For example, if one is on an airplane, and puts food under his/her neighbors seat, and then the neighbor falls asleep, is the food permissible? Does the prohibition only apply where it's a bed, or does the prohibition apply anywhere someone is asleep?
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From the link above (emphasis added):
It is permitted to place food underneath a bench, even if the bench is used for sleeping, since a bench is not a bed. [It is recommended that food not be placed under an airplane seat, since airplane seats are regularly used as beds Kuntress U'vlechtecha Baderech 4:2 and note 30, quoting contemporary poskim. http://torahsearch.com/page.cfm/2930