{"id":"https://openalex.org/W3093752193","doi":"https://doi.org/10.1109/ro-man47096.2020.9223584","title":"Impact of Trajectory Generation Methods on Viewer Perception of Robot Approaching Group Behaviors","display_name":"Impact of Trajectory Generation Methods on Viewer Perception of Robot Approaching Group Behaviors","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3093752193","doi":"https://doi.org/10.1109/ro-man47096.2020.9223584","mag":"3093752193"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man47096.2020.9223584","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man47096.2020.9223584","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101564849","display_name":"Fangkai Yang","orcid":"https://orcid.org/0000-0002-3089-0345"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Fangkai Yang","raw_affiliation_strings":["Department of Computational Science and Technology, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computational Science and Technology, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031776591","display_name":"Wenjie Yin","orcid":"https://orcid.org/0000-0002-7189-1336"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Wenjie Yin","raw_affiliation_strings":["Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082269387","display_name":"M\u00e5rten Bj\u00f6rkman","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Marten Bjorkman","raw_affiliation_strings":["Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Robotics, Perception and Learning, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055757332","display_name":"Christopher Peters","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Christopher Peters","raw_affiliation_strings":["Department of Computational Science and Technology, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computational Science and Technology, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"509","last_page":"516"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9983000159263611,"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"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/computer-science","display_name":"Computer science","score":0.6937232613563538},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.656353771686554},{"id":"https://openalex.org/keywords/viewpoints","display_name":"Viewpoints","score":0.5968387126922607},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5870378017425537},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5823386311531067},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5338788032531738},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5195770263671875},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5019369125366211},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4552522897720337},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3408868610858917},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.21087929606437683},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11968183517456055}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6937232613563538},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.656353771686554},{"id":"https://openalex.org/C2776035091","wikidata":"https://www.wikidata.org/wiki/Q7928819","display_name":"Viewpoints","level":2,"score":0.5968387126922607},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5870378017425537},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5823386311531067},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5338788032531738},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5195770263671875},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5019369125366211},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4552522897720337},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3408868610858917},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.21087929606437683},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11968183517456055},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man47096.2020.9223584","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man47096.2020.9223584","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.5099999904632568,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W19079155","https://openalex.org/W207072138","https://openalex.org/W1661280892","https://openalex.org/W1966601882","https://openalex.org/W1969483458","https://openalex.org/W1973878427","https://openalex.org/W1991113069","https://openalex.org/W2006179246","https://openalex.org/W2026000422","https://openalex.org/W2035908836","https://openalex.org/W2059993653","https://openalex.org/W2067589702","https://openalex.org/W2075593767","https://openalex.org/W2130742134","https://openalex.org/W2131799829","https://openalex.org/W2135159102","https://openalex.org/W2137020039","https://openalex.org/W2157936707","https://openalex.org/W2158834601","https://openalex.org/W2161082723","https://openalex.org/W2220815059","https://openalex.org/W2225264036","https://openalex.org/W2267107524","https://openalex.org/W2294981335","https://openalex.org/W2318875203","https://openalex.org/W2414920489","https://openalex.org/W2462618649","https://openalex.org/W2550441136","https://openalex.org/W2555443888","https://openalex.org/W2736601468","https://openalex.org/W2757799290","https://openalex.org/W2782080507","https://openalex.org/W2899802586","https://openalex.org/W2901486027","https://openalex.org/W2901862856","https://openalex.org/W2963277051","https://openalex.org/W2978509028","https://openalex.org/W2979328568","https://openalex.org/W2999268482","https://openalex.org/W2999888342","https://openalex.org/W3000458238","https://openalex.org/W3089943744","https://openalex.org/W3134463378","https://openalex.org/W3142358516","https://openalex.org/W6689291691","https://openalex.org/W6718092244","https://openalex.org/W6741002519","https://openalex.org/W6784203297","https://openalex.org/W6791633779"],"related_works":["https://openalex.org/W2385368906","https://openalex.org/W2902924992","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2581059419","https://openalex.org/W2401800146","https://openalex.org/W1603042966","https://openalex.org/W2612216462"],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"that":[2,31,51,60,179],"approach":[3,33,47,89,112,140],"free-standing":[4],"conversational":[5],"groups":[6,36,90],"to":[7,45,75,88,129],"join":[8,49],"them":[9],"should":[10],"behave":[11],"in":[12,39,149],"a":[13,85,94,98,105,130,154],"safe":[14],"and":[15,28,48,104,121,136,170,176,181,186],"socially-acceptable":[16],"way.":[17],"Existing":[18],"trajectory":[19,81],"generation":[20,82],"methods":[21,83,166],"focus":[22],"on":[23],"collision":[24],"avoidance":[25],"with":[26,54,167],"pedestrians,":[27],"the":[29,77,139,144,150,161],"models":[30],"generate":[32,46],"behaviors":[34,113],"into":[35],"are":[37],"evaluated":[38],"simulation.":[40],"However,":[41],"it":[42],"is":[43],"challenging":[44,158],"trajectories":[50],"avoid":[52],"collisions":[53],"group":[55,131,145],"members":[56,133],"while":[57],"also":[58,116],"ensuring":[59],"they":[61],"do":[62],"not":[63],"invoke":[64],"feelings":[65],"of":[66,79],"discomfort.":[67],"In":[68],"this":[69],"paper,":[70],"we":[71],"conducted":[72],"an":[73],"experiment":[74],"examine":[76],"impact":[78],"three":[80,165],"for":[84,160],"mobile":[86],"robot":[87],"from":[91,173],"multiple":[92],"directions:":[93],"Wizard-of-Oz":[95],"(WoZ)":[96],"method,":[97],"procedural":[99],"social-aware":[100],"navigation":[101],"model":[102,109],"(PM)":[103],"novel":[106],"generative":[107],"adversarial":[108],"imitating":[110],"human":[111],"(IL).":[114],"Measures":[115],"compared":[117],"two":[118],"camera":[119],"viewpoints":[120],"static":[122,148],"versus":[123],"quasi-dynamic":[124],"groups.":[125],"The":[126],"latter":[127],"refers":[128],"whose":[132],"change":[134],"orientation":[135],"position":[137],"throughout":[138],"task,":[141],"even":[142],"though":[143],"entity":[146],"remains":[147],"environment.":[151],"This":[152],"represents":[153],"more":[155],"realistic":[156],"but":[157],"scenario":[159],"robot.":[162],"We":[163],"evaluate":[164],"objective":[168],"measurements":[169,172],"subjective":[171],"viewer":[174],"perception,":[175],"results":[177],"show":[178],"WoZ":[180],"IL":[182],"have":[183],"comparable":[184],"performance,":[185],"both":[187],"perform":[188],"better":[189],"than":[190],"PM":[191],"under":[192],"most":[193],"conditions.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
