Before revision:  It is applied on an autonomous robot (QOLO) in a static complex indoor environment  and also tested in simulations with dense crowds  .
After revision:  It is applied on an autonomous robot (QOLO) in a static complex indoor environment and also tested in simulations with dense crowds . The final proof of concept was performed in an outdoor environment in Lausanne. The QOLO-robot successfully traversed a marketplace in the center of town in presence of a diverse crowd with a non-uniform motion pattern .