 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.
<clarity>  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.
 While research on social navigation has focused mainly 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.