{"id":"https://openalex.org/W2072956256","doi":"https://doi.org/10.1177/0278364914555543","title":"BRVO: Predicting pedestrian trajectories using velocity-space reasoning","display_name":"BRVO: Predicting pedestrian trajectories using velocity-space reasoning","publication_year":2014,"publication_date":"2014-12-09","ids":{"openalex":"https://openalex.org/W2072956256","doi":"https://doi.org/10.1177/0278364914555543","mag":"2072956256"},"language":"en","primary_location":{"id":"doi:10.1177/0278364914555543","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914555543","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5100739942","display_name":"Sujeong Kim","orcid":"https://orcid.org/0000-0003-0471-8995"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sujeong Kim","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, NC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007324122","display_name":"Stephen J. Guy","orcid":"https://orcid.org/0000-0001-8986-5817"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen J. Guy","raw_affiliation_strings":["Department of Computer Science, University of Minnesota, MN, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Minnesota, MN, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008940943","display_name":"Wenxi Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wenxi Liu","raw_affiliation_strings":["Department of Computer Science, City University of Hong Kong, Kowloon Tong, Hong Kong","Department of Computer Science; City University of Hong Kong; Kowloon Tong; Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, City University of Hong Kong, Kowloon Tong, Hong Kong","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Computer Science; City University of Hong Kong; Kowloon Tong; Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020162100","display_name":"David A. Wilkie","orcid":"https://orcid.org/0000-0002-4237-0371"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Wilkie","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, NC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006197413","display_name":"Rynson W. H. Lau","orcid":"https://orcid.org/0000-0002-8957-8129"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Rynson W.H. Lau","raw_affiliation_strings":["Department of Computer Science, City University of Hong Kong, Kowloon Tong, Hong Kong","Department of Computer Science; City University of Hong Kong; Kowloon Tong; Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, City University of Hong Kong, Kowloon Tong, Hong Kong","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Department of Computer Science; City University of Hong Kong; Kowloon Tong; Hong Kong","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102878981","display_name":"Ming C. Lin","orcid":"https://orcid.org/0000-0003-3736-6949"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ming C. Lin","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, NC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004194238","display_name":"Dinesh Manocha","orcid":"https://orcid.org/0000-0001-7047-9801"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Manocha","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Chapel Hill, NC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100739942"],"corresponding_institution_ids":["https://openalex.org/I114027177"],"apc_list":null,"apc_paid":null,"fwci":12.0226,"has_fulltext":false,"cited_by_count":113,"citation_normalized_percentile":{"value":0.98787211,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"34","issue":"2","first_page":"201","last_page":"217"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9966999888420105,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9965000152587891,"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/robot","display_name":"Robot","score":0.6983792781829834},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6684204339981079},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6555496454238892},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6537830233573914},{"id":"https://openalex.org/keywords/pedestrian","display_name":"Pedestrian","score":0.6108357310295105},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5903701186180115},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5602709650993347},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5473204255104065},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4446719288825989},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.41706582903862},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33496493101119995},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17339205741882324}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6983792781829834},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6684204339981079},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6555496454238892},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6537830233573914},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.6108357310295105},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5903701186180115},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5602709650993347},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5473204255104065},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4446719288825989},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.41706582903862},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33496493101119995},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17339205741882324},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364914555543","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914555543","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.713.2016","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.713.2016","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cityu.edu.hk/%7Erynson/papers/ijrr15.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.732.9579","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.732.9579","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://gamma.cs.unc.edu/BRVO/BRVO_IJRR.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":66,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1749494163","https://openalex.org/W1848277695","https://openalex.org/W1869163116","https://openalex.org/W1963649406","https://openalex.org/W1967777429","https://openalex.org/W1969622215","https://openalex.org/W1970693447","https://openalex.org/W1999839266","https://openalex.org/W2004094485","https://openalex.org/W2009104157","https://openalex.org/W2029847502","https://openalex.org/W2031569927","https://openalex.org/W2033312954","https://openalex.org/W2035379092","https://openalex.org/W2037399936","https://openalex.org/W2049302255","https://openalex.org/W2051410615","https://openalex.org/W2059376496","https://openalex.org/W2071005201","https://openalex.org/W2073131864","https://openalex.org/W2082585576","https://openalex.org/W2087760063","https://openalex.org/W2088604406","https://openalex.org/W2089286535","https://openalex.org/W2090229683","https://openalex.org/W2097639646","https://openalex.org/W2101668106","https://openalex.org/W2101821104","https://openalex.org/W2110116545","https://openalex.org/W2117853077","https://openalex.org/W2121215404","https://openalex.org/W2126668725","https://openalex.org/W2129746290","https://openalex.org/W2134882340","https://openalex.org/W2140973417","https://openalex.org/W2142943472","https://openalex.org/W2146183743","https://openalex.org/W2149141845","https://openalex.org/W2157304242","https://openalex.org/W2158955189","https://openalex.org/W2160337655","https://openalex.org/W2164489414","https://openalex.org/W2166052572","https://openalex.org/W2167052694","https://openalex.org/W2167999909","https://openalex.org/W2170193830","https://openalex.org/W2293527364","https://openalex.org/W2303958130","https://openalex.org/W2498094064","https://openalex.org/W2532363096","https://openalex.org/W2532516272","https://openalex.org/W2582998992","https://openalex.org/W2614099519","https://openalex.org/W2799002609","https://openalex.org/W2904454889","https://openalex.org/W2917141187","https://openalex.org/W2963993701","https://openalex.org/W2986853260","https://openalex.org/W3142298583","https://openalex.org/W3150997492","https://openalex.org/W4211188466","https://openalex.org/W4230809916","https://openalex.org/W4236965008","https://openalex.org/W4244791762","https://openalex.org/W4365800106"],"related_works":["https://openalex.org/W2392100589","https://openalex.org/W2512789322","https://openalex.org/W2101960027","https://openalex.org/W2197846993","https://openalex.org/W1976827262","https://openalex.org/W2899977359","https://openalex.org/W1819938260","https://openalex.org/W1630669003","https://openalex.org/W2340892746","https://openalex.org/W3005999311"],"abstract_inverted_index":{"We":[0,95,123],"introduce":[1],"a":[2,35,66,73,79],"novel,":[3],"online":[4],"method":[5,103],"to":[6,26,81],"predict":[7],"pedestrian":[8,33],"trajectories":[9],"using":[10,61],"agent-based":[11],"velocity-space":[12],"reasoning":[13],"for":[14,56,86,128],"improved":[15,117],"human\u2013robot":[16],"interaction":[17],"and":[18,38,72,114,138],"collision-free":[19,129],"navigation.":[20],"Our":[21],"formulation":[22],"uses":[23],"velocity":[24],"obstacles":[25],"model":[27,42,55],"the":[28,40,90,97,116,120,140],"trajectory":[29],"of":[30,68,99,119],"each":[31,57],"moving":[32],"in":[34,89,104,142],"robot\u2019s":[36],"environment":[37],"improves":[39],"motion":[41,54,84,101],"by":[43],"adaptively":[44],"learning":[45],"relevant":[46],"parameters":[47,85],"based":[48,134],"on":[49,135],"sensor":[50],"data.":[51],"The":[52],"resulting":[53],"agent":[58,88],"is":[59],"computed":[60],"statistical":[62],"inferencing":[63],"techniques,":[64,113],"including":[65],"combination":[67],"ensemble":[69],"Kalman":[70],"filters":[71],"maximum-likelihood":[74],"estimation":[75],"algorithm.":[76],"This":[77],"allows":[78],"robot":[80,130],"learn":[82],"individual":[83],"every":[87],"scene":[91],"at":[92],"interactive":[93],"rates.":[94],"highlight":[96,139],"performance":[98,110],"our":[100,126,143],"prediction":[102],"real-world":[105],"crowded":[106],"scenarios,":[107],"compare":[108],"its":[109],"with":[111],"prior":[112],"demonstrate":[115],"accuracy":[118],"predicted":[121],"trajectories.":[122],"also":[124],"adapt":[125],"approach":[127],"navigation":[131],"among":[132],"pedestrians":[133],"noisy":[136],"data":[137],"results":[141],"simulator.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
