{"id":"https://openalex.org/W2227909145","doi":"https://doi.org/10.1177/0278364915619772","title":"Socially compliant mobile robot navigation via inverse reinforcement learning","display_name":"Socially compliant mobile robot navigation via inverse reinforcement learning","publication_year":2016,"publication_date":"2016-01-05","ids":{"openalex":"https://openalex.org/W2227909145","doi":"https://doi.org/10.1177/0278364915619772","mag":"2227909145"},"language":"en","primary_location":{"id":"doi:10.1177/0278364915619772","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915619772","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/A5012355769","display_name":"Henrik Kretzschmar","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Henrik Kretzschmar","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058177091","display_name":"Markus Spies","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Markus Spies","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032319796","display_name":"Christoph Sprunk","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Sprunk","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5058177091"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":54.1344,"has_fulltext":false,"cited_by_count":468,"citation_normalized_percentile":{"value":0.99972984,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"35","issue":"11","first_page":"1289","last_page":"1307"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9994000196456909,"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":0.9994000196456909,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9965999722480774,"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/mobile-robot","display_name":"Mobile robot","score":0.6687644720077515},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6599883437156677},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.648503303527832},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5655583739280701},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5151461362838745},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.44220009446144104},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3916131556034088}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6687644720077515},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6599883437156677},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.648503303527832},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5655583739280701},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5151461362838745},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44220009446144104},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3916131556034088}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364915619772","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915619772","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":70,"referenced_works":["https://openalex.org/W56012926","https://openalex.org/W95960393","https://openalex.org/W151717339","https://openalex.org/W192919555","https://openalex.org/W258207817","https://openalex.org/W630739203","https://openalex.org/W1505265967","https://openalex.org/W1506806321","https://openalex.org/W1540685400","https://openalex.org/W1543237373","https://openalex.org/W1584854880","https://openalex.org/W1606797603","https://openalex.org/W1897582057","https://openalex.org/W1967005434","https://openalex.org/W1970206276","https://openalex.org/W1982369156","https://openalex.org/W1986014385","https://openalex.org/W1992787855","https://openalex.org/W1994648061","https://openalex.org/W1999874108","https://openalex.org/W2002440441","https://openalex.org/W2006715865","https://openalex.org/W2008359193","https://openalex.org/W2019530605","https://openalex.org/W2019965290","https://openalex.org/W2024924397","https://openalex.org/W2026000422","https://openalex.org/W2037997802","https://openalex.org/W2057219802","https://openalex.org/W2059448777","https://openalex.org/W2061562262","https://openalex.org/W2071005201","https://openalex.org/W2078948975","https://openalex.org/W2082292845","https://openalex.org/W2082585576","https://openalex.org/W2089847474","https://openalex.org/W2092507038","https://openalex.org/W2098774185","https://openalex.org/W2099893201","https://openalex.org/W2101821104","https://openalex.org/W2107898012","https://openalex.org/W2117211893","https://openalex.org/W2121365475","https://openalex.org/W2133068870","https://openalex.org/W2133989630","https://openalex.org/W2138309709","https://openalex.org/W2139050361","https://openalex.org/W2143908786","https://openalex.org/W2145087262","https://openalex.org/W2151498646","https://openalex.org/W2153676627","https://openalex.org/W2159064333","https://openalex.org/W2160490717","https://openalex.org/W2160584648","https://openalex.org/W2161313852","https://openalex.org/W2161686298","https://openalex.org/W2167052694","https://openalex.org/W2169498096","https://openalex.org/W2169528473","https://openalex.org/W2210721416","https://openalex.org/W2293801335","https://openalex.org/W2532516272","https://openalex.org/W2596937965","https://openalex.org/W2597851033","https://openalex.org/W2599365068","https://openalex.org/W2773095002","https://openalex.org/W2911273949","https://openalex.org/W4250935087","https://openalex.org/W4299682302","https://openalex.org/W4317927792"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2031695474","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Mobile":[0],"robots":[1,18],"are":[2],"increasingly":[3],"populating":[4],"our":[5,147,178,210],"human":[6,75],"environments.":[7],"To":[8,98],"interact":[9],"with":[10,24],"humans":[11],"in":[12,48,88,93,169,194,198],"a":[13,33,51,121,161,181],"socially":[14],"compliant":[15],"way,":[16],"these":[17],"need":[19],"to":[20,36,127,139,151,159,191,215,226],"understand":[21],"and":[22,185],"comply":[23],"mutually":[25],"accepted":[26],"rules.":[27],"In":[28],"this":[29,84],"paper,":[30],"we":[31,109,118],"present":[32],"novel":[34],"approach":[35,78,179],"model":[37,45,81,216],"the":[38,57,71,80,90,100,104,125,130,135,144,153,170,174,199,217],"cooperative":[39],"navigation":[40,59],"behavior":[41,47,92,154,163,218],"of":[42,50,74,83,95,124,132,155,173,201,206,219],"humans.":[43,202],"We":[44,176],"their":[46],"terms":[49,94],"mixture":[52],"distribution":[53,85],"that":[54,86,164,187,209],"captures":[55],"both":[56],"discrete":[58],"decisions,":[60],"such":[61,228],"as":[62,68,70,229],"going":[63,66],"left":[64],"or":[65,232],"right,":[67],"well":[69],"natural":[72],"variance":[73],"trajectories.":[76],"Our":[77],"learns":[79],"parameters":[82],"match,":[87],"expectation,":[89],"observed":[91],"user-defined":[96],"features.":[97],"compute":[99],"feature":[101],"expectations":[102],"over":[103],"resulting":[105],"high-dimensional":[106],"continuous":[107],"distributions,":[108],"use":[110],"Hamiltonian":[111],"Markov":[112],"chain":[113],"Monte":[114],"Carlo":[115],"sampling.":[116],"Furthermore,":[117],"rely":[119],"on":[120,180],"Voronoi":[122],"graph":[123],"environment":[126,172,197],"efficiently":[128],"explore":[129],"space":[131],"trajectories":[133],"from":[134],"robot\u2019s":[136],"current":[137],"position":[138],"its":[140],"target":[141,171],"position.":[142],"Using":[143],"proposed":[145],"model,":[146],"method":[148],"is":[149,189],"able":[150,190],"imitate":[152],"pedestrians":[156],"or,":[157],"alternatively,":[158],"replicate":[160],"specific":[162],"was":[165],"taught":[166],"by":[167],"tele-operation":[168],"robot.":[175],"implemented":[177],"real":[182],"mobile":[183],"robot":[184],"demonstrated":[186],"it":[188,224],"successfully":[192],"navigate":[193],"an":[195],"office":[196],"presence":[200],"An":[203],"extensive":[204],"set":[205],"experiments":[207],"suggests":[208],"technique":[211],"outperforms":[212],"state-of-the-art":[213],"methods":[214],"pedestrians,":[220],"which":[221],"also":[222],"makes":[223],"applicable":[225],"fields":[227],"behavioral":[230],"science":[231],"computer":[233],"graphics.":[234]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":37},{"year":2024,"cited_by_count":50},{"year":2023,"cited_by_count":55},{"year":2022,"cited_by_count":44},{"year":2021,"cited_by_count":70},{"year":2020,"cited_by_count":67},{"year":2019,"cited_by_count":54},{"year":2018,"cited_by_count":50},{"year":2017,"cited_by_count":31},{"year":2016,"cited_by_count":8}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}