{"id":"https://openalex.org/W2138294955","doi":"https://doi.org/10.1109/ivs.2014.6856493","title":"Toward human-like motion planning in urban environments","display_name":"Toward human-like motion planning in urban environments","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W2138294955","doi":"https://doi.org/10.1109/ivs.2014.6856493","mag":"2138294955"},"language":"en","primary_location":{"id":"doi:10.1109/ivs.2014.6856493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2014.6856493","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","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/A5101573151","display_name":"Tianyu Gu","orcid":"https://orcid.org/0009-0004-7761-0357"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tianyu Gu","raw_affiliation_strings":["Department of Electrical & Computer Engineering, Carnegie Mellon University","*Department of Electrical and Computer Engineering, Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"*Department of Electrical and Computer Engineering, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015076162","display_name":"John M. Dolan","orcid":"https://orcid.org/0000-0003-2062-100X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John M. Dolan","raw_affiliation_strings":["Department of Electrical & Computer Engineering and the Robotics Institute, School of Computer Science, Carnegie Mellon University","[Department of Electrical & Computer Engineering and the Robotics Institute, School of Computer Science, Carnegie Mellon University]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering and the Robotics Institute, School of Computer Science, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Department of Electrical & Computer Engineering and the Robotics Institute, School of Computer Science, Carnegie Mellon University]","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101573151"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":4.7979,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.94850372,"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":"350","last_page":"355"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994000196456909,"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":0.9994000196456909,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.992900013923645,"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":0.9921000003814697,"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/motion-planning","display_name":"Motion planning","score":0.7427587509155273},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7122159600257874},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.637764573097229},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.5453174114227295},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5445894598960876},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5168007612228394},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5167936086654663},{"id":"https://openalex.org/keywords/human-motion","display_name":"Human motion","score":0.5032643675804138},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5007379055023193},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.42451614141464233},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.422200083732605},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.42079320549964905},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35659193992614746},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3332003653049469},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24640458822250366},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13940882682800293},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1319565773010254},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11997577548027039}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7427587509155273},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7122159600257874},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.637764573097229},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.5453174114227295},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5445894598960876},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5168007612228394},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5167936086654663},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.5032643675804138},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5007379055023193},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.42451614141464233},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.422200083732605},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.42079320549964905},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35659193992614746},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3332003653049469},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24640458822250366},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13940882682800293},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1319565773010254},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11997577548027039},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ivs.2014.6856493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ivs.2014.6856493","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.587.6005","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.587.6005","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/2014/6/IV2014-Tianyu.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8299999833106995,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1974795838","https://openalex.org/W1979769287","https://openalex.org/W1983948265","https://openalex.org/W2000140632","https://openalex.org/W2069239883","https://openalex.org/W2095945798","https://openalex.org/W2100291021","https://openalex.org/W2102121543","https://openalex.org/W2118927982","https://openalex.org/W2120925472","https://openalex.org/W2121806728","https://openalex.org/W2136445059","https://openalex.org/W2139754237","https://openalex.org/W2153284231","https://openalex.org/W2154432569","https://openalex.org/W2154844948","https://openalex.org/W2179317217","https://openalex.org/W2406067508","https://openalex.org/W3212743282"],"related_works":["https://openalex.org/W2051058708","https://openalex.org/W1494268238","https://openalex.org/W154868527","https://openalex.org/W1983207144","https://openalex.org/W2490706771","https://openalex.org/W2480116122","https://openalex.org/W4255576661","https://openalex.org/W1516574938","https://openalex.org/W2625725254","https://openalex.org/W2563912921"],"abstract_inverted_index":{"Prior":[0],"autonomous":[1],"navigation":[2],"systems":[3],"focused":[4],"on":[5],"the":[6,9,14,107,111,115],"demonstration":[7],"of":[8],"technological":[10],"feasibility.":[11],"But":[12],"as":[13,28],"technology":[15],"evolves,":[16],"improving":[17],"user":[18],"experience":[19],"through":[20,88],"learning":[21],"expert's":[22],"or":[23],"individual's":[24],"driving":[25,81,95],"pattern":[26],"emerges":[27],"a":[29,34,58,63,72],"promising":[30],"research":[31],"direction.":[32],"As":[33],"first":[35],"step":[36],"toward":[37],"this":[38],"goal,":[39],"we":[40],"investigate":[41],"methods":[42],"to":[43,76],"learn":[44],"from":[45],"human":[46,80,94,117],"demonstrations":[47],"in":[48],"urban":[49],"scenarios":[50],"without":[51],"any":[52],"environmental":[53],"disturbances":[54],"(traffic-free).":[55],"We":[56],"propose":[57],"path":[59,65],"model":[60,75,101],"that":[61],"generates":[62],"reference":[64],"with":[66,110],"smooth":[67],"and":[68,71,91],"peak-value-reduced":[69],"curvature,":[70],"parameterized":[73],"speed":[74],"be":[77],"fitted":[78],"by":[79,105,114],"data.":[82],"Model":[83],"parameters":[84],"are":[85,97],"then":[86,103],"learned":[87,100],"regression":[89],"methods,":[90],"certain":[92],"statistical":[93],"patterns":[96],"revealed.":[98],"The":[99],"is":[102],"evaluated":[104],"comparing":[106],"generated":[108],"plan":[109],"collected":[112],"data":[113],"same":[116],"driver.":[118]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":4}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}