{"id":"https://openalex.org/W2990646518","doi":"https://doi.org/10.1109/smc.2019.8913844","title":"Socially-Aware Navigation of Omnidirectional Mobile Robot with Extended Social Force Model in Multi-Human Environment","display_name":"Socially-Aware Navigation of Omnidirectional Mobile Robot with Extended Social Force Model in Multi-Human Environment","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2990646518","doi":"https://doi.org/10.1109/smc.2019.8913844","mag":"2990646518"},"language":"en","primary_location":{"id":"doi:10.1109/smc.2019.8913844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2019.8913844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)","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/A5038267363","display_name":"Chun-Tang Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chun-Tang Yang","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061075171","display_name":"Tianshi Zhang","orcid":"https://orcid.org/0009-0008-0619-1975"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Tianshi Zhang","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054320201","display_name":"Li-Pu Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Li-Pu Chen","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101925654","display_name":"Li\u2010Chen Fu","orcid":"https://orcid.org/0000-0002-6947-7646"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li-Chen Fu","raw_affiliation_strings":["Director of NTU Center for Artificial Intelligence Advanced Robotics, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Director of NTU Center for Artificial Intelligence Advanced Robotics, Taipei, Taiwan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1963","last_page":"1968"},"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":0.9979000091552734,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9926000237464905,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6807140111923218},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6395041346549988},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.6320759057998657},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6188917756080627},{"id":"https://openalex.org/keywords/social-force-model","display_name":"Social force model","score":0.5649539828300476},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.5545168519020081},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5450960397720337},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5440553426742554},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5382987856864929},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.5125095844268799},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.46758365631103516},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.4519108235836029},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.43687987327575684},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.24978160858154297},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17627698183059692},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.09303134679794312},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08776700496673584}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6807140111923218},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6395041346549988},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.6320759057998657},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6188917756080627},{"id":"https://openalex.org/C2779293179","wikidata":"https://www.wikidata.org/wiki/Q465266","display_name":"Social force model","level":3,"score":0.5649539828300476},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.5545168519020081},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5450960397720337},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5440553426742554},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5382987856864929},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.5125095844268799},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.46758365631103516},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.4519108235836029},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.43687987327575684},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.24978160858154297},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17627698183059692},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.09303134679794312},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08776700496673584},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc.2019.8913844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2019.8913844","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W22576356","https://openalex.org/W1559267142","https://openalex.org/W1833636546","https://openalex.org/W1963985276","https://openalex.org/W1965311879","https://openalex.org/W1987768879","https://openalex.org/W1992225177","https://openalex.org/W1993643921","https://openalex.org/W2000365432","https://openalex.org/W2026000422","https://openalex.org/W2026227292","https://openalex.org/W2059993653","https://openalex.org/W2071796842","https://openalex.org/W2078226637","https://openalex.org/W2093846318","https://openalex.org/W2100615611","https://openalex.org/W2103719250","https://openalex.org/W2118407121","https://openalex.org/W2129751259","https://openalex.org/W2165852544","https://openalex.org/W2167052694","https://openalex.org/W2172133054","https://openalex.org/W2172235251","https://openalex.org/W2304556346","https://openalex.org/W2559085405","https://openalex.org/W2561619970","https://openalex.org/W2565402511","https://openalex.org/W2568874306","https://openalex.org/W2597921782","https://openalex.org/W2604216058","https://openalex.org/W2625493521","https://openalex.org/W2772559918","https://openalex.org/W2772946107","https://openalex.org/W2773664014","https://openalex.org/W2901136733","https://openalex.org/W6684820515","https://openalex.org/W6697734773","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2281200235","https://openalex.org/W84202494","https://openalex.org/W2577491335","https://openalex.org/W2069596755","https://openalex.org/W2045978853","https://openalex.org/W2166825355","https://openalex.org/W2115907340","https://openalex.org/W4391071665","https://openalex.org/W2098039291","https://openalex.org/W2968874086"],"abstract_inverted_index":{"We":[0],"propose":[1,181],"a":[2,14,47,62,135,168,182,210],"new":[3],"navigation":[4,64,137,212],"method":[5,65,192],"for":[6,24,66,204],"an":[7,20,67,100,199],"omnidirectional":[8,68],"mobile":[9,69],"robot":[10,26,70,85,97,123],"to":[11,28,30,71,153,159],"maneuver":[12],"in":[13],"complex":[15],"and":[16,33,37,53,81,89,103,109,118,165,193],"populated":[17,22],"environment.":[18,166],"In":[19],"indoor":[21],"environment,":[23],"example,":[25],"has":[27],"react":[29],"such":[31],"circumstances":[32],"achieve":[34,72],"both":[35],"physical":[36],"psychological":[38],"navigational":[39],"safety.":[40],"From":[41,93],"social":[42,161],"researches,":[43],"human":[44,90,164,188],"motion":[45],"is":[46],"hybrid":[48],"system":[49,206],"composed":[50],"of":[51,111,172],"holonomic":[52],"non-holonomic":[54],"movements.":[55],"Based":[56],"on":[57,187,208],"this":[58],"concept,":[59],"we":[60,146,180,197],"develop":[61,147,198],"socially-aware":[63],"natural,":[73],"humanlike":[74],"movement.":[75],"By":[76],"using":[77,190],"laser":[78],"range":[79],"finder":[80],"camera":[82],"as":[83,133,160],"sensors,":[84],"detects":[86],"geometric":[87,95],"features":[88,96],"behavior":[91,138,189],"information.":[92],"the":[94,105,112,116,148,155,170,205],"can":[98,124,214],"construct":[99],"environment":[101],"model":[102,125,185],"extract":[104],"information":[106,120],"about":[107],"distances":[108],"directions":[110],"obstacles.":[113],"Whereas":[114],"with":[115,144,163],"heading":[117],"orientation":[119],"from":[121],"camera,":[122],"individual":[126],"humans":[127],"successfully.":[128],"While":[129],"acquiring":[130],"these":[131],"models":[132],"context,":[134],"suitable":[136],"would":[139],"be":[140,215],"executed.":[141],"To":[142],"interact":[143],"surroundings,":[145],"extended":[149,200],"Social":[150,201],"Force":[151,202],"Model(ESFM)":[152],"describe":[154],"interactive":[156],"force,":[157,162],"referred":[158],"As":[167],"whole,":[169],"contributions":[171],"our":[173],"work":[174],"are":[175],"twofold":[176],"one":[177],"being":[178,195],"that":[179,196],"dynamic":[183],"grouping":[184],"based":[186,207],"learning-based":[191],"another":[194],"Model":[203],"which":[209],"successful":[211],"strategy":[213],"realized.":[216]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}