{"id":"https://openalex.org/W4386766601","doi":"https://doi.org/10.1109/lra.2023.3316072","title":"HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation","display_name":"HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation","publication_year":2023,"publication_date":"2023-09-15","ids":{"openalex":"https://openalex.org/W4386766601","doi":"https://doi.org/10.1109/lra.2023.3316072"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3316072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3316072","pdf_url":null,"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":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/A5035915697","display_name":"No\u00e9 P\u00e9rez-Higueras","orcid":"https://orcid.org/0000-0001-9105-5733"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"No\u00e9 P\u00e9rez-Higueras","raw_affiliation_strings":["School of Engineering, Pablo de Olavide University Seville, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0001-9105-5733","affiliations":[{"raw_affiliation_string":"School of Engineering, Pablo de Olavide University Seville, Seville, Spain","institution_ids":["https://openalex.org/I95013407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103134325","display_name":"Roberto Otero","orcid":"https://orcid.org/0009-0006-7090-0671"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Roberto Otero","raw_affiliation_strings":["School of Engineering, Pablo de Olavide University Seville, Seville, Spain"],"raw_orcid":"https://orcid.org/0009-0006-7090-0671","affiliations":[{"raw_affiliation_string":"School of Engineering, Pablo de Olavide University Seville, Seville, Spain","institution_ids":["https://openalex.org/I95013407"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040477311","display_name":"Fernando Caballero","orcid":"https://orcid.org/0000-0001-8869-2846"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Fernando Caballero","raw_affiliation_strings":["School of Engineering, Pablo de Olavide University Seville, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0001-8869-2846","affiliations":[{"raw_affiliation_string":"School of Engineering, Pablo de Olavide University Seville, Seville, Spain","institution_ids":["https://openalex.org/I95013407"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042031541","display_name":"Lu\u00eds Merino","orcid":"https://orcid.org/0000-0003-4927-8647"},"institutions":[{"id":"https://openalex.org/I95013407","display_name":"Universidad Pablo de Olavide","ror":"https://ror.org/02z749649","country_code":"ES","type":"education","lineage":["https://openalex.org/I95013407"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis Merino","raw_affiliation_strings":["School of Engineering, Pablo de Olavide University Seville, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0003-4927-8647","affiliations":[{"raw_affiliation_string":"School of Engineering, Pablo de Olavide University Seville, Seville, Spain","institution_ids":["https://openalex.org/I95013407"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95013407"],"apc_list":{"value":2345,"currency":"USD","value_usd":2345},"apc_paid":null,"fwci":3.6006,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.93471478,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"8","issue":"11","first_page":"7130","last_page":"7137"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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":0.9980999827384949,"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/benchmarking","display_name":"Benchmarking","score":0.7158480286598206},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6590272188186646},{"id":"https://openalex.org/keywords/novelty","display_name":"Novelty","score":0.6069504022598267},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6059969067573547},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5929602980613708},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5262871384620667},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.4755784571170807},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4686386287212372},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4584682583808899},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4566380977630615},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3658163547515869},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09322383999824524}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.7158480286598206},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6590272188186646},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.6069504022598267},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6059969067573547},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5929602980613708},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5262871384620667},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.4755784571170807},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4686386287212372},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4584682583808899},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4566380977630615},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3658163547515869},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09322383999824524},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","level":1,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3316072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3316072","pdf_url":null,"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":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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W2089584121","https://openalex.org/W2117211893","https://openalex.org/W2148961728","https://openalex.org/W2167052694","https://openalex.org/W2416681320","https://openalex.org/W2768361032","https://openalex.org/W2964306609","https://openalex.org/W3081756019","https://openalex.org/W3095168369","https://openalex.org/W3122878979","https://openalex.org/W3134000433","https://openalex.org/W3143901407","https://openalex.org/W3157613500","https://openalex.org/W3200835353","https://openalex.org/W4200004515","https://openalex.org/W4205128436","https://openalex.org/W4280571816","https://openalex.org/W4285222628","https://openalex.org/W4287078271","https://openalex.org/W4293245975","https://openalex.org/W4310515604","https://openalex.org/W4312788080","https://openalex.org/W4324107119","https://openalex.org/W4389666876","https://openalex.org/W6716735602","https://openalex.org/W6748038765","https://openalex.org/W6840078543","https://openalex.org/W6846683744","https://openalex.org/W6850538557"],"related_works":["https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2291782699","https://openalex.org/W1993948687","https://openalex.org/W2011676020","https://openalex.org/W2000169967"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"the":[3,13,27,31,52],"Human":[4],"Navigation":[5],"Simulator":[6],"(HuNavSim),":[7],"a":[8,66,71,73],"novel":[9],"open-source":[10],"tool":[11],"for":[12,89],"simulation":[14],"of":[15,56,76,87],"different":[16,40],"human-agent":[17],"navigation":[18,59,81,91],"behaviors":[19,82],"in":[20,61],"scenarios":[21],"with":[22,39],"mobile":[23],"robots.":[24],"The":[25,46],"tool,":[26],"first":[28],"programmed":[29],"under":[30],"ROS":[32],"2":[33],"framework,":[34],"can":[35],"be":[36],"used":[37],"together":[38],"well-known":[41],"robotics":[42],"simulators":[43],"like":[44],"Gazebo.":[45],"main":[47],"goal":[48],"is":[49],"to":[50,65],"facilitate":[51],"development":[53],"and":[54,78,83],"evaluation":[55],"human-aware":[57],"robot":[58],"systems":[60],"simulation.":[62],"In":[63],"addition":[64],"general":[67],"human-navigation":[68],"model,HuNavSimincludes,":[69],"as":[70],"novelty,":[72],"rich":[74],"set":[75,86],"individual":[77],"varied":[79],"human":[80],"an":[84],"comprehensive":[85],"metrics":[88],"social":[90],"benchmarking.":[92]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":1}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}
