{"id":"https://openalex.org/W4415821788","doi":"https://doi.org/10.1109/ro-man63969.2025.11217860","title":"An Adaptive Social Medial Axis Framework for Efficient Navigation in Human-centered Environments","display_name":"An Adaptive Social Medial Axis Framework for Efficient Navigation in Human-centered Environments","publication_year":2025,"publication_date":"2025-08-25","ids":{"openalex":"https://openalex.org/W4415821788","doi":"https://doi.org/10.1109/ro-man63969.2025.11217860"},"language":null,"primary_location":{"id":"doi:10.1109/ro-man63969.2025.11217860","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man63969.2025.11217860","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 34th 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/A5052694166","display_name":"Tamires dos Santos","orcid":null},"institutions":[{"id":"https://openalex.org/I71715416","display_name":"Universidade Federal do ABC","ror":"https://ror.org/028kg9j04","country_code":"BR","type":"education","lineage":["https://openalex.org/I71715416"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Tamires dos Santos","raw_affiliation_strings":["Federal University of ABC,Centre of Mathematics, Computation and Cognition,Santo André,SP,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Federal University of ABC,Centre of Mathematics, Computation and Cognition,Santo André,SP,Brazil","institution_ids":["https://openalex.org/I71715416"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074933369","display_name":"Douglas G. Macharet","orcid":"https://orcid.org/0000-0002-1781-7186"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Douglas G. Macharet","raw_affiliation_strings":["Universidade Federal de Minas Gerais,Computer Vision and Robotics Laboratory (VeRLab),Department of Computer Science,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade Federal de Minas Gerais,Computer Vision and Robotics Laboratory (VeRLab),Department of Computer Science,Brazil","institution_ids":["https://openalex.org/I110200422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3578101,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1394","last_page":"1399"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6358000040054321,"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":0.6358000040054321,"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.22830000519752502,"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":0.04540000110864639,"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/motion-planning","display_name":"Motion planning","score":0.6491000056266785},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6353999972343445},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.6025000214576721},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.579200029373169},{"id":"https://openalex.org/keywords/social-force-model","display_name":"Social force model","score":0.5327000021934509},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5241000056266785},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5049999952316284},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.4860000014305115}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6491000056266785},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6353999972343445},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6105999946594238},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.6025000214576721},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.579200029373169},{"id":"https://openalex.org/C2779293179","wikidata":"https://www.wikidata.org/wiki/Q465266","display_name":"Social force model","level":3,"score":0.5327000021934509},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5241000056266785},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5049999952316284},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4867999851703644},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.4860000014305115},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.47519999742507935},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.45910000801086426},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3937999904155731},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3781000077724457},{"id":"https://openalex.org/C45617602","wikidata":"https://www.wikidata.org/wiki/Q465266","display_name":"Crowd simulation","level":3,"score":0.3668999969959259},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.34139999747276306},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3312000036239624},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32820001244544983},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.32170000672340393},{"id":"https://openalex.org/C2778761605","wikidata":"https://www.wikidata.org/wiki/Q3565782","display_name":"Navigational aid","level":2,"score":0.3133000135421753},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.28200000524520874},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.27959999442100525},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.260699987411499},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25690001249313354}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man63969.2025.11217860","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man63969.2025.11217860","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320308239","display_name":"EMI","ror":"https://ror.org/01qstkr73"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1992225177","https://openalex.org/W2039367092","https://openalex.org/W2040935213","https://openalex.org/W2059993653","https://openalex.org/W2152536965","https://openalex.org/W2167340365","https://openalex.org/W2346033130","https://openalex.org/W2773664014","https://openalex.org/W3003362203","https://openalex.org/W3158002639","https://openalex.org/W3206670464","https://openalex.org/W4383108820","https://openalex.org/W4387143523"],"related_works":[],"abstract_inverted_index":{"The":[0,91,127,148],"navigation":[1,25,79,98],"of":[2],"mobile":[3],"robots":[4],"in":[5,120,132],"social":[6,58,83],"semi-structured":[7],"environments,":[8],"such":[9,43],"as":[10,44],"airports,":[11],"poses":[12],"significant":[13],"challenges":[14],"due":[15],"to":[16,34,69,103,117,124],"human":[17,61,105],"presence":[18],"and":[19,46,53,88,140,154],"unpredictable":[20],"crowd":[21],"dynamics.":[22],"Effective":[23],"robot":[24],"requires":[26],"not":[27,55],"only":[28],"collision":[29],"avoidance":[30],"but":[31],"also":[32],"adherence":[33],"socially":[35],"acceptable":[36],"movement":[37],"patterns.":[38],"Traditional":[39],"path":[40],"planning":[41,146],"algorithms,":[42],"Dijkstra":[45],"A*,":[47],"are":[48],"designed":[49],"for":[50,57],"static":[51],"environments":[52],"do":[54],"account":[56],"factors":[59],"like":[60],"density":[62,106],"or":[63,71],"dynamic":[64],"environmental":[65],"changes,":[66],"potentially":[67],"leading":[68],"inefficient":[70],"unsafe":[72],"navigation.":[73],"This":[74],"paper":[75],"proposes":[76],"an":[77,138],"adaptive":[78],"framework":[80],"that":[81],"integrates":[82],"information":[84],"into":[85],"both":[86],"global":[87,92],"local":[89,110],"planning.":[90],"planner":[93,111],"constructs":[94],"a":[95,104,133,143],"medial":[96],"axis-based":[97],"graph,":[99],"dynamically":[100],"adjusted":[101],"according":[102],"map,":[107],"while":[108],"the":[109,113],"employs":[112],"Elastic":[114],"Band":[115],"technique":[116],"refine":[118],"trajectories":[119],"real":[121],"time,":[122],"responding":[123],"unforeseen":[125],"obstacles.":[126],"proposed":[128],"system":[129],"was":[130],"implemented":[131],"simulated":[134],"environment":[135],"inspired":[136],"by":[137],"airport":[139],"compared":[141],"with":[142],"traditional,":[144],"non-social":[145],"method.":[147],"results":[149],"showed":[150],"superior":[151],"adaptability,":[152],"efficiency,":[153],"safety":[155],"when":[156],"navigating":[157],"within":[158],"human-centered":[159],"environments.":[160]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-03T00:00:00"}