{"id":"https://openalex.org/W4317384012","doi":"https://doi.org/10.1109/robio55434.2022.10011739","title":"A Multi-modal Behavior Planning Framework for Guide Robot","display_name":"A Multi-modal Behavior Planning Framework for Guide Robot","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317384012","doi":"https://doi.org/10.1109/robio55434.2022.10011739"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011739","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011739","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5023078625","display_name":"Zonghao Mu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zonghao Mu","raw_affiliation_strings":["Zhejiang Lab,Hangzhou,China","Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100410142","display_name":"Wei Fang","orcid":"https://orcid.org/0000-0001-8139-1119"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Fang","raw_affiliation_strings":["Zhejiang Lab,Hangzhou,China","Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109646818","display_name":"Shiqiang Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiqiang Zhu","raw_affiliation_strings":["Zhejiang Lab,Hangzhou,China","Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067690467","display_name":"Tianlei Jin","orcid":"https://orcid.org/0000-0001-8682-7946"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianlei Jin","raw_affiliation_strings":["Zhejiang Lab,Hangzhou,China","Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074371475","display_name":"Wei Song","orcid":"https://orcid.org/0000-0002-0828-7486"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Song","raw_affiliation_strings":["Zhejiang Lab,Hangzhou,China","Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021162862","display_name":"Xiangming Xi","orcid":"https://orcid.org/0000-0003-2786-8144"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangming Xi","raw_affiliation_strings":["Zhejiang Lab,Hangzhou,China","Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102409611","display_name":"Qiulan Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiulan Huang","raw_affiliation_strings":["Zhejiang Lab,Hangzhou,China","Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010340252","display_name":"Jason Gu","orcid":"https://orcid.org/0000-0002-7626-1077"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jason Gu","raw_affiliation_strings":["Zhejiang Lab,Hangzhou,China","Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018328518","display_name":"Songyu Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songyu Yuan","raw_affiliation_strings":["Zhejiang Lab,Hangzhou,China","Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5023078625"],"corresponding_institution_ids":["https://openalex.org/I4210123185"],"apc_list":null,"apc_paid":null,"fwci":0.2006,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.407277,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"469","last_page":"474"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.996999979019165,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6938278079032898},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6889917850494385},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6888086795806885},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6740313768386841},{"id":"https://openalex.org/keywords/social-force-model","display_name":"Social force model","score":0.571697473526001},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5350398421287537},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.513839066028595},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.47140172123908997},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4531134366989136},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4429028630256653},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.42202863097190857},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3853706121444702},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3800920248031616},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24805858731269836}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6938278079032898},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6889917850494385},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6888086795806885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6740313768386841},{"id":"https://openalex.org/C2779293179","wikidata":"https://www.wikidata.org/wiki/Q465266","display_name":"Social force model","level":3,"score":0.571697473526001},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5350398421287537},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.513839066028595},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.47140172123908997},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4531134366989136},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4429028630256653},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42202863097190857},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3853706121444702},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3800920248031616},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24805858731269836},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.0},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011739","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011739","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.550000011920929,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W155097506","https://openalex.org/W1539282749","https://openalex.org/W1605006323","https://openalex.org/W2010288169","https://openalex.org/W2043385770","https://openalex.org/W2070109803","https://openalex.org/W2109990343","https://openalex.org/W2123436043","https://openalex.org/W2132049110","https://openalex.org/W2167052694","https://openalex.org/W2228655599","https://openalex.org/W2344985987","https://openalex.org/W2520720884","https://openalex.org/W2790493375","https://openalex.org/W2889628315","https://openalex.org/W2891376043","https://openalex.org/W2973091252","https://openalex.org/W3004397418","https://openalex.org/W3004958483","https://openalex.org/W3085134622","https://openalex.org/W3130634520","https://openalex.org/W3131623996","https://openalex.org/W3133104464","https://openalex.org/W3140662615","https://openalex.org/W3206532678","https://openalex.org/W4248056173","https://openalex.org/W6636109723","https://openalex.org/W6753967411","https://openalex.org/W6768134952","https://openalex.org/W6773941837"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2238319650","https://openalex.org/W2295425790","https://openalex.org/W4388841465","https://openalex.org/W4389009354","https://openalex.org/W2564804538","https://openalex.org/W1974803039","https://openalex.org/W4293926484"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"propose":[4],"a":[5,24,97,102,109],"multi-modal":[6,47,88],"behavior":[7,48,89],"planning":[8,49],"framework":[9,50,66],"for":[10],"guide":[11,101],"robots,":[12],"to":[13,19,85,100,105],"better":[14],"assist":[15],"the":[16,54,59,72,83],"visually":[17],"impaired":[18],"select":[20],"safe":[21],"paths":[22],"in":[23,41,108],"cluttered":[25,44],"space.":[26,111],"Most":[27],"prior":[28],"robotic":[29],"guiding":[30],"systems":[31],"only":[32],"use":[33],"physical":[34],"contact,":[35],"limiting":[36],"their":[37],"ability":[38],"from":[39],"operating":[40],"narrow":[42],"and":[43,58,77],"environments.":[45],"Our":[46],"is":[51,94],"based":[52],"on":[53,75,96],"Social":[55],"Force":[56],"Model(SFM)":[57],"Monte":[60],"Carlo":[61],"Tree":[62],"Search(MCTS).":[63],"The":[64,91],"proposed":[65,92],"extracts":[67],"robot":[68,99],"behaviors'":[69],"impact":[70],"as":[71],"social":[73],"force":[74],"human":[76,79],"predicts":[78],"motion,":[80],"then":[81],"employs":[82],"MCTS":[84],"search":[86],"best":[87],"policy.":[90],"approach":[93],"deployed":[95],"humanoid":[98],"blind-folded":[103],"person":[104],"safely":[106],"travel":[107],"complicated":[110]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}