{"id":"https://openalex.org/W3136225517","doi":"https://doi.org/10.1109/lra.2021.3068660","title":"Reactive Navigation in Crowds for Non-Holonomic Robots With Convex Bounding Shape","display_name":"Reactive Navigation in Crowds for Non-Holonomic Robots With Convex Bounding Shape","publication_year":2021,"publication_date":"2021-03-24","ids":{"openalex":"https://openalex.org/W3136225517","doi":"https://doi.org/10.1109/lra.2021.3068660","mag":"3136225517"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3068660","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068660","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9399748/09385856.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/9399748/09385856.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075400526","display_name":"David Gonon","orcid":"https://orcid.org/0000-0002-9893-608X"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"David J. Gonon","raw_affiliation_strings":["LASA, School of Engineering, Swiss Federal School of Technology in Lausanne - EPFL, Lausanne, Switzerland","School of Engineering, Swiss Federal School of Technology in Lausanne -EPFL, Lausanne 1015 Vaud, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASA, School of Engineering, Swiss Federal School of Technology in Lausanne - EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"School of Engineering, Swiss Federal School of Technology in Lausanne -EPFL, Lausanne 1015 Vaud, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089837387","display_name":"Diego P\u00e1ez-Granados","orcid":"https://orcid.org/0000-0002-6143-1432"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Diego Paez-Granados","raw_affiliation_strings":["LASA, School of Engineering, Swiss Federal School of Technology in Lausanne - EPFL, Lausanne, Switzerland","School of Engineering, Swiss Federal School of Technology in Lausanne -EPFL, Lausanne 1015 Vaud, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASA, School of Engineering, Swiss Federal School of Technology in Lausanne - EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"School of Engineering, Swiss Federal School of Technology in Lausanne -EPFL, Lausanne 1015 Vaud, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["LASA, School of Engineering, Swiss Federal School of Technology in Lausanne - EPFL, Lausanne, Switzerland","School of Engineering, Swiss Federal School of Technology in Lausanne -EPFL, Lausanne 1015 Vaud, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASA, School of Engineering, Swiss Federal School of Technology in Lausanne - EPFL, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"School of Engineering, Swiss Federal School of Technology in Lausanne -EPFL, Lausanne 1015 Vaud, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":1.3558,"has_fulltext":true,"cited_by_count":24,"citation_normalized_percentile":{"value":0.80433497,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"6","issue":"3","first_page":"4728","last_page":"4735"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/crowds","display_name":"Crowds","score":0.856277346611023},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.789966344833374},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6902320981025696},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6388247013092041},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5943714380264282},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.5879509449005127},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5048232674598694},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.4546632170677185},{"id":"https://openalex.org/keywords/crowd-simulation","display_name":"Crowd simulation","score":0.4404899477958679},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4289170205593109},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19496119022369385},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.08594632148742676},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07043644785881042}],"concepts":[{"id":"https://openalex.org/C2777852691","wikidata":"https://www.wikidata.org/wiki/Q13430821","display_name":"Crowds","level":2,"score":0.856277346611023},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.789966344833374},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6902320981025696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6388247013092041},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5943714380264282},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.5879509449005127},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5048232674598694},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.4546632170677185},{"id":"https://openalex.org/C45617602","wikidata":"https://www.wikidata.org/wiki/Q465266","display_name":"Crowd simulation","level":3,"score":0.4404899477958679},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4289170205593109},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19496119022369385},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.08594632148742676},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07043644785881042}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3068660","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068660","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9399748/09385856.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:infoscience.epfl.ch:284026","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/284026","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"research article"}],"best_oa_location":{"id":"doi:10.1109/lra.2021.3068660","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068660","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/9399748/09385856.pdf","source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5899999737739563}],"awards":[{"id":"https://openalex.org/G4648414737","display_name":"Safe Robot Navigation in Dense Crowds","funder_award_id":"779942","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3136225517.pdf","grobid_xml":"https://content.openalex.org/works/W3136225517.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W178419168","https://openalex.org/W192919555","https://openalex.org/W630739203","https://openalex.org/W1967740178","https://openalex.org/W1976517551","https://openalex.org/W1990970199","https://openalex.org/W2002440441","https://openalex.org/W2042225474","https://openalex.org/W2057134775","https://openalex.org/W2082585576","https://openalex.org/W2114476723","https://openalex.org/W2117211893","https://openalex.org/W2140542425","https://openalex.org/W2144604575","https://openalex.org/W2158400962","https://openalex.org/W2165772133","https://openalex.org/W2166052572","https://openalex.org/W2414434006","https://openalex.org/W2604216058","https://openalex.org/W2766836212","https://openalex.org/W2785627277","https://openalex.org/W2795804639","https://openalex.org/W2890001928","https://openalex.org/W2909411248","https://openalex.org/W2911028283","https://openalex.org/W2963761660","https://openalex.org/W2964099981","https://openalex.org/W2964136016","https://openalex.org/W2991583441","https://openalex.org/W2999588391","https://openalex.org/W4251391716","https://openalex.org/W6750048412"],"related_works":["https://openalex.org/W1749168706","https://openalex.org/W2036586770","https://openalex.org/W606709926","https://openalex.org/W2980347456","https://openalex.org/W1643071209","https://openalex.org/W2911613207","https://openalex.org/W3043995842","https://openalex.org/W2094931707","https://openalex.org/W4299159492","https://openalex.org/W4376137772"],"abstract_inverted_index":{"This":[0],"letter":[1],"describes":[2],"a":[3,43,94,110],"novel":[4],"method":[5,73],"for":[6],"non-holonomic":[7],"robots":[8],"of":[9],"convex":[10],"shape":[11],"to":[12,23,96,104],"avoid":[13],"imminent":[14],"collisions":[15,101],"with":[16,102],"moving":[17],"obstacles.":[18],"The":[19],"method's":[20],"purpose":[21],"is":[22],"assist":[24],"navigation":[25],"in":[26,84],"crowds":[27],"by":[28],"correcting":[29],"steering":[30],"from":[31],"the":[32,59,63,72,75],"robot's":[33,60],"path":[34],"planner":[35],"or":[36],"driver.":[37],"We":[38,68],"evaluate":[39,71],"its":[40],"performance":[41],"using":[42,87],"custom":[44],"simulator":[45],"which":[46,54],"replicates":[47],"real":[48],"crowd":[49,64],"movements":[50],"and":[51,58,65,70,93,99,107],"corresponding":[52],"metrics":[53],"quantify":[55],"agents'":[56],"efficiency":[57],"impact":[61],"on":[62,74],"count":[66],"collisions.":[67],"implement":[69],"standing":[76],"wheelchair":[77],"Qolo.":[78],"In":[79],"our":[80],"experiments,":[81],"it":[82],"drives":[83],"autonomous":[85],"mode":[86],"on-board":[88],"sensing":[89],"(LiDAR,":[90],"RGB-D":[91],"camera":[92],"system":[95],"track":[97],"pedestrians)":[98],"avoids":[100],"up":[103],"five":[105],"pedestrians":[106],"passes":[108],"through":[109],"door.":[111]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}