{"id":"https://openalex.org/W4404884451","doi":"https://doi.org/10.1177/02783649241302342","title":"Mixed strategy Nash equilibrium for crowd navigation","display_name":"Mixed strategy Nash equilibrium for crowd navigation","publication_year":2024,"publication_date":"2024-11-30","ids":{"openalex":"https://openalex.org/W4404884451","doi":"https://doi.org/10.1177/02783649241302342"},"language":"en","primary_location":{"id":"doi:10.1177/02783649241302342","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649241302342","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/A5101811060","display_name":"Muchen Sun","orcid":"https://orcid.org/0000-0002-3704-6315"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Max Muchen Sun","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA"],"raw_orcid":"https://orcid.org/0000-0002-3704-6315","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021281236","display_name":"Francesca Baldini","orcid":"https://orcid.org/0000-0002-6284-436X"},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Francesca Baldini","raw_affiliation_strings":["Honda Research Institute, San Jose, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute, San Jose, CA, USA","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Katie Hughes","orcid":null},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katie Hughes","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005558232","display_name":"Peter Trautman","orcid":"https://orcid.org/0000-0002-9793-7697"},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Trautman","raw_affiliation_strings":["Honda Research Institute, San Jose, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute, San Jose, CA, USA","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067725461","display_name":"Todd D. Murphey","orcid":"https://orcid.org/0000-0003-2262-8176"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Todd Murphey","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA"],"raw_orcid":"https://orcid.org/0000-0003-2262-8176","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101811060"],"corresponding_institution_ids":["https://openalex.org/I111979921"],"apc_list":null,"apc_paid":null,"fwci":2.1951,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.86968402,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"44","issue":"7","first_page":"1156","last_page":"1185"},"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/T11704","display_name":"Mobile Crowdsensing and Crowdsourcing","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"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/T10698","display_name":"Transportation Planning and Optimization","score":0.9645000100135803,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nash-equilibrium","display_name":"Nash equilibrium","score":0.740878701210022},{"id":"https://openalex.org/keywords/epsilon-equilibrium","display_name":"Epsilon-equilibrium","score":0.638890266418457},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5450277328491211},{"id":"https://openalex.org/keywords/best-response","display_name":"Best response","score":0.4879695773124695},{"id":"https://openalex.org/keywords/mathematical-economics","display_name":"Mathematical economics","score":0.4461287260055542},{"id":"https://openalex.org/keywords/strategy","display_name":"Strategy","score":0.4159458875656128},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3310829997062683},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.2782585024833679},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.26414215564727783},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21933293342590332}],"concepts":[{"id":"https://openalex.org/C46814582","wikidata":"https://www.wikidata.org/wiki/Q23389","display_name":"Nash equilibrium","level":2,"score":0.740878701210022},{"id":"https://openalex.org/C141824439","wikidata":"https://www.wikidata.org/wiki/Q307521","display_name":"Epsilon-equilibrium","level":4,"score":0.638890266418457},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5450277328491211},{"id":"https://openalex.org/C32407928","wikidata":"https://www.wikidata.org/wiki/Q2733833","display_name":"Best response","level":3,"score":0.4879695773124695},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.4461287260055542},{"id":"https://openalex.org/C88959737","wikidata":"https://www.wikidata.org/wiki/Q1546627","display_name":"Strategy","level":3,"score":0.4159458875656128},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3310829997062683},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.2782585024833679},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.26414215564727783},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21933293342590332}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649241302342","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649241302342","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":[{"id":"https://openalex.org/G7991929989","display_name":null,"funder_award_id":"HRI-001479","funder_id":"https://openalex.org/F4320318799","funder_display_name":"Honda Research Institute, USA"}],"funders":[{"id":"https://openalex.org/F4320318799","display_name":"Honda Research Institute, USA","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":82,"referenced_works":["https://openalex.org/W170770739","https://openalex.org/W192919555","https://openalex.org/W391985582","https://openalex.org/W586722081","https://openalex.org/W1578208063","https://openalex.org/W1605929701","https://openalex.org/W1925816294","https://openalex.org/W1963649406","https://openalex.org/W1966514629","https://openalex.org/W1970206276","https://openalex.org/W1976498577","https://openalex.org/W1988994102","https://openalex.org/W2041660482","https://openalex.org/W2044667552","https://openalex.org/W2067050450","https://openalex.org/W2071796842","https://openalex.org/W2082585576","https://openalex.org/W2101821104","https://openalex.org/W2117211893","https://openalex.org/W2118389211","https://openalex.org/W2122103162","https://openalex.org/W2140542425","https://openalex.org/W2166138517","https://openalex.org/W2167052694","https://openalex.org/W2170903322","https://openalex.org/W2210721416","https://openalex.org/W2227909145","https://openalex.org/W2295827790","https://openalex.org/W2340985688","https://openalex.org/W2410617946","https://openalex.org/W2424778531","https://openalex.org/W2532516272","https://openalex.org/W2604216058","https://openalex.org/W2736887377","https://openalex.org/W2773965764","https://openalex.org/W2791581064","https://openalex.org/W2800727637","https://openalex.org/W2809102580","https://openalex.org/W2890001928","https://openalex.org/W2892105102","https://openalex.org/W2953931148","https://openalex.org/W2963001155","https://openalex.org/W2963114745","https://openalex.org/W2968473746","https://openalex.org/W2990116160","https://openalex.org/W3003235888","https://openalex.org/W3007469703","https://openalex.org/W3020825567","https://openalex.org/W3026389972","https://openalex.org/W3026770832","https://openalex.org/W3033920763","https://openalex.org/W3037657653","https://openalex.org/W3089576059","https://openalex.org/W3102334304","https://openalex.org/W3106257603","https://openalex.org/W3115517346","https://openalex.org/W3116651890","https://openalex.org/W3129986830","https://openalex.org/W3133018151","https://openalex.org/W3134000433","https://openalex.org/W3134972302","https://openalex.org/W3138277108","https://openalex.org/W3155186850","https://openalex.org/W3159797474","https://openalex.org/W3166133078","https://openalex.org/W3173496395","https://openalex.org/W3190138800","https://openalex.org/W3195538019","https://openalex.org/W3196185526","https://openalex.org/W3202277149","https://openalex.org/W3212784830","https://openalex.org/W3213182399","https://openalex.org/W3214245862","https://openalex.org/W4226334619","https://openalex.org/W4234761190","https://openalex.org/W4280571816","https://openalex.org/W4283787951","https://openalex.org/W4310113038","https://openalex.org/W4322764167","https://openalex.org/W4383172006","https://openalex.org/W4389665532","https://openalex.org/W4390905001"],"related_works":["https://openalex.org/W4302558842","https://openalex.org/W1554758635","https://openalex.org/W2282604764","https://openalex.org/W2500870930","https://openalex.org/W1721270588","https://openalex.org/W1518504063","https://openalex.org/W2146267939","https://openalex.org/W4389370903","https://openalex.org/W2803931294","https://openalex.org/W2010679956"],"abstract_inverted_index":{"Robots":[0],"navigating":[1],"in":[2,184,194,221],"crowded":[3],"areas":[4],"should":[5],"negotiate":[6],"free":[7],"space":[8],"with":[9,234,242],"humans":[10,38,236],"rather":[11],"than":[12],"fully":[13,243],"controlling":[14],"collision":[15,40],"avoidance,":[16],"as":[17],"this":[18,80],"can":[19,180],"lead":[20],"to":[21,32,119],"freezing":[22],"behavior.":[23],"Game":[24],"theory":[25],"provides":[26],"a":[27,98,121,153,165,172,187],"framework":[28],"for":[29,39,62,76,101,125,176],"the":[30,47,53,67,102,114,129,132,135,140,182,222,229],"robot":[31,103,241],"reason":[33],"about":[34],"potential":[35],"cooperation":[36],"from":[37],"avoidance":[41],"during":[42],"path":[43],"planning.":[44],"In":[45,79],"particular,":[46],"mixed":[48,68,122,167],"strategy":[49,69,123,168],"Nash":[50,70,137,148,169],"equilibrium":[51,71,138,170],"captures":[52],"negotiation":[54],"behavior":[55],"under":[56],"uncertainty,":[57],"making":[58],"it":[59,179],"well":[60],"suited":[61],"crowd":[63,126,157,177,218],"navigation.":[64],"However,":[65],"computing":[66],"is":[72,117,162],"often":[73],"prohibitively":[74],"expensive":[75],"real-time":[77,154,185],"decision-making.":[78],"paper,":[81],"we":[82,227],"propose":[83],"an":[84,238],"iterative":[85],"Bayesian":[86,146],"update":[87],"scheme":[88],"over":[89],"probability":[90],"distributions":[91],"of":[92,107,134,139,231],"trajectories.":[93],"The":[94],"algorithm":[95,116,130,145,233],"simultaneously":[96],"generates":[97],"stochastic":[99],"plan":[100],"and":[104,128,151,198,206,211,246],"probabilistic":[105],"predictions":[106],"other":[108],"pedestrians\u2019":[109],"paths.":[110],"We":[111,142,191],"prove":[112],"that":[113],"proposed":[115],"equivalent":[118],"solving":[120,164],"game":[124],"navigation,":[127,178],"guarantees":[131],"recovery":[133],"global":[136],"game.":[141],"name":[143],"our":[144,232],"Recursive":[147],"Equilibrium":[149],"(BRNE)":[150],"develop":[152],"model":[155],"prediction":[156],"navigation":[158,212,219],"framework.":[159],"Since":[160],"BRNE":[161,193,202],"not":[163],"general-purpose":[166],"but":[171],"tailored":[173],"formula":[174],"specifically":[175],"compute":[181],"solution":[183],"on":[186,237],"low-power":[188],"embedded":[189],"computer.":[190],"evaluate":[192],"both":[195],"simulated":[196],"environments":[197],"real-world":[199],"pedestrian":[200,223],"datasets.":[201],"consistently":[203],"outperforms":[204],"non-learning":[205],"learning-based":[207],"methods":[208],"regarding":[209],"safety":[210],"efficiency.":[213],"It":[214],"also":[215],"reaches":[216],"human-level":[217],"performance":[220],"dataset":[224],"benchmark.":[225],"Lastly,":[226],"demonstrate":[228],"practicality":[230],"real":[235],"untethered":[239],"quadruped":[240],"onboard":[244],"perception":[245],"computation.":[247]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":3}],"updated_date":"2026-05-08T15:41:06.802602","created_date":"2025-10-10T00:00:00"}
