{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,13]],"date-time":"2026-04-13T17:27:27Z","timestamp":1776101247306,"version":"3.50.1"},"reference-count":77,"publisher":"Springer Science and Business Media LLC","issue":"6","license":[{"start":{"date-parts":[[2022,12,3]],"date-time":"2022-12-03T00:00:00Z","timestamp":1670025600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2022,12,3]],"date-time":"2022-12-03T00:00:00Z","timestamp":1670025600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"name":"Ministerio de Ciencia e Innovacion (MCIN) y Agencia Espa\u00f1ola de Investigacion","award":["PID2019-106702RB-C21 MCIN \/ AEI \/10.13039\/501100011033"],"award-info":[{"award-number":["PID2019-106702RB-C21 MCIN \/ AEI \/10.13039\/501100011033"]}]},{"DOI":"10.13039\/501100000780","name":"European Commission","doi-asserted-by":"publisher","award":["H2020-INFRAIA-2017-1-two-stage-730994"],"award-info":[{"award-number":["H2020-INFRAIA-2017-1-two-stage-730994"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J of Soc Robotics"],"published-print":{"date-parts":[[2024,6]]},"DOI":"10.1007\/s12369-022-00937-3","type":"journal-article","created":{"date-parts":[[2022,12,3]],"date-time":"2022-12-03T06:03:15Z","timestamp":1670047395000},"page":"1189-1221","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Adaptive Social Planner to Accompany People in Real-Life Dynamic Environments"],"prefix":"10.1007","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6540-8347","authenticated-orcid":false,"given":"Ely","family":"Repiso","sequence":"first","affiliation":[]},{"given":"Ana\u00eds","family":"Garrell","sequence":"additional","affiliation":[]},{"given":"Alberto","family":"Sanfeliu","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2022,12,3]]},"reference":[{"issue":"6","key":"937_CR1","doi-asserted-by":"publisher","first-page":"1473","DOI":"10.1007\/s10514-018-9806-6","volume":"43","author":"G Ferrer","year":"2019","unstructured":"Ferrer G, Sanfeliu A (2019) Anticipative kinodynamic planning: multi-objective robot navigation in urban and dynamic environments. Auton Robot 43(6):1473\u20131488","journal-title":"Auton Robot"},{"key":"937_CR2","doi-asserted-by":"crossref","unstructured":"Repiso E, Ferrer G, Sanfeliu A (2017) On-line adaptive side-by-side human robot companion in dynamic urban environments. In: 2017 IEEE\/RSJ international conference on intelligent robots and systems (IROS). IEEE, pp 872\u2013877","DOI":"10.1109\/IROS.2017.8202248"},{"key":"937_CR3","doi-asserted-by":"crossref","unstructured":"Repiso E, Zanlungo F, Kanda T, Garrell A, Sanfeliu A (2019) People\u2019s v-formation and side-by-side model adapted to accompany groups of people by social robots. In: IEEE\/RSJ international conference on Intelligent robots and systems","DOI":"10.1109\/IROS40897.2019.8968601"},{"key":"937_CR4","doi-asserted-by":"crossref","unstructured":"Repiso E, Garrell A, Sanfeliu A (2020) People\u2019s adaptive side-by-side model evolved to accompany groups of people by social robots. In: IEEE robotics and automation letters and IEEE\/RSJ international conference on robotics and automation (RA-L and ICRA)","DOI":"10.1109\/LRA.2020.2970676"},{"key":"937_CR5","doi-asserted-by":"crossref","unstructured":"Galvan M, Repiso E, Sanfeliu A (2019) Robot navigation to approach people using g$$^{2}$$-spline path planning and extended social force model. In: Iberian robotics conference. Springer, pp 15\u201327","DOI":"10.1007\/978-3-030-36150-1_2"},{"key":"937_CR6","doi-asserted-by":"crossref","unstructured":"Repiso E, Garrell A, Sanfeliu A (2019) Adaptive side-by-side social robot navigation to approach and interact with people. Int J Soc Robot, pp 1\u201322","DOI":"10.1007\/s12369-019-00559-2"},{"issue":"1","key":"937_CR7","doi-asserted-by":"publisher","first-page":"15","DOI":"10.1007\/s10919-009-0077-y","volume":"34","author":"M Costa","year":"2010","unstructured":"Costa M (2010) Interpersonal distances in group walking. J Nonverbal Behav 34(1):15\u201326","journal-title":"J Nonverbal Behav"},{"issue":"4","key":"937_CR8","doi-asserted-by":"publisher","first-page":"e10047","DOI":"10.1371\/journal.pone.0010047","volume":"5","author":"M Moussa\u00efd","year":"2010","unstructured":"Moussa\u00efd M, Perozo N, Garnier S, Helbing D, Theraulaz G (2010) The walking behaviour of pedestrian social groups and its impact on crowd dynamics. PLoS ONE 5(4):e10047","journal-title":"PLoS ONE"},{"key":"937_CR9","first-page":"1097","volume":"2012","author":"M Schultz","year":"2014","unstructured":"Schultz M, R\u00f6\u00dfger L, Fricke H, Schlag B (2014) Group dynamic behavior and psychometric profiles as substantial driver for pedestrian dynamics. Pedestr Evac Dyn 2012:1097\u20131111","journal-title":"Pedestr Evac Dyn"},{"issue":"3","key":"937_CR10","doi-asserted-by":"publisher","first-page":"38007","DOI":"10.1209\/0295-5075\/111\/38007","volume":"111","author":"F Zanlungo","year":"2015","unstructured":"Zanlungo F, Kanda T (2015) A mesoscopic model for the effect of density on pedestrian group dynamics. EPL (Europhys Lett) 111(3):38007","journal-title":"EPL (Europhys Lett)"},{"key":"937_CR11","unstructured":"Hall ET, Edward T (1969) Hall. The hidden dimension. Anchor Books, New York 20:71"},{"key":"937_CR12","doi-asserted-by":"crossref","unstructured":"Stubbs K, Hinds PJ, Wettergreen D (2007) Autonomy and common ground in human-robot interaction: a field study. IEEE Intel Syst 22(2)","DOI":"10.1109\/MIS.2007.21"},{"issue":"13","key":"937_CR13","doi-asserted-by":"publisher","first-page":"1675","DOI":"10.1177\/0278364912459278","volume":"31","author":"A Garrell","year":"2012","unstructured":"Garrell A, Sanfeliu A (2012) Cooperative social robots to accompany groups of people. Int J Robot Res 31(13):1675\u20131701","journal-title":"Int J Robot Res"},{"key":"937_CR14","doi-asserted-by":"crossref","unstructured":"Garrell A, Villamizar M, Moreno-Noguer F, Sanfeliu A (2013) Proactive behavior of an autonomous mobile robot for human-assisted learning. In: 2013 IEEE RO-MAN. IEEE, pp 107\u2013113","DOI":"10.1109\/ROMAN.2013.6628463"},{"key":"937_CR15","doi-asserted-by":"crossref","unstructured":"Repiso E, Garrell A, Sanfeliu A (2018) Robot approaching and engaging people in a human-robot companion framework. In: 2018 IEEE\/RSJ international conference on intelligent robots and systems (IROS). IEEE, pp 8200\u20138205","DOI":"10.1109\/IROS.2018.8594149"},{"issue":"21","key":"937_CR16","doi-asserted-by":"publisher","first-page":"7087","DOI":"10.3390\/s21217087","volume":"21","author":"\u00d3 Gil","year":"2021","unstructured":"Gil \u00d3, Garrell A, Sanfeliu A (2021) Social robot navigation tasks: combining machine learning techniques and social force model. Sensors 21(21):7087","journal-title":"Sensors"},{"key":"937_CR17","doi-asserted-by":"crossref","unstructured":"Garrell A, Garza-Elizondo L, Villamizar M, Herrero F, Sanfeliu A (2017) Aerial social force model: A new framework to accompany people using autonomous flying robots. In: 2017 IEEE\/RSJ international conference on intelligent robots and systems (IROS). IEEE, pp 7011\u20137017","DOI":"10.1109\/IROS.2017.8206627"},{"key":"937_CR18","doi-asserted-by":"crossref","unstructured":"Garrell A, Coll C, Alqu\u00e9zar R, Sanfeliu A (2019) Teaching a drone to accompany a person from demonstrations using non-linear asfm. In: 2019 IEEE\/RSJ international conference on intelligent robots and systems (IROS). IEEE, pp 1985\u20131991","DOI":"10.1109\/IROS40897.2019.8967675"},{"key":"937_CR19","doi-asserted-by":"publisher","first-page":"134","DOI":"10.1016\/j.patrec.2013.08.013","volume":"44","author":"G Ferrer","year":"2014","unstructured":"Ferrer G, Sanfeliu A (2014) Bayesian human motion intentionality prediction in urban environments. Pattern Recogn Lett 44:134\u2013140","journal-title":"Pattern Recogn Lett"},{"issue":"5","key":"937_CR20","doi-asserted-by":"publisher","first-page":"4282","DOI":"10.1103\/PhysRevE.51.4282","volume":"51","author":"D Helbing","year":"1995","unstructured":"Helbing D, Molnar P (1995) Social force model for pedestrian dynamics. Phys Rev E 51(5):4282","journal-title":"Phys Rev E"},{"key":"937_CR21","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. Robot Auton Syst 93:85\u2013104","journal-title":"Robot Auton Syst"},{"key":"937_CR22","unstructured":"Khambhaita H, Alami R (2017) Viewing robot navigation in human environment as a cooperative activity. arXiv preprint arXiv:1708.01267"},{"issue":"5","key":"937_CR23","doi-asserted-by":"publisher","first-page":"874","DOI":"10.1109\/TRO.2007.904911","volume":"23","author":"EA Sisbot","year":"2007","unstructured":"Sisbot EA, Marin-Urias LF, Alami R, Simeon T (2007) A human aware mobile robot motion planner. IEEE Trans Rob 23(5):874\u2013883","journal-title":"IEEE Trans Rob"},{"key":"937_CR24","doi-asserted-by":"crossref","unstructured":"Che Y, Okamura AM, Sadigh D (2020) Efficient and trustworthy social navigation via explicit and implicit robot\u2013human communication. IEEE Trans Robot","DOI":"10.1109\/TRO.2020.2964824"},{"key":"937_CR25","unstructured":"Fleishman V, Honig S, Oron-Gilad T, Edan Y (2018) Proxemic preferences when being followed by a robot. Israeli ministry of science and technology, report, pp 3\u201312\u00a0060"},{"key":"937_CR26","unstructured":"Wolf K, Lischke L (2014) Urban proxemics for public guidance. In: Proceedings of the nordichi workshop on ubicomp beyond devices: people, objects, space and meaning, ACM, vol\u00a010, pp 2\u00a0639\u00a0189\u20132\u00a0654\u00a0842"},{"issue":"2","key":"937_CR27","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","journal-title":"Int J Soc Robot"},{"key":"937_CR28","doi-asserted-by":"crossref","unstructured":"MacArthur KR, Stowers K, Hancock P (2017) Human-robot interaction: Proximity and speed-slowly back away from the robot! In: Advances in human factors in robots and unmanned systems. Springer, pp 365\u2013374","DOI":"10.1007\/978-3-319-41959-6_30"},{"key":"937_CR29","doi-asserted-by":"crossref","unstructured":"Pacchierotti E, Christensen HI, 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","DOI":"10.1109\/ROMAN.2006.314436"},{"issue":"4","key":"937_CR30","doi-asserted-by":"publisher","first-page":"261","DOI":"10.1561\/2300000052","volume":"5","author":"PA Lasota","year":"2017","unstructured":"Lasota PA, Fong T, Shah JA et al (2017) A survey of methods for safe human-robot interaction. Found Trends Robot 5(4):261\u2013349","journal-title":"Found Trends Robot"},{"issue":"1","key":"937_CR31","doi-asserted-by":"publisher","first-page":"70","DOI":"10.5898\/JHRI.3.1.Sabanovic","volume":"3","author":"S \u0160abanovi\u0107","year":"2014","unstructured":"\u0160abanovi\u0107 S, Reeder SM, Kechavarzi B (2014) Designing robots in the wild: in situ prototype evaluation for a break management robot. J Hum-Robot Interact 3(1):70\u201388","journal-title":"J Hum-Robot Interact"},{"key":"937_CR32","doi-asserted-by":"crossref","unstructured":"Clodic A, Fleury S, Alami R, Chatila R, Bailly G, Brethes L, Cottret M, Danes P, Dollat X, Elisei F, et\u00a0al. (2006) Rackham: An interactive robot-guide. In: ROMAN 2006-The 15th IEEE international symposium on robot and human interactive communication. IEEE, pp 502\u2013509","DOI":"10.1109\/ROMAN.2006.314378"},{"key":"937_CR33","doi-asserted-by":"crossref","unstructured":"Kanda T, Shiomi M, Miyashita Z, Ishiguro H, Hagita N (2009) An affective guide robot in a shopping mall. In: Proceedings of the 4th ACM\/IEEE international conference on Human robot interaction. ACM, pp 173\u2013180","DOI":"10.1145\/1514095.1514127"},{"key":"937_CR34","doi-asserted-by":"crossref","unstructured":"Yousuf MA, Kobayashi Y, Kuno Y, Yamazaki A, Yamazaki K (2012) Development of a mobile museum guide robot that can configure spatial formation with visitors. In: International conference on intelligent computing. Springer, pp 423\u2013432","DOI":"10.1007\/978-3-642-31588-6_55"},{"key":"937_CR35","doi-asserted-by":"crossref","unstructured":"Merino L, Ballesteros J, P\u00e9rez-Higueras N, Vigo RR, P\u00e9rez-Lara J, Caballero F (2014) Robust person guidance by using online pomdps. In: ROBOT2013: First Iberian robotics conference. Springer, pp 289\u2013303","DOI":"10.1007\/978-3-319-03653-3_22"},{"key":"937_CR36","doi-asserted-by":"crossref","unstructured":"Triebel R, Arras K, Alami R, Beyer L, Breuers S, Chatila R, Chetouani M, Cremers D, Evers V, Fiore M, et\u00a0al. (2016) Spencer: a socially aware service robot for passenger guidance and help in busy airports. In: Field and service robotics. Springer, pp 607\u2013622","DOI":"10.1007\/978-3-319-27702-8_40"},{"key":"937_CR37","doi-asserted-by":"crossref","unstructured":"Takemura H, Nemoto Z, Ito K, Mizoguchi H (2010) Development of vision based person following module for mobile robots in RT-middleware. In: Climbing and Walking Robots, p 409","DOI":"10.5772\/8831"},{"key":"937_CR38","unstructured":"Katz D (2016) Development of algorithms for a human-following robot equipped with kinect vision and laser sensors in an unknown indoor environment with obstacles and corners. In: Ben- Gurion University of the Negev. Citeseer, pp 463\u2013466"},{"key":"937_CR39","doi-asserted-by":"crossref","unstructured":"Kobayashi T, Chugo D, Yokota S, Muramatsu S, Hashimoto H (2015) Design of personal mobility motion based on cooperative movement with a companion. In: 2015 6th IEEE international conference on cognitive infocommunications (CogInfoCom). IEEE, pp 165\u2013170","DOI":"10.1109\/CogInfoCom.2015.7390584"},{"issue":"4","key":"937_CR40","doi-asserted-by":"publisher","first-page":"936","DOI":"10.1109\/TCDS.2018.2825641","volume":"10","author":"SS Honig","year":"2018","unstructured":"Honig SS, Oron-Gilad T, Zaichyk H, Sarne-Fleischmann V, Olatunji S, Edan Y (2018) Toward socially aware person-following robots. IEEE Trans Cognit Dev Syst 10(4):936\u2013954","journal-title":"IEEE Trans Cognit Dev Syst"},{"issue":"1","key":"937_CR41","first-page":"56","volume":"4","author":"E Prassler","year":"2002","unstructured":"Prassler E, Bank D, Kluge B, Hagele M (2002) Key technologies in robot assistants: motion coordination between a human and a mobile robot. Trans Control, Autom Syst Eng 4(1):56\u201361","journal-title":"Trans Control, Autom Syst Eng"},{"key":"937_CR42","doi-asserted-by":"crossref","unstructured":"Murakami R, Morales\u00a0Saiki LY, Satake S, Kanda T, Ishiguro H (2014) Destination unknown: walking side-by-side without knowing the goal. In: Proceedings of the ACM\/IEEE international conference on Human-robot interaction. ACM, pp 471\u2013478","DOI":"10.1145\/2559636.2559665"},{"issue":"2","key":"937_CR43","doi-asserted-by":"publisher","first-page":"51","DOI":"10.5898\/JHRI.3.2.Morales","volume":"3","author":"Y Morales","year":"2014","unstructured":"Morales Y, Kanda T, Hagita N (2014) Walking together: side by side walking model for an interacting robot. J Hum-Robot Interact 3(2):51\u201373","journal-title":"J Hum-Robot Interact"},{"key":"937_CR44","doi-asserted-by":"crossref","unstructured":"Kuderer M, Kretzschmar H, Burgard W (2013) Teaching mobile robots to cooperatively navigate in populated environments. In: IEEE\/RSJ international conference on intelligent robots and systems. IEEE, pp 3138\u20133143","DOI":"10.1109\/IROS.2013.6696802"},{"key":"937_CR45","doi-asserted-by":"crossref","unstructured":"Rodi\u0107 A, Vujovi\u0107 M, Stevanovi\u0107 I, Jovanovi\u0107 M (2016) Development of human-centered social robot with embedded personality for elderly care. In: New trends in medical and service robots. Springer, pp 233\u2013247","DOI":"10.1007\/978-3-319-30674-2_18"},{"issue":"4","key":"937_CR46","doi-asserted-by":"publisher","first-page":"499","DOI":"10.1109\/TOH.2014.2332173","volume":"7","author":"S Scheggi","year":"2014","unstructured":"Scheggi S, Morbidi F, Prattichizzo D (2014) Human-robot formation control via visual and vibrotactile haptic feedback. IEEE Trans Haptics 7(4):499\u2013511","journal-title":"IEEE Trans Haptics"},{"key":"937_CR47","doi-asserted-by":"crossref","unstructured":"Du Y, Hetherington NJ, Oon CL, Chan WP, Quintero CP, Croft E, Van\u00a0der Loos HM (2019) Group surfing: A pedestrian-based approach to sidewalk robot navigation. In: 2019 international conference on robotics and automation (ICRA). IEEE, pp 6518\u20136524","DOI":"10.1109\/ICRA.2019.8793608"},{"issue":"4","key":"937_CR48","doi-asserted-by":"publisher","first-page":"401","DOI":"10.1007\/s12369-017-0443-6","volume":"10","author":"D Karunarathne","year":"2018","unstructured":"Karunarathne D, Morales Y, Kanda T, Ishiguro H (2018) Model of side-by-side walking without the robot knowing the goal. Int J Soc Robot 10(4):401\u2013420","journal-title":"Int J Soc Robot"},{"key":"937_CR49","doi-asserted-by":"crossref","unstructured":"Ferrer G, Garrell A, Herrero F, Sanfeliu A (2016) Robot social-aware navigation framework to accompany people walking side-by-side. Auton Robots, pp 1\u201319","DOI":"10.1007\/s10514-016-9584-y"},{"key":"937_CR50","doi-asserted-by":"crossref","unstructured":"Kuderer M, Burgard W (2014) An approach to socially compliant leader following for mobile robots. In: International conference on social robotics. Springer, pp 239\u2013248","DOI":"10.1007\/978-3-319-11973-1_24"},{"key":"937_CR51","doi-asserted-by":"crossref","unstructured":"Scheggi S, Aggravi M, Morbidi F, Prattichizzo D (2014) Cooperative human-robot haptic navigation. In: 2014 IEEE international conference on robotics and automation (ICRA). IEEE, 2014, pp 2693\u20132698","DOI":"10.1109\/ICRA.2014.6907245"},{"key":"937_CR52","doi-asserted-by":"crossref","unstructured":"Saez-Pons J, Alboul L, Penders J (2011) Experiments in cooperative human multi-robot navigation. In: 2011 IEEE international conference on robotics and automation (ICRA). IEEE, pp 1\u20134","DOI":"10.1109\/ICRA.2011.5980592"},{"key":"937_CR53","doi-asserted-by":"crossref","unstructured":"Urcola P, Montano L (2011) Adapting robot team behavior from interaction with a group of people. In: 2011 IEEE\/RSJ international conference on Intelligent robots and systems (IROS). IEEE, p 2887","DOI":"10.1109\/IROS.2011.6094961"},{"issue":"4","key":"937_CR54","doi-asserted-by":"publisher","first-page":"909","DOI":"10.1109\/TRO.2016.2570240","volume":"32","author":"T Iqbal","year":"2016","unstructured":"Iqbal T, Rack S, Riek LD (2016) Movement coordination in human-robot teams: a dynamical systems approach. IEEE Trans Rob 32(4):909\u2013919","journal-title":"IEEE Trans Rob"},{"key":"937_CR55","doi-asserted-by":"crossref","unstructured":"D\u00edaz-Boladeras M, Paillacho D, Angulo C, Torres O, Gonz\u00e1lez-Di\u00e9guez J, Albo-Canals J (2015) Evaluating group-robot interaction in crowded public spaces: a week-long exploratory study in the wild with a humanoid robot guiding visitors through a science museum. Int J Hum Robot 12(04)","DOI":"10.1142\/S021984361550022X"},{"key":"937_CR56","doi-asserted-by":"crossref","unstructured":"Leaman J, La HM (2017) A comprehensive review of smart wheelchairs: past, present and future. arXiv preprint arXiv:1704.04697","DOI":"10.1109\/THMS.2017.2706727"},{"key":"937_CR57","doi-asserted-by":"crossref","unstructured":"Prassler E, Bank D, Kluge B (2001) Motion coordination between a human and a robotic wheelchair. In: Proceedings. 10th IEEE international workshop on robot and human interactive communication, pp 412\u2013417","DOI":"10.1109\/ROMAN.2001.981939"},{"key":"937_CR58","doi-asserted-by":"crossref","unstructured":"Kobayashi Y, Kinpara Y, Shibusawa T, Kuno Y (2009) Robotic wheelchair based on observations of people using integrated sensors. In: IEEE\/RSJ international conference on intelligent robots and systems, pp 2013\u20132018","DOI":"10.1109\/IROS.2009.5353933"},{"key":"937_CR59","doi-asserted-by":"crossref","unstructured":"Suzuki R, Yamada T, Arai M, Sato Y, Kobayashi Y, Kuno Y (2014) Multiple robotic wheelchair system considering group communication. In: International symposium on visual computing. Springer, pp 805\u2013814","DOI":"10.1007\/978-3-319-14249-4_77"},{"key":"937_CR60","unstructured":"Herrero\u00a0Cotarelo F (2012) Detecci\u00f3n autom\u00e1tica de personas mediante l\u00e1ser 2d y su aplicaci\u00f3n a la rob\u00f3tica de servicios"},{"key":"937_CR61","doi-asserted-by":"crossref","unstructured":"Arras KO, Mozos OM, Burgard W (2007) Using boosted features for the detection of people in 2d range data. In: Proceedings 2007 IEEE international conference on robotics and automation. IEEE, pp 3402\u20133407","DOI":"10.1109\/ROBOT.2007.363998"},{"issue":"6","key":"937_CR62","doi-asserted-by":"publisher","first-page":"843","DOI":"10.1109\/TAC.1979.1102177","volume":"24","author":"D Reid","year":"1979","unstructured":"Reid D (1979) An algorithm for tracking multiple targets. IEEE Trans Autom Control 24(6):843\u2013854","journal-title":"IEEE Trans Autom Control"},{"issue":"3","key":"937_CR63","doi-asserted-by":"publisher","first-page":"280","DOI":"10.1177\/0278364910393538","volume":"30","author":"M Luber","year":"2011","unstructured":"Luber M, Diego Tipaldi G, Arras KO (2011) Place-dependent people tracking. Int J Robot Res 30(3):280\u2013293","journal-title":"Int J Robot Res"},{"issue":"1","key":"937_CR64","doi-asserted-by":"publisher","first-page":"107","DOI":"10.3390\/s19010107","volume":"19","author":"V Vaquero","year":"2019","unstructured":"Vaquero V, Repiso E, Sanfeliu A (2019) Robust and real-time detection and tracking of moving objects with minimum 2d LiDAR information to advance autonomous cargo handling in ports. Sensors 19(1):107","journal-title":"Sensors"},{"key":"937_CR65","doi-asserted-by":"crossref","unstructured":"Ferrer G, Sanfeliu A (2014) Behavior estimation for a complete framework for human motion prediction in crowded environments. In: 2014 IEEE international conference on robotics and automation (ICRA). IEEE, pp 5940\u20135945","DOI":"10.1109\/ICRA.2014.6907734"},{"key":"937_CR66","doi-asserted-by":"crossref","unstructured":"Luber M, Stork JA, Tipaldi GD, Arras KO (2010) People tracking with human motion predictions from social forces. In: 2010 IEEE international conference on robotics and automation. IEEE, pp 464\u2013469","DOI":"10.1109\/ROBOT.2010.5509779"},{"issue":"6","key":"937_CR67","doi-asserted-by":"publisher","first-page":"68005","DOI":"10.1209\/0295-5075\/93\/68005","volume":"93","author":"F Zanlungo","year":"2011","unstructured":"Zanlungo F, Ikeda T, Kanda T (2011) Social force model with explicit collision prediction. EPL (Europhys Lett) 93(6):68005","journal-title":"EPL (Europhys Lett)"},{"issue":"1","key":"937_CR68","doi-asserted-by":"publisher","first-page":"012811","DOI":"10.1103\/PhysRevE.89.012811","volume":"89","author":"F Zanlungo","year":"2014","unstructured":"Zanlungo F, Ikeda T, Kanda T (2014) Potential for the dynamics of pedestrians in a socially interacting group. Phys Rev E 89(1):012811","journal-title":"Phys Rev E"},{"key":"937_CR69","unstructured":"Weiss A, Bernhaupt R, Lankes M, Tscheligi M (2009) The usus evaluation framework for human-robot interaction. In: AISB2009: proceedings of the symposium on new frontiers in human-robot interaction 4(1):Citeseer, pp 11\u201326"},{"issue":"9","key":"937_CR70","doi-asserted-by":"publisher","first-page":"231","DOI":"10.1007\/s12369-016-0389-0","volume":"2","author":"A Garrell","year":"2017","unstructured":"Garrell A, Villamizar M, Moreno-Noguer F, Sanfeliu A (2017) Teaching robot\u2019s proactive behavior using human assistance. Int J Soc Robot 2(9):231\u2013249","journal-title":"Int J Soc Robot"},{"issue":"3","key":"937_CR71","first-page":"36","volume":"84","author":"T Ji","year":"2005","unstructured":"Ji T, Pachi A (2005) Frequency and velocity of people walking. Struct Eng 84(3):36\u201340","journal-title":"Struct Eng"},{"key":"937_CR72","doi-asserted-by":"crossref","unstructured":"Ge W, Collins RT, Ruback B (2009) Automatically detecting the small group structure of a crowd. In: 2009 workshop on applications of computer vision (WACV). IEEE, pp 1\u20138","DOI":"10.1109\/WACV.2009.5403123"},{"issue":"12","key":"937_CR73","doi-asserted-by":"publisher","first-page":"e0225704","DOI":"10.1371\/journal.pone.0225704","volume":"14","author":"F Zanlungo","year":"2019","unstructured":"Zanlungo F, Y\u00fccel Z, Kanda T (2019) Intrinsic group behaviour ii: On the dependence of triad spatial dynamics on social and personal features; and on the effect of social interaction on small group dynamics. PLoS ONE 14(12):e0225704","journal-title":"PLoS ONE"},{"key":"937_CR74","doi-asserted-by":"crossref","unstructured":"Gross H-M, Boehme H, Schroeter C, M\u00fcller S, K\u00f6nig A, Einhorn E, Martin C, Merten M, Bley A (2009) Toomas: interactive shopping guide robots in everyday use-final implementation and experiences from long-term field trials. In: IEEE\/RSJ international conference on intelligent robots and systems, pp 2005\u20132012","DOI":"10.1109\/IROS.2009.5354497"},{"key":"937_CR75","doi-asserted-by":"crossref","unstructured":"Chen Y, Wu F, Shuai W, Wang N, Chen R, Chen X (2015) Kejia robot\u2013an attractive shopping mall guider. In: International conference on social robotics. Springer, pp 145\u2013154","DOI":"10.1007\/978-3-319-25554-5_15"},{"key":"937_CR76","doi-asserted-by":"crossref","unstructured":"Gross H-M, Schroeter C, Mueller S, Volkhardt M, Einhorn E, Bley A, Martin C, Langner T, Merten M (2011) Progress in developing a socially assistive mobile home robot companion for the elderly with mild cognitive impairment. In: IEEE\/RSJ international conference on intelligent robots and systems, pp 2430\u20132437","DOI":"10.1109\/IROS.2011.6094770"},{"key":"937_CR77","unstructured":"Zhao P, Sun L, Cui L, Luo W, Ding Y (2016) The walking behaviours of pedestrian social group in the corridor of subway station. In: Proceedings of the 2016 Pedestrian and evacuation dynamics conference"}],"container-title":["International Journal of Social Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12369-022-00937-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s12369-022-00937-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s12369-022-00937-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,4,18]],"date-time":"2025-04-18T05:01:38Z","timestamp":1744952498000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s12369-022-00937-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,12,3]]},"references-count":77,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2024,6]]}},"alternative-id":["937"],"URL":"https:\/\/doi.org\/10.1007\/s12369-022-00937-3","relation":{},"ISSN":["1875-4791","1875-4805"],"issn-type":[{"value":"1875-4791","type":"print"},{"value":"1875-4805","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,12,3]]},"assertion":[{"value":"6 October 2022","order":1,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 December 2022","order":2,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no conflicts of interest to declare that are relevant to the content of this article.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of Interest"}},{"value":"This paper or a similar version is not currently under review by a journal or conference. This paper is void of plagiarism or self-plagiarism as defined by the Committee on Publication Ethics and Springer Guidelines. The Ethics Review Board of the Universitat Politecnica de Catalunya approved the study, with title: Navegaci\u00f3n Robot-Humano Colaborativa en entornos con personas y predicci\u00f3n de movimiento humano. The Ethics Review Board decision number is: 2021-11 UPC. Attached as supplementary material.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical Approval"}},{"value":"Informed consent was obtained from all individual participants included in the study.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Informed Consent Statement to Participate"}}]}}