{"id":"https://openalex.org/W4384519483","doi":"https://doi.org/10.1109/tits.2023.3292927","title":"Sampling-Based Path Planning in Highly Dynamic and Crowded Pedestrian Flow","display_name":"Sampling-Based Path Planning in Highly Dynamic and Crowded Pedestrian Flow","publication_year":2023,"publication_date":"2023-07-17","ids":{"openalex":"https://openalex.org/W4384519483","doi":"https://doi.org/10.1109/tits.2023.3292927"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2023.3292927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3292927","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-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/A5054771935","display_name":"Kuanqi Cai","orcid":"https://orcid.org/0000-0002-3655-8116"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kuanqi Cai","raw_affiliation_strings":["Autonomous Systems Laboratory, ETH Zürich, Zürich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-3655-8116","affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, ETH Zürich, Zürich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101989449","display_name":"Weinan Chen","orcid":"https://orcid.org/0000-0001-6490-9131"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weinan Chen","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Laboratory, Guangdong University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-6490-9131","affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Laboratory, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032438268","display_name":"Daniel Dugas","orcid":"https://orcid.org/0009-0000-6086-4730"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniel Dugas","raw_affiliation_strings":["Autonomous Systems Laboratory, ETH Zürich, Zürich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, ETH Zürich, Zürich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Laboratory, ETH Zürich, Zürich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2760-7983","affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, ETH Zürich, Zürich, Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009492797","display_name":"Jen Jen Chung","orcid":"https://orcid.org/0000-0001-7828-0741"},"institutions":[{"id":"https://openalex.org/I165143802","display_name":"The University of Queensland","ror":"https://ror.org/00rqy9422","country_code":"AU","type":"education","lineage":["https://openalex.org/I165143802"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jen Jen Chung","raw_affiliation_strings":["Autonomous Systems Laboratory, ETH Zürich, Zürich, Switzerland","School of EECS, The University of Queensland, St. Lucia, QLD, Australia"],"raw_orcid":"https://orcid.org/0000-0001-7828-0741","affiliations":[{"raw_affiliation_string":"Autonomous Systems Laboratory, ETH Zürich, Zürich, Switzerland","institution_ids":[]},{"raw_affiliation_string":"School of EECS, The University of Queensland, St. Lucia, QLD, Australia","institution_ids":["https://openalex.org/I165143802"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.4282,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.87970292,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"24","issue":"12","first_page":"14732","last_page":"14742"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9957000017166138,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.8311445116996765},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6260714530944824},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6250412464141846},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6204994320869446},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5884129405021667},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.531252384185791},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5287206768989563},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5241337418556213},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.477088063955307},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4478972554206848},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42598599195480347},{"id":"https://openalex.org/keywords/free-space","display_name":"Free space","score":0.41358840465545654},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32795387506484985},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2420026659965515},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.13859957456588745},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.11469882726669312},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09624963998794556}],"concepts":[{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.8311445116996765},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6260714530944824},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6250412464141846},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6204994320869446},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5884129405021667},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.531252384185791},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5287206768989563},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5241337418556213},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.477088063955307},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4478972554206848},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42598599195480347},{"id":"https://openalex.org/C2988672794","wikidata":"https://www.wikidata.org/wiki/Q11475","display_name":"Free space","level":2,"score":0.41358840465545654},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32795387506484985},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2420026659965515},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.13859957456588745},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.11469882726669312},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09624963998794556},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2023.3292927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3292927","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7799999713897705,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G4065850228","display_name":null,"funder_award_id":"62103179","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4648414737","display_name":"Safe Robot Navigation in Dense Crowds","funder_award_id":"779942","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W127470283","https://openalex.org/W131069610","https://openalex.org/W1963649406","https://openalex.org/W2046213647","https://openalex.org/W2059993653","https://openalex.org/W2117211893","https://openalex.org/W2142943472","https://openalex.org/W2161339130","https://openalex.org/W2196524641","https://openalex.org/W2552143865","https://openalex.org/W2620813892","https://openalex.org/W2739961324","https://openalex.org/W2753014192","https://openalex.org/W2877466430","https://openalex.org/W2890001928","https://openalex.org/W2962961580","https://openalex.org/W2963268101","https://openalex.org/W2969277962","https://openalex.org/W2981759303","https://openalex.org/W3008967682","https://openalex.org/W3016889590","https://openalex.org/W3037956663","https://openalex.org/W3130520215","https://openalex.org/W3130574591","https://openalex.org/W3157613500","https://openalex.org/W3172634916","https://openalex.org/W3183306336","https://openalex.org/W3194593943","https://openalex.org/W3196525377","https://openalex.org/W3196760406","https://openalex.org/W3201913099","https://openalex.org/W3202969251","https://openalex.org/W3215393605","https://openalex.org/W4249787530","https://openalex.org/W4285102559","https://openalex.org/W4293193500","https://openalex.org/W4293195537","https://openalex.org/W4312219157","https://openalex.org/W4312395550","https://openalex.org/W6605197631","https://openalex.org/W6605295560","https://openalex.org/W6780127695"],"related_works":["https://openalex.org/W2392100589","https://openalex.org/W2512789322","https://openalex.org/W3122828758","https://openalex.org/W2899977359","https://openalex.org/W1819938260","https://openalex.org/W1630669003","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4381746183"],"abstract_inverted_index":{"Autonomous":[0],"pedestrian-aware":[1],"navigation":[2],"in":[3,17,26,37,116],"shared":[4],"human-robot":[5],"environments":[6],"is":[7,44,85,114],"a":[8,14,19,27,55,62,66,129],"challenging":[9],"problem.":[10],"Here":[11],"we":[12,53,91],"consider":[13],"common":[15],"situation":[16],"which":[18,97],"large":[20],"crowd":[21],"of":[22,75],"pedestrians":[23],"moves":[24],"together":[25],"limited":[28,45],"space.":[29],"Traditional":[30],"planners":[31],"struggle":[32],"to":[33,88,108],"find":[34,128],"collision-free":[35],"paths":[36],"such":[38],"situations":[39],"since":[40],"the":[41,73,76,80,83,99,109,117],"free":[42],"space":[43],"and":[46,65,79],"always":[47],"changing.":[48],"To":[49],"solve":[50],"this":[51],"problem,":[52],"proposed":[54,70],"flow":[56,78],"map-based":[57],"RRT*":[58],"method":[59,71,126],"(FM-RRT*)":[60],"containing":[61],"velocity":[63,74],"layer":[64],"minimally-intrusive":[67],"layer.":[68],"The":[69,112,121],"models":[72],"pedestrian":[77,110],"area":[81],"where":[82],"robot":[84,100],"less":[86],"invasive":[87],"pedestrians.":[89],"Furthermore,":[90],"propose":[92],"an":[93],"adaptive":[94],"bias":[95],"sampling,":[96],"drives":[98],"considering":[101,132],"relative":[102],"velocity,":[103],"or":[104],"minimal":[105],"intrusion,":[106],"according":[107],"flow.":[111],"evaluation":[113],"conducted":[115],"Crowdbot":[118],"Challenge":[119],"simulator.":[120],"results":[122],"show":[123],"that":[124],"our":[125],"can":[127],"feasible":[130],"path":[131],"collision":[133],"risk":[134],"while":[135],"simultaneously":[136],"avoiding":[137],"intrusive":[138],"human":[139],"movement.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}