{"id":"https://openalex.org/W4391307063","doi":"https://doi.org/10.1109/smc53992.2023.10394158","title":"Spatial and Social Situation-Aware Transformer-Based Trajectory Prediction of Autonomous Systems","display_name":"Spatial and Social Situation-Aware Transformer-Based Trajectory Prediction of Autonomous Systems","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4391307063","doi":"https://doi.org/10.1109/smc53992.2023.10394158"},"language":"en","primary_location":{"id":"doi:10.1109/smc53992.2023.10394158","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53992.2023.10394158","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2406.02767","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031370645","display_name":"Kathrin Donandt","orcid":null},"institutions":[{"id":"https://openalex.org/I62318514","display_name":"University of Duisburg-Essen","ror":"https://ror.org/04mz5ra38","country_code":"DE","type":"education","lineage":["https://openalex.org/I62318514"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kathrin Donandt","raw_affiliation_strings":["Institute of Ship Technology, Ocean Engineering and Transport Systems, University of Duisburg-Essen,Duisburg,Germany,47057"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Ship Technology, Ocean Engineering and Transport Systems, University of Duisburg-Essen,Duisburg,Germany,47057","institution_ids":["https://openalex.org/I62318514"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113663613","display_name":"Dirk S\u00f6ffker","orcid":null},"institutions":[{"id":"https://openalex.org/I62318514","display_name":"University of Duisburg-Essen","ror":"https://ror.org/04mz5ra38","country_code":"DE","type":"education","lineage":["https://openalex.org/I62318514"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk S\u00f6ffker","raw_affiliation_strings":["University of Duisburg-Essen,Chair of Dynamics and Control,Duisburg,Germany,47057"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Duisburg-Essen,Chair of Dynamics and Control,Duisburg,Germany,47057","institution_ids":["https://openalex.org/I62318514"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62318514"],"apc_list":null,"apc_paid":null,"fwci":0.871,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.74724255,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4488","last_page":"4493"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/trajectory","display_name":"Trajectory","score":0.6406694054603577},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6282004714012146},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5105510950088501},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37156298756599426},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16269445419311523},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.11632251739501953},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.09592676162719727}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6406694054603577},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6282004714012146},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5105510950088501},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37156298756599426},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16269445419311523},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.11632251739501953},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.09592676162719727},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/smc53992.2023.10394158","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53992.2023.10394158","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2406.02767","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2406.02767","pdf_url":"https://arxiv.org/pdf/2406.02767","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2406.02767","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2406.02767","pdf_url":"https://arxiv.org/pdf/2406.02767","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.5400000214576721,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334517","display_name":"Bundesanstalt f\u00fcr Wasserbau","ror":"https://ror.org/03z6hnk02"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4391307063.pdf"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W2097545165","https://openalex.org/W2194775991","https://openalex.org/W2963037989","https://openalex.org/W2963677766","https://openalex.org/W2963906196","https://openalex.org/W2982083293","https://openalex.org/W2997958396","https://openalex.org/W3033790618","https://openalex.org/W3033920763","https://openalex.org/W3102427165","https://openalex.org/W3106257603","https://openalex.org/W3208246861","https://openalex.org/W4288064704","https://openalex.org/W4308080462","https://openalex.org/W4308080875","https://openalex.org/W4313590738","https://openalex.org/W4323567413","https://openalex.org/W6739901393","https://openalex.org/W6780503301"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324"],"abstract_inverted_index":{"Autonomous":[0],"transportation":[1],"systems":[2],"such":[3],"as":[4],"road":[5],"vehicles":[6],"or":[7],"vessels":[8],"require":[9],"the":[10,13,23,47,72,79,99,128,135,144,155,159,171,191,194,198,213,236,243],"consideration":[11],"of":[12,25,71,75,112,116,121,161,193,230],"static":[14],"and":[15,93,103,207,222,256],"dynamic":[16],"environment":[17,56],"to":[18,34,37,50,170,204,219,250,253],"dislocate":[19],"without":[20],"collision.":[21],"Anticipating":[22],"behavior":[24],"an":[26,85,259],"agent":[27],"in":[28,39,168,228,246],"a":[29,61,65,205,217,220],"given":[30],"situation":[31],"is":[32,57,95,132,140,201,226,248],"required":[33],"adequately":[35],"react":[36],"it":[38,238],"time.":[40],"Developing":[41],"deep":[42],"learning-based":[43],"models":[44],"has":[45],"become":[46],"dominant":[48],"approach":[49],"motion":[51],"prediction":[52,83,137,189],"recently.":[53],"The":[54],"social":[55,66,90,150,156,223],"often":[58],"considered":[59],"through":[60],"CNN-LSTM-based":[62],"sub-module":[63],"processing":[64,94,180],"tensor":[67,91],"that":[68,186,242],"includes":[69],"information":[70,115,152],"past":[73],"trajectory":[74,82,196],"surrounding":[76,104,254],"agents.":[77,124],"For":[78,158],"proposed":[80,244],"transformer-based":[81,126],"model,":[84],"alternative,":[86],"computationally":[87,177],"more":[88],"efficient":[89],"definition":[92],"suggested.":[96],"It":[97,139],"considers":[98],"interdependencies":[100],"between":[101],"target":[102,145],"agents":[105,255],"at":[106],"each":[107],"time":[108],"step":[109],"directly":[110],"instead":[111],"relying":[113],"on":[114],"last":[117],"hidden":[118],"LSTM":[119],"states":[120],"individually":[122],"processed":[123],"A":[125],"sub-module,":[127],"Social":[129],"Tensor":[130],"Transformer,":[131],"integrated":[133],"into":[134],"overall":[136],"model.":[138,210],"responsible":[141],"for":[142,187],"enriching":[143],"agent's":[146],"dislocation":[147,164],"features":[148,165],"with":[149],"interaction":[151],"obtained":[153],"from":[154,197,216],"tensor.":[157],"awareness":[160],"spatial":[162,221],"limitations,":[163],"are":[166],"defined":[167],"relation":[169],"navigable":[172],"area.":[173],"This":[174],"replaces":[175],"additional,":[176],"expensive":[178],"map":[179],"sub-modules.":[181],"An":[182],"ablation":[183],"study":[184],"shows,":[185],"longer":[188],"horizons,":[190],"deviation":[192],"predicted":[195],"ground":[199],"truth":[200],"lower":[202],"compared":[203],"spatially":[206],"socially":[208],"agnostic":[209],"Even":[211],"if":[212],"performance":[214],"gain":[215],"spatial-only":[218],"context-sensitive":[224],"model":[225,245],"small":[227],"terms":[229],"common":[231],"error":[232],"measures,":[233],"by":[234],"visualizing":[235],"results":[237],"can":[239],"be":[240],"shown":[241],"fact":[247],"able":[249],"predict":[251],"reactions":[252],"explicitely":[257],"allows":[258],"interpretable":[260],"behavior.":[261]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2024-01-30T00:00:00"}