{"id":"https://openalex.org/W3011921237","doi":"https://doi.org/10.1109/sii46433.2020.9026277","title":"Autonomous Mobile Robot Navigation Considering the Pedestrian Flow Intersections","display_name":"Autonomous Mobile Robot Navigation Considering the Pedestrian Flow Intersections","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3011921237","doi":"https://doi.org/10.1109/sii46433.2020.9026277","mag":"3011921237"},"language":"en","primary_location":{"id":"doi:10.1109/sii46433.2020.9026277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii46433.2020.9026277","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/SICE International Symposium on System Integration (SII)","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/A5049241151","display_name":"Kitaoka Akiyoshi","orcid":null},"institutions":[{"id":"https://openalex.org/I206011266","display_name":"Kwansei Gakuin University","ror":"https://ror.org/02qf2tx24","country_code":"JP","type":"education","lineage":["https://openalex.org/I206011266"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"K. Akiyoshi","raw_affiliation_strings":["Graduate School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo, Japan","institution_ids":["https://openalex.org/I206011266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035037458","display_name":"Daisuke Chugo","orcid":"https://orcid.org/0000-0002-3884-3746"},"institutions":[{"id":"https://openalex.org/I206011266","display_name":"Kwansei Gakuin University","ror":"https://ror.org/02qf2tx24","country_code":"JP","type":"education","lineage":["https://openalex.org/I206011266"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"D. Chugo","raw_affiliation_strings":["Graduate School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Kwansei Gakuin University, Sanda, Hyogo, Japan","institution_ids":["https://openalex.org/I206011266"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070966533","display_name":"Shogo Muramatsu","orcid":"https://orcid.org/0000-0002-2990-1238"},"institutions":[{"id":"https://openalex.org/I1314466530","display_name":"Tokai University","ror":"https://ror.org/01p7qe739","country_code":"JP","type":"education","lineage":["https://openalex.org/I1314466530"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Muramatsu","raw_affiliation_strings":["School of Science and Information and Telecommunication Engineering, Tokai University, Hiratsuka, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"School of Science and Information and Telecommunication Engineering, Tokai University, Hiratsuka, Kanagawa, Japan","institution_ids":["https://openalex.org/I1314466530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083691433","display_name":"Sho Yokota","orcid":"https://orcid.org/0000-0002-8507-5620"},"institutions":[{"id":"https://openalex.org/I158123994","display_name":"Toyo University","ror":"https://ror.org/059d6yn51","country_code":"JP","type":"education","lineage":["https://openalex.org/I158123994"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Yokota","raw_affiliation_strings":["Faculty of Science and Engineering, Toyo University, Kawagoe, Saitama, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Toyo University, Kawagoe, Saitama, Japan","institution_ids":["https://openalex.org/I158123994"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103125589","display_name":"Hiroshi Hashimoto","orcid":"https://orcid.org/0000-0003-2416-8038"},"institutions":[{"id":"https://openalex.org/I74640424","display_name":"Advanced Institute of Industrial Technology","ror":"https://ror.org/04f9apy08","country_code":"JP","type":"education","lineage":["https://openalex.org/I74640424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Hashimoto","raw_affiliation_strings":["Master Program of Innovation for Design and Engineering, Advanced Institute of Industrial Technology, Shinagawa, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Master Program of Innovation for Design and Engineering, Advanced Institute of Industrial Technology, Shinagawa, Tokyo, Japan","institution_ids":["https://openalex.org/I74640424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5049241151"],"corresponding_institution_ids":["https://openalex.org/I206011266"],"apc_list":null,"apc_paid":null,"fwci":0.5862,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.67948847,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"428","last_page":"433"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9939000010490417,"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":0.9939000010490417,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.993399977684021,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.8255207538604736},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.7391514778137207},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6642236709594727},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6398046016693115},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6317012310028076},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4483165740966797},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44629156589508057},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39144366979599},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3872362971305847},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3694759011268616},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3676746189594269},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2569834887981415},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.17939063906669617},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1185159981250763}],"concepts":[{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.8255207538604736},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.7391514778137207},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6642236709594727},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6398046016693115},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6317012310028076},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4483165740966797},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44629156589508057},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39144366979599},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3872362971305847},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3694759011268616},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3676746189594269},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2569834887981415},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.17939063906669617},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1185159981250763}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii46433.2020.9026277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii46433.2020.9026277","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":2,"referenced_works":["https://openalex.org/W2312591742","https://openalex.org/W2500819240"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2359600231","https://openalex.org/W4292862729","https://openalex.org/W2380019117","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"In":[0,13,54,189,250,279],"recent":[1],"years,":[2],"many":[3],"service":[4],"robots":[5],"move":[6,49,234],"autonomously":[7],"in":[8,25,64,80,298],"an":[9],"human":[10],"co-existing":[11],"environments.":[12],"these":[14,30],"environments,":[15],"there":[16],"are":[17],"multiple":[18],"pedestrian":[19,203,210,246,275],"flows":[20],"and":[21,40,187,208,216,256,264,283],"their":[22,108],"intersections":[23],"especially,":[24],"the":[26,32,61,65,72,81,85,105,122,125,132,135,144,155,160,165,173,180,191,194,202,206,209,212,225,228,235,241,245,248,261,267,271,280,291,301],"indoor":[27,66,126,161],"passage.":[28],"At":[29],"intersections,":[31],"pedestrian's":[33],"movement":[34,101,145,200],"tends":[35],"not":[36],"to":[37,48,134,171,260],"be":[38],"constant":[39],"for":[41,102,150,276],"autonomous":[42],"mobile":[43,231,286],"robots,":[44],"it":[45,168],"is":[46,90,148,169,176,294],"difficult":[47,170],"safely":[50],"with":[51],"avoiding":[52,151],"pedestrians.":[53],"our":[55,118,141],"previous":[56],"study,":[57,252],"path":[58,268],"planning":[59,269],"considering":[60],"occlusion":[62],"area":[63],"passage":[67,127,162,213],"realized":[68],"safe":[69,100],"moving":[70,297],"at":[71,104,154],"intersections.":[73],"However,":[74],"proposed":[75,119,292],"system":[76],"required":[77],"intersection":[78,106,123,133],"position":[79,257],"environment":[82],"beforehand.":[83,113,137],"Therefore,":[84],"purpose":[86],"of":[87,92,107,124,131,159,193,201,227,244,258,274,300],"this":[88,116,251],"study":[89],"development":[91],"a":[93],"robot":[94,136,142,232,262],"navigation":[95],"scheme":[96,120],"that":[97,175,219,290],"realizes":[98],"its":[99,152],"pedestrians":[103],"flow":[109],"without":[110,128],"special":[111],"information":[112],"For":[114],"realizing":[115],"objective,":[117],"estimates":[121],"giving":[129],"shape":[130,158],"Using":[138],"estimated":[139],"results,":[140],"design":[143],"path,":[146],"which":[147],"suitable":[149,237],"risk":[153],"intersection.":[156],"The":[157,230],"can":[163,233],"measure":[164],"confluence,":[166],"but":[167],"estimate":[172],"door":[174,181,195,223,259],"closed":[177],"state":[178,192,226],"because":[179],"has":[182],"two":[183],"different":[184],"states:":[185],"open":[186],"closed.":[188],"addition,":[190],"actually":[196],"changes":[197],"depending":[198],"on":[199,211,247],"passing":[204],"through":[205],"door,":[207],"side":[214],"predict":[215],"avoid":[217],"person":[218],"will":[220],"appear":[221],"from":[222],"changing":[224],"door.":[229,278,302],"most":[236],"route":[238],"by":[239],"reflecting":[240],"walking":[242,272],"characteristics":[243,273],"robot.":[249],"we":[253,265,288],"give":[254],"type":[255],"beforehand,":[263],"propose":[266],"using":[270,285],"each":[277],"simulation":[281],"experiment":[282,284],"robot,":[287],"confirmed":[289],"method":[293],"safer":[295],"avoidance":[296],"front":[299]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
