{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,11]],"date-time":"2025-09-11T19:04:03Z","timestamp":1757617443714,"version":"3.44.0"},"reference-count":89,"publisher":"Springer Science and Business Media LLC","issue":"28","license":[{"start":{"date-parts":[[2025,1,21]],"date-time":"2025-01-21T00:00:00Z","timestamp":1737417600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,1,21]],"date-time":"2025-01-21T00:00:00Z","timestamp":1737417600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Multimed Tools Appl"],"DOI":"10.1007\/s11042-024-20538-8","type":"journal-article","created":{"date-parts":[[2025,1,21]],"date-time":"2025-01-21T05:11:04Z","timestamp":1737436264000},"page":"34349-34375","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Improvised robotic navigation using deep reinforcement learning (DRL) towards safer integration in real-time complex environments"],"prefix":"10.1007","volume":"84","author":[{"given":"Kiran Jot","family":"Singh","sequence":"first","affiliation":[]},{"given":"Divneet Singh","family":"Kapoor","sequence":"additional","affiliation":[]},{"given":"Khushal","family":"Thakur","sequence":"additional","affiliation":[]},{"given":"Anshul","family":"Sharma","sequence":"additional","affiliation":[]},{"given":"Anand","family":"Nayyar","sequence":"additional","affiliation":[]},{"given":"Shubham","family":"Mahajan","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,1,21]]},"reference":[{"key":"20538_CR1","doi-asserted-by":"crossref","unstructured":"Burgard W, Cremers AB, Fox D, H\u00e4hnel D, Lakemeyer G, Schulz D, ... Thrun S (1999) Experiences with an interactive museum tour-guide robot.\u00a0Artif Intell\u00a0114(1\u20132), 3\u201355","DOI":"10.1016\/S0004-3702(99)00070-3"},{"key":"20538_CR2","doi-asserted-by":"crossref","unstructured":"Thrun S, Beetz M, Bennewitz M, Burgard W, Cremers AB, Dellaert F, ... Schulz D (2000) Probabilistic algorithms and the interactive museum tour-guide robot minerva. Int J Robot Res\u00a019(11):972\u2013999","DOI":"10.1177\/02783640022067922"},{"key":"20538_CR3","doi-asserted-by":"publisher","unstructured":"Dellaert F, Fox D, Burgard W, Thrun S (1999) Monte Carlo localization for mobile robots. In Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), IEEE, pp. 1322\u20131328. https:\/\/doi.org\/10.1109\/ROBOT.1999.772544","DOI":"10.1109\/ROBOT.1999.772544"},{"key":"20538_CR4","doi-asserted-by":"publisher","unstructured":"Roy N, Burgard W, Fox D (1999) Coastal navigation-mobile robot navigation with uncertainty in dynamic environments. In Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C), IEEE. pp. 35\u201340. https:\/\/doi.org\/10.1109\/ROBOT.1999.769927","DOI":"10.1109\/ROBOT.1999.769927"},{"key":"20538_CR5","doi-asserted-by":"publisher","unstructured":"Roy N, Thrun S (1999) Online self-calibration for mobile robots. In Proceedings of (ICRA) International Conference on Robotics and Automation. pp. 2292\u20132297 https:\/\/doi.org\/10.1109\/ROBOT.1999.770447","DOI":"10.1109\/ROBOT.1999.770447"},{"key":"20538_CR6","doi-asserted-by":"publisher","unstructured":"Schulte J, Rosenberg C, Thrun S (1999) Spontaneous, short-term interaction with mobile robots. In Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C). pp. 658\u2013663. https:\/\/doi.org\/10.1109\/ROBOT.1999.770050","DOI":"10.1109\/ROBOT.1999.770050"},{"key":"20538_CR7","unstructured":"Thrun S, Schulte J, Rosenberg C (2000) Interaction with mobile robots in public places.\u00a0https:\/\/api.semanticscholar.org\/CorpusID:7931033. Accessed 10 Oct 2024"},{"issue":"1","key":"20538_CR8","doi-asserted-by":"publisher","first-page":"31","DOI":"10.1177\/0278364904048962","volume":"24","author":"M Bennewitz","year":"2005","unstructured":"Bennewitz M, Burgard W, Cielniak G, Thrun S (2005) Learning motion patterns of people for compliant robot motion. Int J Rob Res 24(1):31\u201348. https:\/\/doi.org\/10.1177\/0278364904048962","journal-title":"Int J Rob Res"},{"issue":"1","key":"20538_CR9","doi-asserted-by":"publisher","first-page":"79","DOI":"10.1007\/s12369-009-0037-z","volume":"2","author":"AF Foka","year":"2010","unstructured":"Foka AF, Trahanias PE (2010) Probabilistic autonomous robot navigation in dynamic environments with human motion prediction. Int J Soc Robot 2(1):79\u201394. https:\/\/doi.org\/10.1007\/s12369-009-0037-z","journal-title":"Int J Soc Robot"},{"key":"20538_CR10","doi-asserted-by":"publisher","unstructured":"Kato Y, Kanda T, Ishiguro H (2015) May I help you? In Proceedings of the Tenth Annual ACM\/IEEE International Conference on Human-Robot Interaction, New York, NY, USA: ACM. pp. 35\u201342. https:\/\/doi.org\/10.1145\/2696454.2696463","DOI":"10.1145\/2696454.2696463"},{"issue":"1","key":"20538_CR11","doi-asserted-by":"publisher","first-page":"51","DOI":"10.1007\/s12369-015-0310-2","volume":"8","author":"B Kim","year":"2016","unstructured":"Kim B, Pineau J (2016) Socially adaptive path planning in human environments using inverse reinforcement learning. Int J Soc Robot 8(1):51\u201366. https:\/\/doi.org\/10.1007\/s12369-015-0310-2","journal-title":"Int J Soc Robot"},{"issue":"2","key":"20538_CR12","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3495244","volume":"11","author":"C Mavrogiannis","year":"2022","unstructured":"Mavrogiannis C, Alves-Oliveira P, Thomason W, Knepper RA (2022) Social momentum: design and evaluation of a framework for socially competent robot navigation. ACM Trans Hum Robot Interact 11(2):1\u201337. https:\/\/doi.org\/10.1145\/3495244","journal-title":"ACM Trans Hum Robot Interact"},{"key":"20538_CR13","doi-asserted-by":"crossref","unstructured":"Trautman P, Ma J, Murray RM, Krause A (2015) Robot navigation in dense human crowds: statistical models and experimental studies of human\u2013robot cooperation. Int J Rob Res 34:335\u2013356.\u00a0https:\/\/api.semanticscholar.org\/CorpusID:6052691. Accessed 10 Oct 2024","DOI":"10.1177\/0278364914557874"},{"issue":"1","key":"20538_CR14","doi-asserted-by":"publisher","first-page":"e0169734","DOI":"10.1371\/journal.pone.0169734","volume":"12","author":"F Farina","year":"2017","unstructured":"Farina F, Fontanelli D, Garulli A, Giannitrapani A, Prattichizzo D (2017) Walking ahead: The headed social force model. PLoS ONE 12(1):e0169734. https:\/\/doi.org\/10.1371\/journal.pone.0169734","journal-title":"PLoS ONE"},{"issue":"2","key":"20538_CR15","doi-asserted-by":"publisher","first-page":"729","DOI":"10.1109\/LRA.2020.2965032","volume":"5","author":"T Fraichard","year":"2020","unstructured":"Fraichard T, Levesy V (2020) From crowd simulation to robot navigation in crowds. IEEE Robot Autom Lett 5(2):729\u2013735. https:\/\/doi.org\/10.1109\/LRA.2020.2965032","journal-title":"IEEE Robot Autom Lett"},{"key":"20538_CR16","doi-asserted-by":"publisher","unstructured":"Van J, Berg D, Guy SJ, Lin M (2011) Reciprocal n-body collision avoidance. pp. 3\u201319. https:\/\/doi.org\/10.1007\/978-3-642-19457-3_1","DOI":"10.1007\/978-3-642-19457-3_1"},{"key":"20538_CR17","unstructured":"van den Berg J, Guy SJ, Snape J, Lin MC, Manocha D (2011) RVO2 library: reciprocal collision avoidance for real-time multi-agent simulation. https:\/\/gamma.cs.unc.edu\/RVO2\/. Accessed 10 Oct 2024"},{"key":"20538_CR18","doi-asserted-by":"publisher","unstructured":"Gupta A, Johnson J, Fei-Fei L, Savarese S, Alahi A (2018) Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networks. In 2018 IEEE\/CVF Conference on Computer Vision and Pattern Recognition, IEEE. pp. 2255\u20132264. https:\/\/doi.org\/10.1109\/CVPR.2018.00240.","DOI":"10.1109\/CVPR.2018.00240"},{"key":"20538_CR19","doi-asserted-by":"publisher","unstructured":"Alahi A, Goel K, Ramanathan V, Robicquet A, Fei-Fei L, Savarese S (2016) Social LSTM: Human trajectory prediction in crowded spaces. In 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), IEEE. pp. 961\u2013971. https:\/\/doi.org\/10.1109\/CVPR.2016.110.","DOI":"10.1109\/CVPR.2016.110"},{"key":"20538_CR20","doi-asserted-by":"publisher","unstructured":"Singh KJ, Kapoor DS, Sohi BS (2021) Understanding socially aware robot navigation. J Eng Res 9. https:\/\/doi.org\/10.36909\/jer.11123.","DOI":"10.36909\/jer.11123"},{"issue":"1","key":"20538_CR21","doi-asserted-by":"publisher","first-page":"197","DOI":"10.32604\/CMC.2022.022989","volume":"72","author":"KJ Singh","year":"2022","unstructured":"Singh KJ, Kapoor DS, Thakur K, Sharma A, Gao XZ (2022) Computer-vision based object detection and recognition for service robot in indoor environment. Comput Mater Cont 72(1):197\u2013213. https:\/\/doi.org\/10.32604\/CMC.2022.022989","journal-title":"Comput Mater Cont"},{"key":"20538_CR22","doi-asserted-by":"publisher","first-page":"134455","DOI":"10.1109\/ACCESS.2022.3230989","volume":"10","author":"KJ Singh","year":"2022","unstructured":"Singh KJ et al (2022) Map making in social indoor environment through robot navigation using active slam. IEEE Access 10:134455\u2013134465. https:\/\/doi.org\/10.1109\/ACCESS.2022.3230989","journal-title":"IEEE Access"},{"key":"20538_CR23","doi-asserted-by":"publisher","first-page":"82417","DOI":"10.1109\/ACCESS.2021.3086628","volume":"9","author":"KJ Singh","year":"2021","unstructured":"Singh KJ et al (2021) Adaptive flower pollination algorithm-based energy efficient routing protocol for multi-robot systems. IEEE Access 9:82417\u201382434. https:\/\/doi.org\/10.1109\/ACCESS.2021.3086628","journal-title":"IEEE Access"},{"key":"20538_CR24","doi-asserted-by":"publisher","unstructured":"Van den Berg J, Lin M, Manocha D (2008) Reciprocal velocity obstacles for real-time multi-agent navigation. In 2008 IEEE International Conference on Robotics and Automation, IEEE. pp. 1928\u20131935. https:\/\/doi.org\/10.1109\/ROBOT.2008.4543489","DOI":"10.1109\/ROBOT.2008.4543489"},{"key":"20538_CR25","doi-asserted-by":"publisher","unstructured":"Fought J (1972) Erving Goffman, Relations in public: microstudies of the public order. New York: Basic Books, 1971. Pp. xvii + 396. Language in Society 1(2):266\u2013271. https:\/\/doi.org\/10.1017\/S0047404500000543.","DOI":"10.1017\/S0047404500000543"},{"issue":"3","key":"20538_CR26","doi-asserted-by":"publisher","first-page":"323","DOI":"10.1177\/089124195024003004","volume":"24","author":"NH Wolfinger","year":"1995","unstructured":"Wolfinger NH (1995) PASSING MOMENTS. J Contemp Ethnogr 24(3):323\u2013340. https:\/\/doi.org\/10.1177\/089124195024003004","journal-title":"J Contemp Ethnogr"},{"issue":"1","key":"20538_CR27","doi-asserted-by":"publisher","first-page":"60","DOI":"10.1016\/j.actpsy.2006.09.007","volume":"124","author":"G Csibra","year":"2007","unstructured":"Csibra G, Gergely G (2007) \u2018Obsessed with goals\u2019: Functions and mechanisms of teleological interpretation of actions in humans. Acta Psychol (Amst) 124(1):60\u201378. https:\/\/doi.org\/10.1016\/j.actpsy.2006.09.007","journal-title":"Acta Psychol (Amst)"},{"issue":"1","key":"20538_CR28","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3385121","volume":"10","author":"M Joosse","year":"2021","unstructured":"Joosse M, Lohse M, Van Berkel N, Sardar A, Evers V (2021) Making Appearances. ACM Trans Hum Robot Interact 10(1):1\u201324. https:\/\/doi.org\/10.1145\/3385121","journal-title":"ACM Trans Hum Robot Interact"},{"key":"20538_CR29","volume-title":"Social Robot Navigation","author":"R Kirby","year":"2010","unstructured":"Kirby R (2010) Social Robot Navigation. Carnegie Mellon University, Pittsburgh, PA"},{"key":"20538_CR30","doi-asserted-by":"publisher","unstructured":"Pacchierotti E, Christensen H, Jensfelt P (2006) Evaluation of Passing Distance for Social Robots #in ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication, IEEE. pp. 315\u2013320. https:\/\/doi.org\/10.1109\/ROMAN.2006.314436.","DOI":"10.1109\/ROMAN.2006.314436"},{"key":"20538_CR31","doi-asserted-by":"publisher","unstructured":"Chen YF, Everett M, Liu M, How JP (2018) Socially aware motion planning with deep reinforcement learning. https:\/\/doi.org\/10.48550\/arXiv.1703.08862","DOI":"10.48550\/arXiv.1703.08862"},{"key":"20538_CR32","doi-asserted-by":"publisher","unstructured":"Everett M, Chen JF, How JP (2018) Motion planning among dynamic, decision-making agents with deep reinforcement learning. https:\/\/doi.org\/10.48550\/arXiv.1805.01956","DOI":"10.48550\/arXiv.1805.01956"},{"issue":"11","key":"20538_CR33","doi-asserted-by":"publisher","first-page":"1289","DOI":"10.1177\/0278364915619772","volume":"35","author":"H Kretzschmar","year":"2016","unstructured":"Kretzschmar H, Spies M, Sprunk C, Burgard W (2016) Socially compliant mobile robot navigation via inverse reinforcement learning. Int J Rob Res 35(11):1289\u20131307. https:\/\/doi.org\/10.1177\/0278364915619772","journal-title":"Int J Rob Res"},{"key":"20538_CR34","doi-asserted-by":"publisher","unstructured":"Vasquez D, Okal B, Arras KO (2014) Inverse Reinforcement Learning algorithms and features for robot navigation in crowds: An experimental comparison. In 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems, IEEE. pp. 1341\u20131346. https:\/\/doi.org\/10.1109\/IROS.2014.6942731.","DOI":"10.1109\/IROS.2014.6942731"},{"key":"20538_CR35","doi-asserted-by":"crossref","unstructured":"Ziebart BD, Ratliff N, Gallagher G, Mertz C, Peterson K, Bagnell J A, ... Srinivasa S (2009) Planning-based prediction for pedestrians. In\u00a02009 IEEE\/RSJ International Conference on Intelligent Robots and Systems\u00a0(pp. 3931\u20133936). IEEE.","DOI":"10.1109\/IROS.2009.5354147"},{"key":"20538_CR36","unstructured":"\u201cSpencer,\u201d http:\/\/www.spencer.eu\/project.html. Accessed 27 Dec 2023. [Online]. Available: http:\/\/www.spencer.eu\/"},{"key":"20538_CR37","unstructured":"\u201cCrowdBot,\u201d https:\/\/crowdbot.eu\/. Accessed 27 Dec 2023. [Online]. Available: https:\/\/crowdbot.eu\/"},{"key":"20538_CR38","doi-asserted-by":"publisher","unstructured":"Chen YF, Liu M, Everett M, How JP (2017) Decentralized non-communicating multiagent collision avoidance with deep reinforcement learning. In 2017 IEEE International Conference on Robotics and Automation (ICRA), IEEE. pp. 285\u2013292. https:\/\/doi.org\/10.1109\/ICRA.2017.7989037.","DOI":"10.1109\/ICRA.2017.7989037"},{"key":"20538_CR39","doi-asserted-by":"publisher","unstructured":"Long P, Fanl T, Liao X, Liu W, Zhang H, Pan J (2018) Towards Optimally Decentralized Multi-Robot Collision Avoidance via Deep Reinforcement Learning. In 2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE. pp. 6252\u20136259. https:\/\/doi.org\/10.1109\/ICRA.2018.8461113.","DOI":"10.1109\/ICRA.2018.8461113"},{"key":"20538_CR40","doi-asserted-by":"publisher","unstructured":"Everett M, Chen YF, How JP (2018) Motion planning among dynamic, decision-making agents with deep reinforcement learning. In 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE. pp. 3052\u20133059. https:\/\/doi.org\/10.1109\/IROS.2018.8593871.","DOI":"10.1109\/IROS.2018.8593871"},{"key":"20538_CR41","doi-asserted-by":"publisher","unstructured":"Chen C, Liu Y, Kreiss S, Alahi A (2019) Crowd-robot interaction: Crowd-aware robot navigation with attention-based deep reinforcement learning. In 2019 International Conference on Robotics and Automation (ICRA), IEEE. pp. 6015\u20136022. https:\/\/doi.org\/10.1109\/ICRA.2019.8794134.","DOI":"10.1109\/ICRA.2019.8794134"},{"issue":"2","key":"20538_CR42","doi-asserted-by":"publisher","first-page":"2754","DOI":"10.1109\/LRA.2020.2972868","volume":"5","author":"Y Chen","year":"2020","unstructured":"Chen Y, Liu C, Shi BE, Liu M (2020) Robot navigation in crowds by graph convolutional networks with attention learned from human gaze. IEEE Robot Autom Lett 5(2):2754\u20132761. https:\/\/doi.org\/10.1109\/LRA.2020.2972868","journal-title":"IEEE Robot Autom Lett"},{"key":"20538_CR43","doi-asserted-by":"publisher","unstructured":"Nishimura M, Yonetani R (2020) L2B: Learning to balance the safety-efficiency trade-off in Interactive Crowd-aware Robot Navigation. In 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE. pp. 11004\u201311010. https:\/\/doi.org\/10.1109\/IROS45743.2020.9341519.","DOI":"10.1109\/IROS45743.2020.9341519"},{"issue":"3","key":"20538_CR44","doi-asserted-by":"publisher","first-page":"5223","DOI":"10.1109\/LRA.2021.3071954","volume":"6","author":"SS Samsani","year":"2021","unstructured":"Samsani SS, Muhammad MS (2021) Socially compliant robot navigation in crowded environment by human behavior resemblance using deep reinforcement learning. IEEE Robot Autom Lett 6(3):5223\u20135230. https:\/\/doi.org\/10.1109\/LRA.2021.3071954","journal-title":"IEEE Robot Autom Lett"},{"key":"20538_CR45","doi-asserted-by":"publisher","unstructured":"Kato Y, Nagano Y, Yokoyama H() A pedestrian model in human-robot coexisting environment for mobile robot navigation. In 2017 IEEE\/SICE International Symposium on System Integration (SII), IEEE. pp. 992\u2013997. https:\/\/doi.org\/10.1109\/SII.2017.8279352.","DOI":"10.1109\/SII.2017.8279352"},{"key":"20538_CR46","doi-asserted-by":"publisher","first-page":"308","DOI":"10.1016\/j.procir.2020.08.003","volume":"97","author":"RA Rojas","year":"2021","unstructured":"Rojas RA, Garcia MAR, Gualtieri L, Rauch E (2021) Combining safety and speed in collaborative assembly systems \u2013 An approach to time optimal trajectories for collaborative robots. Procedia CIRP 97:308\u2013312. https:\/\/doi.org\/10.1016\/j.procir.2020.08.003","journal-title":"Procedia CIRP"},{"issue":"12","key":"20538_CR47","doi-asserted-by":"publisher","first-page":"1726","DOI":"10.1016\/j.robot.2013.05.007","volume":"61","author":"T Kruse","year":"2013","unstructured":"Kruse T, Pandey AK, Alami R, Kirsch A (2013) Human-aware robot navigation: a survey. Rob Auton Syst 61(12):1726\u20131743. https:\/\/doi.org\/10.1016\/j.robot.2013.05.007","journal-title":"Rob Auton Syst"},{"key":"20538_CR48","doi-asserted-by":"publisher","unstructured":"Trautman P, Krause A (2010) Unfreezing the robot: Navigation in dense, interacting crowds. In 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems, IEEE. pp. 797\u2013803. https:\/\/doi.org\/10.1109\/IROS.2010.5654369.","DOI":"10.1109\/IROS.2010.5654369"},{"key":"20538_CR49","doi-asserted-by":"publisher","unstructured":"Trautman P (2017) Sparse interacting Gaussian processes: Efficiency and optimality theorems of autonomous crowd navigation. In 2017 IEEE 56th Annual Conference on Decision and Control (CDC), IEEE.pp. 327\u2013334. https:\/\/doi.org\/10.1109\/CDC.2017.8263686.","DOI":"10.1109\/CDC.2017.8263686"},{"key":"20538_CR50","doi-asserted-by":"publisher","first-page":"85","DOI":"10.1016\/j.robot.2017.03.002","volume":"93","author":"K Charalampous","year":"2017","unstructured":"Charalampous K, Kostavelis I, Gasteratos A (2017) Recent trends in social aware robot navigation: a survey. Rob Auton Syst 93:85\u2013104. https:\/\/doi.org\/10.1016\/j.robot.2017.03.002","journal-title":"Rob Auton Syst"},{"key":"20538_CR51","doi-asserted-by":"crossref","unstructured":"Hall ET, Birdwhistell RL, Bock B, Bohannan P, Diebold Jr AR., Durbin M, ... Vayda AP (1968) Proxemics [and comments and replies].\u00a0Curr Anthropol\u00a09(2\/3):83\u2013108","DOI":"10.1086\/200975"},{"issue":"2","key":"20538_CR52","doi-asserted-by":"publisher","first-page":"137","DOI":"10.1007\/s12369-014-0251-1","volume":"7","author":"J Rios-Martinez","year":"2015","unstructured":"Rios-Martinez J, Spalanzani A, Laugier C (2015) From proxemics theory to socially-aware navigation: a survey. Int J Soc Robot 7(2):137\u2013153. https:\/\/doi.org\/10.1007\/s12369-014-0251-1","journal-title":"Int J Soc Robot"},{"key":"20538_CR53","doi-asserted-by":"publisher","unstructured":"Truong XT, Yoong VN, Ngo TD (2014) Dynamic social zone for human safety in human-robot shared workspaces. In 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), IEEE, pp. 391\u2013396. https:\/\/doi.org\/10.1109\/URAI.2014.7057375","DOI":"10.1109\/URAI.2014.7057375"},{"issue":"3\u20134","key":"20538_CR54","doi-asserted-by":"publisher","first-page":"237","DOI":"10.1111\/j.1475-682X.1980.tb00022.x","volume":"50","author":"TM Ciolek","year":"1980","unstructured":"Ciolek TM, Kendon A (1980) Environment and the Spatial Arrangement of Conversational Encounters. Sociol Inq 50(3\u20134):237\u2013271. https:\/\/doi.org\/10.1111\/j.1475-682X.1980.tb00022.x","journal-title":"Sociol Inq"},{"key":"20538_CR55","doi-asserted-by":"publisher","unstructured":"Kendon A (2010) Spacing and orientation in co-present interaction. pp. 1\u201315. https:\/\/doi.org\/10.1007\/978-3-642-12397-9_1.","DOI":"10.1007\/978-3-642-12397-9_1"},{"issue":"4","key":"20538_CR56","doi-asserted-by":"publisher","first-page":"1743","DOI":"10.1109\/TASE.2017.2731371","volume":"14","author":"X-T Truong","year":"2017","unstructured":"Truong X-T, Ngo TD (2017) Toward socially aware robot navigation in dynamic and crowded environments: a proactive social motion model. IEEE Trans Autom Sci Eng 14(4):1743\u20131760. https:\/\/doi.org\/10.1109\/TASE.2017.2731371","journal-title":"IEEE Trans Autom Sci Eng"},{"issue":"5","key":"20538_CR57","doi-asserted-by":"publisher","first-page":"e0123783","DOI":"10.1371\/journal.pone.0123783","volume":"10","author":"F Setti","year":"2015","unstructured":"Setti F, Russell C, Bassetti C, Cristani M (2015) F-Formation detection: individuating free-standing conversational groups in images. PLoS ONE 10(5):e0123783. https:\/\/doi.org\/10.1371\/journal.pone.0123783","journal-title":"PLoS ONE"},{"issue":"2","key":"20538_CR58","doi-asserted-by":"publisher","first-page":"1047","DOI":"10.1109\/LRA.2017.2656241","volume":"2","author":"D Zhou","year":"2017","unstructured":"Zhou D, Wang Z, Bandyopadhyay S, Schwager M (2017) Fast, on-line collision avoidance for dynamic vehicles using buffered voronoi cells. IEEE Robot Autom Lett 2(2):1047\u20131054. https:\/\/doi.org\/10.1109\/LRA.2017.2656241","journal-title":"IEEE Robot Autom Lett"},{"key":"20538_CR59","doi-asserted-by":"publisher","unstructured":"Vega-Magro A, Gondkar R, Manso LJ, N\u00fa\u00f1ez P (2021) Towards efficient human-robot cooperation for socially-aware robot navigation in human-populated environments: the SNAPE framework. In 2021 IEEE International Conference on Robotics and Automation (ICRA), IEEE. pp. 3169\u20133174. https:\/\/doi.org\/10.1109\/ICRA48506.2021.9561448","DOI":"10.1109\/ICRA48506.2021.9561448"},{"key":"20538_CR60","doi-asserted-by":"publisher","unstructured":"Singamaneni PT, Favier A, Alami R (2021) Human-aware navigation planner for diverse human-robot interaction contexts. In 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE. pp. 5817\u20135824. https:\/\/doi.org\/10.1109\/IROS51168.2021.9636613","DOI":"10.1109\/IROS51168.2021.9636613"},{"issue":"1","key":"20538_CR61","doi-asserted-by":"publisher","first-page":"168781401773665","DOI":"10.1177\/1687814017736653","volume":"10","author":"D Fethi","year":"2018","unstructured":"Fethi D, Nemra A, Louadj K, Hamerlain M (2018) Simultaneous localization, mapping, and path planning for unmanned vehicle using optimal control. Adv Mech Eng 10(1):168781401773665. https:\/\/doi.org\/10.1177\/1687814017736653","journal-title":"Adv Mech Eng"},{"key":"20538_CR62","doi-asserted-by":"publisher","unstructured":"Chaplot DS, Gandhi D, Gupta S, Gupta A, Salakhutdinov R (2020) Learning to explore using active neural slam. https:\/\/doi.org\/10.48550\/arXiv.2004.05155","DOI":"10.48550\/arXiv.2004.05155"},{"key":"20538_CR63","doi-asserted-by":"publisher","unstructured":"Chen YF, Everett M, Liu M, How JP (2017) Socially aware motion planning with deep reinforcement learning. In 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE. pp. 1343\u20131350. https:\/\/doi.org\/10.1109\/IROS.2017.8202312","DOI":"10.1109\/IROS.2017.8202312"},{"key":"20538_CR64","doi-asserted-by":"publisher","unstructured":"Vemula A, Muelling K, Oh J (2018) Social attention: Modeling attention in human crowds. In 2018 IEEE International Conference on Robotics and Automation (ICRA), IEEE, pp. 4601\u20134607. https:\/\/doi.org\/10.1109\/ICRA.2018.8460504.","DOI":"10.1109\/ICRA.2018.8460504"},{"key":"20538_CR65","doi-asserted-by":"publisher","unstructured":"Fran\u00e7ois-Lavet V, Henderson P, Islam R , Bellemare MG, Pineau J (2018) An Introduction to Deep Reinforcement Learning. Found Trends\u00ae Mach Learn 11(3\u20134):219\u2013354. https:\/\/doi.org\/10.1561\/2200000071","DOI":"10.1561\/2200000071"},{"key":"20538_CR66","unstructured":"Li Y (2017) Deep reinforcement learning: an overview. ArXiv, abs\/1701.07274"},{"issue":"7","key":"20538_CR67","doi-asserted-by":"publisher","first-page":"940","DOI":"10.1038\/nn1724","volume":"9","author":"SW Kennerley","year":"2006","unstructured":"Kennerley SW, Walton ME, Behrens TEJ, Buckley MJ, Rushworth MFS (2006) Optimal decision making and the anterior cingulate cortex. Nat Neurosci 9(7):940\u2013947. https:\/\/doi.org\/10.1038\/nn1724","journal-title":"Nat Neurosci"},{"key":"20538_CR68","doi-asserted-by":"publisher","first-page":"10357","DOI":"10.1109\/ACCESS.2021.3050338","volume":"9","author":"M Everett","year":"2021","unstructured":"Everett M, Chen YF, How JP (2021) Collision Avoidance in Pedestrian-Rich Environments With Deep Reinforcement Learning. IEEE Access 9:10357\u201310377. https:\/\/doi.org\/10.1109\/ACCESS.2021.3050338","journal-title":"IEEE Access"},{"key":"20538_CR69","doi-asserted-by":"crossref","unstructured":"Mnih V, Kavukcuoglu K, Silver D, Rusu AA, Veness J, Bellemare MG, ... Hassabis, D. (2015). Human-level control through deep reinforcement learning.\u00a0nature,\u00a0518(7540), 529\u2013533","DOI":"10.1038\/nature14236"},{"key":"20538_CR70","doi-asserted-by":"crossref","unstructured":"Silver D, Huang A, Maddison CJ, Guez A, Sifre, L., Van Den Driessche, G., ... & Hassabis, D. (2016). Mastering the game of Go with deep neural networks and tree search.\u00a0nature,\u00a0529(7587), 484\u2013489.","DOI":"10.1038\/nature16961"},{"key":"20538_CR71","unstructured":"Mnih V (2016). Asynchronous methods for deep reinforcement learning.\u00a0arXiv preprint arXiv:1602.01783."},{"key":"20538_CR72","doi-asserted-by":"publisher","first-page":"126240","DOI":"10.1016\/j.neucom.2023.126240","volume":"542","author":"S Yang","year":"2023","unstructured":"Yang S, Pang Y, Wang H, Lei T, Pan J, Wang J, Jin Y (2023) Spike-driven multi-scale learning with hybrid mechanisms of spiking dendrites. Neurocomputing 542:126240","journal-title":"Neurocomputing"},{"key":"20538_CR73","doi-asserted-by":"publisher","unstructured":"Yang S, Chen B (2024) Effective surrogate gradient learning with high-order information bottleneck for spike-based machine intelligence. IEEE Trans Neural Netw Learn Syst, pp. 1\u201315. https:\/\/doi.org\/10.1109\/TNNLS.2023.3329525.","DOI":"10.1109\/TNNLS.2023.3329525"},{"issue":"5","key":"20538_CR74","doi-asserted-by":"publisher","first-page":"1664","DOI":"10.1109\/TCDS.2023.3329532","volume":"16","author":"S Yang","year":"2024","unstructured":"Yang S, Wang H, Chen B (2024) SIBoLS: Robust and energy-efficient learning for spike-based machine intelligence in information bottleneck framework. IEEE Trans Cogn Dev Syst 16(5):1664\u20131676. https:\/\/doi.org\/10.1109\/TCDS.2023.3329532","journal-title":"IEEE Trans Cogn Dev Syst"},{"issue":"2","key":"20538_CR75","doi-asserted-by":"publisher","first-page":"2147","DOI":"10.1007\/s40747-022-00906-3","volume":"9","author":"SS Samsani","year":"2023","unstructured":"Samsani SS, Mutahira H, Muhammad MS (2023) Memory-based crowd-aware robot navigation using deep reinforcement learning. Complex Intel Syst 9(2):2147\u20132158. https:\/\/doi.org\/10.1007\/s40747-022-00906-3","journal-title":"Complex Intel Syst"},{"key":"20538_CR76","doi-asserted-by":"publisher","unstructured":"Katyal K, Gao Y, Markowitz J, Pohland S, Rivera C, Wang IJ, Huang CM (2022) Learning a group-aware policy for robot navigation. In\u00a02022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)\u00a0(pp. 11328\u201311335). IEEE. https:\/\/doi.org\/10.1109\/IROS47612.2022.9981183","DOI":"10.1109\/IROS47612.2022.9981183"},{"issue":"4","key":"20538_CR77","doi-asserted-by":"publisher","first-page":"257","DOI":"10.1080\/01691864.2022.2142068","volume":"37","author":"X Lu","year":"2023","unstructured":"Lu X, Woo H, Faragasso A, Yamashita A, Asama H (2023) Robot navigation in crowds via deep reinforcement learning with modeling of obstacle uni-action. Adv Robot 37(4):257\u2013269. https:\/\/doi.org\/10.1080\/01691864.2022.2142068","journal-title":"Adv Robot"},{"key":"20538_CR78","doi-asserted-by":"publisher","first-page":"237","DOI":"10.1613\/jair.301","volume":"4","author":"LP Kaelbling","year":"1996","unstructured":"Kaelbling LP, Littman ML, Moore AW (1996) Reinforcement Learning: A Survey. J Artif Intel Res 4:237\u2013285. https:\/\/doi.org\/10.1613\/jair.301","journal-title":"J Artif Intel Res"},{"issue":"11","key":"20538_CR79","doi-asserted-by":"publisher","first-page":"1238","DOI":"10.1177\/0278364913495721","volume":"32","author":"J Kober","year":"2013","unstructured":"Kober J, Bagnell JA, Peters J (2013) Reinforcement learning in robotics: A survey. Int J Rob Res 32(11):1238\u20131274. https:\/\/doi.org\/10.1177\/0278364913495721","journal-title":"Int J Rob Res"},{"issue":"3","key":"20538_CR80","doi-asserted-by":"publisher","first-page":"791","DOI":"10.1007\/s11277-015-2808-1","volume":"85","author":"DS Kapoor","year":"2015","unstructured":"Kapoor DS, Kohli AK (2015) Simulation of basis expansion model for channel fading using AR1 process. Wirel Pers Commun 85(3):791\u2013798. https:\/\/doi.org\/10.1007\/s11277-015-2808-1","journal-title":"Wirel Pers Commun"},{"issue":"3","key":"20538_CR81","doi-asserted-by":"publisher","first-page":"5223","DOI":"10.1109\/LRA.2021.3071954","volume":"6","author":"SS Samsani","year":"2021","unstructured":"Samsani SS, Muhammad MS (2021) Socially compliant robot navigation in crowded environment by human behavior resemblance using deep reinforcement learning. IEEE Robot Autom Lett 6(3):5223\u20135230","journal-title":"IEEE Robot Autom Lett"},{"key":"20538_CR82","doi-asserted-by":"publisher","unstructured":"Singh KJ, Kapoor DS, Abouhawwash M, Al-Amri JF, Mahajan S, Pandit AK (2022) Behavior of delivery robot in human-robot collaborative spaces during navigation. Intelligent Automation & Soft Computing. https:\/\/doi.org\/10.32604\/iasc.2023.025177","DOI":"10.32604\/iasc.2023.025177"},{"key":"20538_CR83","doi-asserted-by":"publisher","unstructured":"Gupta A, Johnson J, Fei-Fei L, Savarese S, Alahi A (2018) Social GAN: Socially acceptable trajectories with generative adversarial networks. https:\/\/doi.org\/10.48550\/arXiv.1803.10892","DOI":"10.48550\/arXiv.1803.10892"},{"key":"20538_CR84","doi-asserted-by":"publisher","unstructured":"Vemula A, Muelling K, Oh J (2018) Social attention: Modeling attention in human crowds. https:\/\/doi.org\/10.48550\/arXiv.1710.04689","DOI":"10.48550\/arXiv.1710.04689"},{"key":"20538_CR85","doi-asserted-by":"publisher","unstructured":"Liu Y, Sun C, Lin L, Wang X (2016) Learning natural language inference using bidirectional LSTM model and inner-attention. https:\/\/doi.org\/10.48550\/arXiv.1605.09090","DOI":"10.48550\/arXiv.1605.09090"},{"key":"20538_CR86","doi-asserted-by":"publisher","unstructured":"Vaswani A (2017) Attention is all you need.\u00a0Advances in Neural Information Processing Systems https:\/\/doi.org\/10.48550\/arXiv.1706.03762","DOI":"10.48550\/arXiv.1706.03762"},{"key":"20538_CR87","unstructured":"Lin Z, Feng M, Santos CND, Yu M, Xiang B, Zhou B, Bengio Y (2017) A structured self-attentive sentence embedding.\u00a0arXiv preprint arXiv:1703.03130."},{"key":"20538_CR88","unstructured":"Hoshen Y (2017) VAIN: attentional multi-agent predictive modeling. In: Guyon I, Von Luxburg U, Bengio S, Wallach H, Fergus R, Vishwanathan S, Garnett R (eds) Advances in neural information processing systems. Curran Associates, Inc.\u00a0https:\/\/proceedings.neurips.cc\/paper_files\/paper\/2017\/file\/748ba69d3e8d1af87f84fee909eef339-Paper.pdf. Accessed 3 Aug 2024"},{"key":"20538_CR89","doi-asserted-by":"publisher","unstructured":"Zhang H, Goodfellow I, Metaxas D, Odena A (2019) Self-attention generative adversarial networks. https:\/\/doi.org\/10.48550\/arXiv.1805.08318","DOI":"10.48550\/arXiv.1805.08318"}],"container-title":["Multimedia Tools and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11042-024-20538-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11042-024-20538-8\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11042-024-20538-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,6]],"date-time":"2025-09-06T03:44:34Z","timestamp":1757130274000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11042-024-20538-8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,1,21]]},"references-count":89,"journal-issue":{"issue":"28","published-online":{"date-parts":[[2025,8]]}},"alternative-id":["20538"],"URL":"https:\/\/doi.org\/10.1007\/s11042-024-20538-8","relation":{},"ISSN":["1573-7721"],"issn-type":[{"type":"electronic","value":"1573-7721"}],"subject":[],"published":{"date-parts":[[2025,1,21]]},"assertion":[{"value":"18 March 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 October 2024","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 December 2024","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"21 January 2025","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"No Human subject or animals are involved in the research.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval"}},{"value":"All authors have mutually consented to participate.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"All the authors have consented the Journal to publish this paper.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to publish"}},{"value":"The authors declare that they have no conflicts of interest to report regarding the present study.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of interest"}}]}}