{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T17:23:57Z","timestamp":1778693037491,"version":"3.51.4"},"reference-count":48,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2022,6,18]],"date-time":"2022-06-18T00:00:00Z","timestamp":1655510400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Fondo Nacional de Desarrollo Cient\u00edfico, Tecnol\u00f3gico y De Innovaci\u00f3n Tecnol\u00f3gica - FONDECYT","award":["no. 01-2019-FONDECYT-BM-INC.INV"],"award-info":[{"award-number":["no. 01-2019-FONDECYT-BM-INC.INV"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Many authors have been working on approaches that can be applied to social robots to allow a more realistic\/comfortable relationship between humans and robots in the same space. This paper proposes a new navigation strategy for social environments by recognizing and considering the social conventions of people and groups. To achieve that, we proposed the application of Delaunay triangulation for connecting people as vertices of a triangle network. Then, we defined a complete asymmetric Gaussian function (for individuals and groups) to decide zones where the robot must avoid passing. Furthermore, a feature generalization scheme called socialization feature was proposed to incorporate perception information that can be used to change the variance of the Gaussian function. Simulation results have been presented to demonstrate that the proposed approach can modify the path according to the perception of the robot compared to a standard A* algorithm.<\/jats:p>","DOI":"10.3390\/s22124602","type":"journal-article","created":{"date-parts":[[2022,6,19]],"date-time":"2022-06-19T21:19:26Z","timestamp":1655673566000},"page":"4602","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["A New Approach for Including Social Conventions into Social Robots Navigation by Using Polygonal Triangulation and Group Asymmetric Gaussian Functions"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5826-6408","authenticated-orcid":false,"given":"Raphaell Maciel de","family":"Sousa","sequence":"first","affiliation":[{"name":"Instituto Federal da Para\u00edba (IFPB), Campus Cajazeiras, Cajazeiras 58900-000, PB, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7482-3390","authenticated-orcid":false,"given":"Dennis","family":"Barrios-Aranibar","sequence":"additional","affiliation":[{"name":"Electrical and Electronic Engineering Department, Universidad Cat\u00f3lica San Pablo, Arequipa 04001, Peru"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8447-784X","authenticated-orcid":false,"given":"Jose","family":"Diaz-Amado","sequence":"additional","affiliation":[{"name":"Electrical and Electronic Engineering Department, Universidad Cat\u00f3lica San Pablo, Arequipa 04001, Peru"},{"name":"Instituto Federal da Bahia (IFBA), Campus Vit\u00f3ria da Conquista, Vit\u00f3ria da Conquista 45078-300, BA, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Raquel E.","family":"Pati\u00f1o-Escarcina","sequence":"additional","affiliation":[{"name":"Electrical and Electronic Engineering Department, Universidad Cat\u00f3lica San Pablo, Arequipa 04001, Peru"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roque Mendes Prado","family":"Trindade","sequence":"additional","affiliation":[{"name":"Department of Technologics and Exacts Sciences, State University of Southwest Bahia (UESB), Vit\u00f3ria da Conquista 45083-900, BA, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,6,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Gonzalez-Aguirre, J.A., Osorio-Oliveros, R., Rodr\u00edguez-Hern\u00e1ndez, K.L., Liz\u00e1rraga-Iturralde, J., Morales Menendez, R., Ram\u00edrez-Mendoza, R.A., Ram\u00edrez-Moreno, M.A., and Lozoya-Santos, J.D.J. 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