170,173],"concept":[99],"of":[100,110,160,172,175],"objects":[101],"such":[102],"it":[104],"captures":[105],"richness":[107],"versatility":[109],"modern":[111],"grid":[113],"perception.":[114],"With":[115,151],"simulated":[116],"experimental":[118],"results":[119],"2":[121],"robots,":[122],"including":[123],"robotic":[125],"car,":[126],"show":[128],"our":[130],"generates":[132],"advanced":[133],"driving":[134],"behaviors":[135],"compare":[137],"with":[138,144],"related":[140],"comply":[143],"safety":[145],"standards":[146],"even":[147],"complex":[149],"scenarios.":[150],"this":[152],"contribution,":[153],"hope":[155],"facilitate":[157],"probabilistic":[161],"grids":[163],"for":[164],"enhance":[169],"connectivity":[171],"navigation.":[178]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}