{"id":"https://openalex.org/W3196185526","doi":"https://doi.org/10.1109/lra.2021.3135560","title":"CoMet: Modeling Group Cohesion for Socially Compliant Robot Navigation in Crowded Scenes","display_name":"CoMet: Modeling Group Cohesion for Socially Compliant Robot Navigation in Crowded Scenes","publication_year":2021,"publication_date":"2021-12-15","ids":{"openalex":"https://openalex.org/W3196185526","doi":"https://doi.org/10.1109/lra.2021.3135560","mag":"3196185526"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3135560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3135560","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":null,"license_id":null,"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013408106","display_name":"Adarsh Jagan Sathyamoorthy","orcid":"https://orcid.org/0000-0002-9678-4748"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Adarsh Jagan Sathyamoorthy","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Maryland, College Park, MD, USA"],"raw_orcid":"https://orcid.org/0000-0002-9678-4748","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034886591","display_name":"Utsav Patel","orcid":"https://orcid.org/0000-0003-0631-9787"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Utsav Patel","raw_affiliation_strings":["Department of Computer Science, University of Maryland, College Park, MD, USA"],"raw_orcid":"https://orcid.org/0000-0003-0631-9787","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015205685","display_name":"Moumita Paul","orcid":"https://orcid.org/0000-0002-0503-9583"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Moumita Paul","raw_affiliation_strings":["Institute of Systems Research, University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Systems Research, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058004471","display_name":"Nithish K Sanjeev Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nithish K Sanjeev Kumar","raw_affiliation_strings":["Department of Computer Science, University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025474206","display_name":"Yash Savle","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yash Savle","raw_affiliation_strings":["Institute of Systems Research, University of Maryland, College Park, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Systems Research, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004194238","display_name":"Dinesh Manocha","orcid":"https://orcid.org/0000-0001-7047-9801"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Manocha","raw_affiliation_strings":["Department of Computer Science, University of Maryland, College Park, MD, USA"],"raw_orcid":"https://orcid.org/0000-0001-7047-9801","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5013408106"],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":2.0823,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.85874092,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"7","issue":"2","first_page":"1008","last_page":"1015"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9972000122070312,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cohesion","display_name":"Cohesion (chemistry)","score":0.7390552759170532},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6789677143096924},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6113545298576355},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.5761367678642273},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5757235884666443},{"id":"https://openalex.org/keywords/group-cohesiveness","display_name":"Group cohesiveness","score":0.5184242725372314},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5124409794807434},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.46864053606987},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.4192259907722473},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32557082176208496},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2068280279636383},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20200440287590027},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.17395976185798645},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.15054592490196228},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.14557594060897827}],"concepts":[{"id":"https://openalex.org/C104054115","wikidata":"https://www.wikidata.org/wiki/Q216828","display_name":"Cohesion (chemistry)","level":2,"score":0.7390552759170532},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6789677143096924},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6113545298576355},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.5761367678642273},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5757235884666443},{"id":"https://openalex.org/C14641543","wikidata":"https://www.wikidata.org/wiki/Q553270","display_name":"Group cohesiveness","level":2,"score":0.5184242725372314},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5124409794807434},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.46864053606987},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.4192259907722473},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32557082176208496},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2068280279636383},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20200440287590027},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.17395976185798645},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.15054592490196228},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.14557594060897827},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","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},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3135560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3135560","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3000259002","display_name":null,"funder_award_id":"W911NF2120076","funder_id":"https://openalex.org/F4320332447","funder_display_name":"U.S. Army"}],"funders":[{"id":"https://openalex.org/F4320332447","display_name":"U.S. Army","ror":"https://ror.org/00afsp483"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W133839609","https://openalex.org/W192919555","https://openalex.org/W1483870316","https://openalex.org/W1970701564","https://openalex.org/W1973523330","https://openalex.org/W1974646348","https://openalex.org/W2010236945","https://openalex.org/W2011235519","https://openalex.org/W2042015300","https://openalex.org/W2059993653","https://openalex.org/W2071116264","https://openalex.org/W2078007971","https://openalex.org/W2082585576","https://openalex.org/W2102356410","https://openalex.org/W2105934661","https://openalex.org/W2117211893","https://openalex.org/W2227909145","https://openalex.org/W2256485430","https://openalex.org/W2292220267","https://openalex.org/W2320277277","https://openalex.org/W2332187129","https://openalex.org/W2345181362","https://openalex.org/W2566180428","https://openalex.org/W2572080821","https://openalex.org/W2603203130","https://openalex.org/W2604216058","https://openalex.org/W2756881483","https://openalex.org/W2796347433","https://openalex.org/W2807126412","https://openalex.org/W2887699868","https://openalex.org/W2890001928","https://openalex.org/W2908767862","https://openalex.org/W2911273949","https://openalex.org/W2949120105","https://openalex.org/W2956123473","https://openalex.org/W2962954724","https://openalex.org/W2963037989","https://openalex.org/W2963479434","https://openalex.org/W2963809389","https://openalex.org/W2963821308","https://openalex.org/W2964198921","https://openalex.org/W2964306609","https://openalex.org/W2964319688","https://openalex.org/W2967783742","https://openalex.org/W2977739292","https://openalex.org/W3003660333","https://openalex.org/W3020825567","https://openalex.org/W3026389972","https://openalex.org/W3049488498","https://openalex.org/W3090345358","https://openalex.org/W3131482536","https://openalex.org/W3196185526","https://openalex.org/W4238837100","https://openalex.org/W4250696540","https://openalex.org/W6692252526","https://openalex.org/W6704674462","https://openalex.org/W6750227808","https://openalex.org/W6768477322"],"related_works":["https://openalex.org/W1969135428","https://openalex.org/W2001372775","https://openalex.org/W2027585331","https://openalex.org/W1481039507","https://openalex.org/W2525246515","https://openalex.org/W2381411542","https://openalex.org/W1600779779","https://openalex.org/W3041605973","https://openalex.org/W3018574598","https://openalex.org/W2108809812"],"abstract_inverted_index":{"We":[0,36,76,102,114],"present":[1],"CoMet,":[2],"a":[3,8,16,25,52,84,96,100,124],"novel":[4,26],"approach":[5,23],"for":[6,89],"computing":[7],"group\u2019s":[9],"cohesion":[10,94],"and":[11,71,82,106,127,143],"using":[12],"that":[13,28,87],"to":[14,59,80],"improve":[15,83],"robot\u2019s":[17],"navigation":[18,85,121],"in":[19,33,131],"crowded":[20],"scenes.":[21],"Our":[22],"uses":[24],"cohesion-metric":[27,79,110],"builds":[29],"on":[30,111,123],"prior":[31],"work":[32],"social":[34,120],"psychology.":[35],"compute":[37],"this":[38],"metric":[39],"by":[40],"utilizing":[41],"various":[42],"visual":[43],"features":[44],"of":[45,92,108,118,133,146],"pedestrians":[46],"from":[47],"an":[48],"RGB-D":[49],"camera":[50],"on-board":[51],"robot.":[53],"Specifically,":[54],"we":[55],"detect":[56],"characteristics":[57],"corresponding":[58],"the":[60,68,104,116,147],"proximity":[61],"between":[62,73],"people,":[63],"their":[64],"relative":[65],"walking":[66],"speeds,":[67],"group":[69,74,93],"size,":[70],"interactions":[72],"members.":[75],"use":[77],"our":[78,109,119],"design":[81],"scheme":[86],"accounts":[88],"different":[90],"levels":[91],"while":[95],"robot":[97,126],"moves":[98],"through":[99],"crowd.":[101],"evaluate":[103],"precision":[105],"recall":[107],"pedestrian":[112],"datasets.":[113],"highlight":[115],"performance":[117],"algorithm":[122],"Turtlebot":[125],"demonstrate":[128],"its":[129],"benefits":[130],"terms":[132],"multiple":[134],"metrics:":[135],"freezing":[136],"rate":[137],"(57%":[138],"decrease),":[139,142],"deviation":[140],"(35.7%":[141],"path":[144],"length":[145],"trajectory(23.2%":[148],"decrease).":[149]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
