{"id":"https://openalex.org/W4403635664","doi":"https://doi.org/10.1109/tro.2024.3484634","title":"SICNav: Safe and Interactive Crowd Navigation Using Model Predictive Control and Bilevel Optimization","display_name":"SICNav: Safe and Interactive Crowd Navigation Using Model Predictive Control and Bilevel Optimization","publication_year":2024,"publication_date":"2024-10-22","ids":{"openalex":"https://openalex.org/W4403635664","doi":"https://doi.org/10.1109/tro.2024.3484634"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3484634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3484634","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5073111767","display_name":"Sepehr Samavi","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]},{"id":"https://openalex.org/I4210164862","display_name":"Artificial Intelligence in Medicine (Canada)","ror":"https://ror.org/05p590m36","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210164862"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Sepehr Samavi","raw_affiliation_strings":["University of Toronto Robotics Institute, Vector Institute for Artificial Intelligence, Toronto, ON, Canada","Technical University of Munich, University of Toronto, the Vector Institute for Artificial Intelligence, and the Munich Institute for Robotics and Machine Intelligence (MIRMI), Munich, Germany","University of Toronto Robotics Institute and the Vector Institute for Artificial Intelligence, Toronto, Canada"],"raw_orcid":"https://orcid.org/0000-0003-4247-6608","affiliations":[{"raw_affiliation_string":"University of Toronto Robotics Institute, Vector Institute for Artificial Intelligence, Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210127509"]},{"raw_affiliation_string":"Technical University of Munich, University of Toronto, the Vector Institute for Artificial Intelligence, and the Munich Institute for Robotics and Machine Intelligence (MIRMI), Munich, Germany","institution_ids":["https://openalex.org/I4210164862"]},{"raw_affiliation_string":"University of Toronto Robotics Institute and the Vector Institute for Artificial Intelligence, Toronto, Canada","institution_ids":["https://openalex.org/I4210127509","https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":null,"display_name":"James R. Han","orcid":"https://orcid.org/0009-0006-4522-4026"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]},{"id":"https://openalex.org/I4210164862","display_name":"Artificial Intelligence in Medicine (Canada)","ror":"https://ror.org/05p590m36","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210164862"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"James R. Han","raw_affiliation_strings":["University of Toronto Robotics Institute, Vector Institute for Artificial Intelligence, Toronto, ON, Canada","Technical University of Munich, University of Toronto, the Vector Institute for Artificial Intelligence, and the Munich Institute for Robotics and Machine Intelligence (MIRMI), Munich, Germany","University of Toronto Robotics Institute and the Vector Institute for Artificial Intelligence, Toronto, Canada"],"raw_orcid":"https://orcid.org/0009-0006-4522-4026","affiliations":[{"raw_affiliation_string":"University of Toronto Robotics Institute, Vector Institute for Artificial Intelligence, Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210127509"]},{"raw_affiliation_string":"Technical University of Munich, University of Toronto, the Vector Institute for Artificial Intelligence, and the Munich Institute for Robotics and Machine Intelligence (MIRMI), Munich, Germany","institution_ids":["https://openalex.org/I4210164862"]},{"raw_affiliation_string":"University of Toronto Robotics Institute and the Vector Institute for Artificial Intelligence, Toronto, Canada","institution_ids":["https://openalex.org/I4210127509","https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010648258","display_name":"Florian Shkurti","orcid":"https://orcid.org/0000-0002-5672-5831"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]},{"id":"https://openalex.org/I4210164862","display_name":"Artificial Intelligence in Medicine (Canada)","ror":"https://ror.org/05p590m36","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210164862"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Florian Shkurti","raw_affiliation_strings":["University of Toronto Robotics Institute, Vector Institute for Artificial Intelligence, Toronto, ON, Canada","Technical University of Munich, University of Toronto, the Vector Institute for Artificial Intelligence, and the Munich Institute for Robotics and Machine Intelligence (MIRMI), Munich, Germany","University of Toronto Robotics Institute and the Vector Institute for Artificial Intelligence, Toronto, Canada"],"raw_orcid":"https://orcid.org/0000-0002-5672-5831","affiliations":[{"raw_affiliation_string":"University of Toronto Robotics Institute, Vector Institute for Artificial Intelligence, Toronto, ON, Canada","institution_ids":["https://openalex.org/I4210127509"]},{"raw_affiliation_string":"Technical University of Munich, University of Toronto, the Vector Institute for Artificial Intelligence, and the Munich Institute for Robotics and Machine Intelligence (MIRMI), Munich, Germany","institution_ids":["https://openalex.org/I4210164862"]},{"raw_affiliation_string":"University of Toronto Robotics Institute and the Vector Institute for Artificial Intelligence, Toronto, Canada","institution_ids":["https://openalex.org/I4210127509","https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052147335","display_name":"Angela P. Schoellig","orcid":"https://orcid.org/0000-0003-4012-4668"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]},{"id":"https://openalex.org/I4210164862","display_name":"Artificial Intelligence in Medicine (Canada)","ror":"https://ror.org/05p590m36","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210164862"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["CA","DE"],"is_corresponding":false,"raw_author_name":"Angela P. Schoellig","raw_affiliation_strings":["Technical University of Munich, Munich, Germany","University of Toronto Robotics Institute and the Vector Institute for Artificial Intelligence, Toronto, Canada","Technical University of Munich, University of Toronto, the Vector Institute for Artificial Intelligence, and the Munich Institute for Robotics and Machine Intelligence (MIRMI), Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4012-4668","affiliations":[{"raw_affiliation_string":"Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"University of Toronto Robotics Institute and the Vector Institute for Artificial Intelligence, Toronto, Canada","institution_ids":["https://openalex.org/I4210127509","https://openalex.org/I185261750"]},{"raw_affiliation_string":"Technical University of Munich, University of Toronto, the Vector Institute for Artificial Intelligence, and the Munich Institute for Robotics and Machine Intelligence (MIRMI), Munich, Germany","institution_ids":["https://openalex.org/I4210164862"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9531,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.90640035,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"41","issue":null,"first_page":"801","last_page":"818"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9954000115394592,"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":0.9954000115394592,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9495999813079834,"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"}},{"id":"https://openalex.org/T11344","display_name":"Traffic Prediction and Management Techniques","score":0.9427000284194946,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/bilevel-optimization","display_name":"Bilevel optimization","score":0.8724533319473267},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6695946455001831},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6188996434211731},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5014972686767578},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.432881236076355},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3805494010448456},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.2954047620296478},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2290198802947998},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.0744239091873169}],"concepts":[{"id":"https://openalex.org/C3309286","wikidata":"https://www.wikidata.org/wiki/Q4907693","display_name":"Bilevel optimization","level":3,"score":0.8724533319473267},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6695946455001831},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6188996434211731},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5014972686767578},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.432881236076355},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3805494010448456},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2954047620296478},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2290198802947998},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0744239091873169}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3484634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3484634","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":64,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1968859249","https://openalex.org/W1970206276","https://openalex.org/W1978956894","https://openalex.org/W1988994102","https://openalex.org/W2002440441","https://openalex.org/W2021667451","https://openalex.org/W2041988518","https://openalex.org/W2082585576","https://openalex.org/W2117211893","https://openalex.org/W2134819687","https://openalex.org/W2140542425","https://openalex.org/W2167052694","https://openalex.org/W2227909145","https://openalex.org/W2411577903","https://openalex.org/W2424778531","https://openalex.org/W2532516272","https://openalex.org/W2549200707","https://openalex.org/W2612937991","https://openalex.org/W2842089854","https://openalex.org/W2890001928","https://openalex.org/W2962715980","https://openalex.org/W2963001155","https://openalex.org/W2964700089","https://openalex.org/W2966908368","https://openalex.org/W2969076652","https://openalex.org/W2981759303","https://openalex.org/W2990116160","https://openalex.org/W2990973279","https://openalex.org/W3091067209","https://openalex.org/W3108490973","https://openalex.org/W3115517346","https://openalex.org/W3116651890","https://openalex.org/W3124260346","https://openalex.org/W3131623996","https://openalex.org/W3173496395","https://openalex.org/W3194404705","https://openalex.org/W3195092934","https://openalex.org/W3201008491","https://openalex.org/W3207305612","https://openalex.org/W4250589301","https://openalex.org/W4313131073","https://openalex.org/W4389665364","https://openalex.org/W4389666419","https://openalex.org/W6645101842","https://openalex.org/W6656061497","https://openalex.org/W6679816835","https://openalex.org/W6728740164","https://openalex.org/W6737628285","https://openalex.org/W6749387567","https://openalex.org/W6749808448","https://openalex.org/W6755520583","https://openalex.org/W6761170470","https://openalex.org/W6762694714","https://openalex.org/W6765376348","https://openalex.org/W6768263596","https://openalex.org/W6779371077","https://openalex.org/W6786645817","https://openalex.org/W6789479737","https://openalex.org/W6800199322","https://openalex.org/W6800517331","https://openalex.org/W6801724308","https://openalex.org/W6850264596","https://openalex.org/W6856037982"],"related_works":["https://openalex.org/W2479207418","https://openalex.org/W4237041411","https://openalex.org/W1588628884","https://openalex.org/W1994745260","https://openalex.org/W2382404424","https://openalex.org/W2012267561","https://openalex.org/W3018909868","https://openalex.org/W3040509871","https://openalex.org/W1597439928","https://openalex.org/W2556120871"],"abstract_inverted_index":{"Robots":[0],"need":[1],"to":[2,6,9,38,82,117,131,167],"predict":[3],"and":[4,32,35,49,68,92,126,160],"react":[5],"human":[7,33,78,189],"motions":[8,34],"navigate":[10],"through":[11],"a":[12,54,97,106,114,123,128,146,164,188],"crowd":[13,51,70,81],"without":[14],"collisions.":[15],"Many":[16],"existing":[17],"methods":[18],"decouple":[19],"prediction":[20],"from":[21],"planning,":[22],"which":[23],"does":[24],"not":[25],"account":[26],"for":[27,65],"the":[28,39,80,100,119,152,175,181],"interaction":[29],"between":[30],"robot":[31,40,66,166,170],"can":[36,136,173],"lead":[37],"getting":[41],"stuck.":[42],"In":[43],"this":[44],"article,":[45],"we":[46],"propose":[47],"safe":[48,169],"interactive":[50],"navigation":[52],"(SICNav),":[53],"model":[55,76,95],"predictive":[56],"control":[57],"(MPC)":[58],"method":[59,135],"that":[60,94,172],"<italic":[61],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[62],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">jointly</i>":[63],"solves":[64],"motion":[67,71,139,171],"predicted":[69],"in":[72,79,99,105,145,156],"closed":[73],"loop.":[74],"We":[75,112,150,178],"each":[77],"be":[83],"following":[84],"an":[85],"optimal":[86],"reciprocal":[87],"collision":[88],"avoidance":[89],"(ORCA)":[90],"scheme":[91],"embed":[93],"as":[96,122],"constraint":[98],"robot's":[101],"local":[102],"planner,":[103],"resulting":[104],"bilevel":[107,120],"nonlinear":[108,129],"MPC":[109,134],"optimization":[110],"problem.":[111],"use":[113,127],"Karush\u2013Kuhn\u2013Tucker":[115],"(KKT)-reformulation":[116],"cast":[118],"problem":[121],"single":[124],"level":[125],"solver":[130],"optimize.":[132],"Our":[133],"influence":[137,174],"pedestrian":[138],"while":[140],"explicitly":[141],"satisfying":[142],"safety":[143],"constraints":[144],"single-robot":[147],"multihuman":[148],"environment.":[149],"analyze":[151],"performance":[153,184],"of":[154,185],"SICNav":[155],"two":[157],"simulation":[158],"environments":[159],"indoor":[161],"experiments":[162],"with":[163],"real":[165],"demonstrate":[168],"surrounding":[176],"humans.":[177],"also":[179],"validate":[180],"trajectory":[182,190],"forecasting":[183],"ORCA":[186],"on":[187],"dataset.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
