Before revision:  While related literature has addressed the co-navigation problem focused on the scalability with the number of pedestrians in open spaces, typical indoor environments present the additional challenge of constrained spaces such as corridors , doorways and crosswalks that limit maneuverability and influence patterns of pedestrian interaction.
After revision:  While related literature has addressed the co-navigation problem focused on the scalability with the number of pedestrians in open spaces, typical indoor environments present the additional challenge of constrained spaces such as corridors and doorways that limit maneuverability and influence patterns of pedestrian interaction.