{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:08:48Z","timestamp":1777716528418,"version":"3.51.4"},"reference-count":54,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2014,12,9]],"date-time":"2014-12-09T00:00:00Z","timestamp":1418083200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2015,2]]},"abstract":"<jats:p>We introduce a novel, online method to predict pedestrian trajectories using agent-based velocity-space reasoning for improved human\u2013robot interaction and collision-free navigation. Our formulation uses velocity obstacles to model the trajectory of each moving pedestrian in a robot\u2019s environment and improves the motion model by adaptively learning relevant parameters based on sensor data. The resulting motion model for each agent is computed using statistical inferencing techniques, including a combination of ensemble Kalman filters and a maximum-likelihood estimation algorithm. This allows a robot to learn individual motion parameters for every agent in the scene at interactive rates. We highlight the performance of our motion prediction method in real-world crowded scenarios, compare its performance with prior techniques, and demonstrate the improved accuracy of the predicted trajectories. We also adapt our approach for collision-free robot navigation among pedestrians based on noisy data and highlight the results in our simulator.<\/jats:p>","DOI":"10.1177\/0278364914555543","type":"journal-article","created":{"date-parts":[[2014,12,9]],"date-time":"2014-12-09T23:02:02Z","timestamp":1418166122000},"page":"201-217","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":85,"title":["BRVO: Predicting pedestrian trajectories using velocity-space reasoning"],"prefix":"10.1177","volume":"34","author":[{"given":"Sujeong","family":"Kim","sequence":"first","affiliation":[{"name":"Department of Computer Science, University of North Carolina at Chapel Hill, NC, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stephen J.","family":"Guy","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Minnesota, MN, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenxi","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Computer Science, City University of Hong Kong, Kowloon Tong, Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David","family":"Wilkie","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of North Carolina at Chapel Hill, NC, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rynson W.H.","family":"Lau","sequence":"additional","affiliation":[{"name":"Department of Computer Science, City University of Hong Kong, Kowloon Tong, Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ming C.","family":"Lin","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of North Carolina at Chapel Hill, NC, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dinesh","family":"Manocha","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of North Carolina at Chapel Hill, NC, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2014,12,9]]},"reference":[{"key":"bibr1-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1109\/78.978374"},{"key":"bibr2-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000011205.11775.fd"},{"key":"bibr3-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904048962"},{"key":"bibr4-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1109\/ICPR.2014.714"},{"key":"bibr5-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1016\/j.physd.2012.05.005"},{"key":"bibr6-0278364914555543","first-page":"43","author":"Boltes M","year":"2010","journal-title":"Pedestrian and evacuation dynamics"},{"key":"bibr7-0278364914555543","volume-title":"Proceedings of the international conference on robotics and automation (ICRA)","author":"Bruce A","year":"2004"},{"key":"bibr8-0278364914555543","volume-title":"Statistical Inference (Duxbury Advanced Series in Statistics and Decision Sciences)","author":"Casella G","year":"2002"},{"key":"bibr9-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2003.1211475"},{"key":"bibr10-0278364914555543","first-page":"2116","author":"Cui J","year":"2005","journal-title":"Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS)"},{"key":"bibr11-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1109\/ICCVW.2011.6130234"},{"key":"bibr12-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1145\/2159616.2159619"},{"key":"bibr13-0278364914555543","first-page":"966","author":"Du Toit N","year":"2010","journal-title":"Proceedings of the IEEE international conference on robotics and automation (ICRA)"},{"key":"bibr14-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1007\/s10236-003-0036-9"},{"key":"bibr15-0278364914555543","first-page":"3024","author":"Fod A","year":"2002","journal-title":"Proceedings of the IEEE international conference on robotics and automation (ICRA)"},{"key":"bibr16-0278364914555543","first-page":"1610","author":"Fulgenzi C","year":"2007","journal-title":"Proceedings of the IEEE international conference on robotics and automation"},{"key":"bibr17-0278364914555543","first-page":"619","author":"Gong H","year":"2011","journal-title":"Proceedings of the IEEE international conference on computer vision (ICCV)"},{"key":"bibr18-0278364914555543","first-page":"119","author":"Guy SJ","year":"2010","journal-title":"Symposium on computer animation"},{"key":"bibr19-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1145\/2019406.2019413"},{"key":"bibr20-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1007\/s00382-004-0471-4"},{"key":"bibr21-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevE.51.4282"},{"key":"bibr22-0278364914555543","first-page":"981","author":"Henry P","year":"2010","journal-title":"Proceedings of the IEEE international conference on robotics and automation (ICRA)"},{"key":"bibr23-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-15892-6_19"},{"key":"bibr24-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-10347-6_4"},{"key":"bibr25-0278364914555543","volume-title":"The tenth international workshop on the algorithmic foundations of robotics (WAFR)","author":"Kim S","year":"2012"},{"key":"bibr26-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevE.87.063305"},{"key":"bibr27-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2011.173"},{"key":"bibr28-0278364914555543","first-page":"199","author":"Lerner A","year":"2009","journal-title":"Symposium on computer animation"},{"key":"bibr29-0278364914555543","first-page":"723","author":"Liao L","year":"2003","journal-title":"Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS)"},{"key":"bibr30-0278364914555543","author":"Liu W","year":"2014","journal-title":"IEEE Transactions on Circuits and System for Video Technology"},{"key":"bibr31-0278364914555543","first-page":"464","author":"Luber M","year":"2010","journal-title":"Proceedings of the IEEE international conference on robotics and automation (ICRA)"},{"key":"bibr32-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1002\/9780470191613"},{"key":"bibr33-0278364914555543","first-page":"935","author":"Mehran R","year":"2009","journal-title":"Proceedings of the IEEE conference on computer vision and pattern recognition (CVPR)"},{"key":"bibr34-0278364914555543","doi-asserted-by":"publisher","DOI":"10.2200\/S00123ED1V01Y200808CGR008"},{"key":"bibr35-0278364914555543","first-page":"261","author":"Pellegrini S","year":"2009","journal-title":"Proceedings of the IEEE 12th international conference on computer vision"},{"key":"bibr36-0278364914555543","first-page":"189","author":"Pettr\u00e9 J","year":"2009","journal-title":"Symposium on computer animation"},{"key":"bibr37-0278364914555543","first-page":"4628","author":"Pradhan N","year":"2011","journal-title":"American control conference (ACC)"},{"key":"bibr38-0278364914555543","volume-title":"Game developers conference","author":"Reynolds CW","year":"1999"},{"key":"bibr39-0278364914555543","first-page":"1389","author":"Rodriguez M","year":"2009","journal-title":"Proceedings of the IEEE 12th international conference on computer vision"},{"key":"bibr40-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-387-30440-3_187"},{"key":"bibr41-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1177\/0278364903022002002"},{"key":"bibr42-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2120810"},{"key":"bibr43-0278364914555543","first-page":"4293","author":"Svenstrup M","year":"2010","journal-title":"Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS)"},{"key":"bibr44-0278364914555543","first-page":"797","author":"Trautman P","year":"2010","journal-title":"Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems (IROS)"},{"key":"bibr45-0278364914555543","first-page":"2153","author":"Trautman P","year":"2013","journal-title":"Proceedings of the IEEE international conference on robotics and automation (ICRA)"},{"key":"bibr46-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1145\/1141911.1142008"},{"key":"bibr47-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-19457-3_1"},{"key":"bibr48-0278364914555543","first-page":"1928","author":"Van den Berg J","year":"2008","journal-title":"Proceedings of the IEEE international conference on robotics and automation (ICRA)"},{"key":"bibr49-0278364914555543","author":"Van den Berg J","year":"2008","journal-title":"Symposium on interactive 3D graphics and games (I3D)"},{"key":"bibr50-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1109\/ASSPCC.2000.882463"},{"key":"bibr51-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354175"},{"key":"bibr52-0278364914555543","first-page":"5062","author":"Work D","year":"2008","journal-title":"47th IEEE conference on decision and control"},{"key":"bibr53-0278364914555543","first-page":"1345","author":"Yamaguchi K","year":"2011","journal-title":"Proceedings of the IEEE conference on computer vision and pattern recognition"},{"key":"bibr54-0278364914555543","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354147"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364914555543","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364914555543","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364914555543","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:18:44Z","timestamp":1777457924000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364914555543"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,12,9]]},"references-count":54,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2015,2]]}},"alternative-id":["10.1177\/0278364914555543"],"URL":"https:\/\/doi.org\/10.1177\/0278364914555543","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,12,9]]}}}