{"id":"https://openalex.org/W7225415083","doi":"https://doi.org/10.21203/rs.3.rs-11425388/v1","title":"Collaborative Deep Q-Network for Multi-Robot Coverage Path Planning in Complex Environments","display_name":"Collaborative Deep Q-Network for Multi-Robot Coverage Path Planning in Complex Environments","publication_year":2026,"publication_date":"2026-11-06","ids":{"openalex":"https://openalex.org/W7225415083","doi":"https://doi.org/10.21203/rs.3.rs-11425388/v1"},"language":"en","primary_location":{"id":"doi:10.21203/rs.3.rs-11425388/v1","doi":"https://doi.org/10.21203/rs.3.rs-11425388/v1","is_oa":true,"landing_page_url":"https://doi.org/10.21203/rs.3.rs-11425388/v1","pdf_url":"https://www.researchsquare.com/article/rs-11425388/latest.pdf","source":{"id":"https://openalex.org/S4306525896","display_name":"Research Square","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Research Square","raw_type":"posted-content"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.researchsquare.com/article/rs-11425388/latest.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5161043994","display_name":"Wan Xu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wan Xu","raw_affiliation_strings":["Hubei University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei University of Technology","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080485576","display_name":"\u5218\u9526\u7aef","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinduan Liu","raw_affiliation_strings":["Hubei University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei University of Technology","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124106922","display_name":"Yujie Wang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yujie Wang","raw_affiliation_strings":["Hubei University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei University of Technology","institution_ids":["https://openalex.org/I74525822"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5160479590","display_name":"Shize Wang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I74525822","display_name":"Hubei University of Technology","ror":"https://ror.org/02d3fj342","country_code":"CN","type":"education","lineage":["https://openalex.org/I74525822"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shize Wang","raw_affiliation_strings":["Hubei University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei University of Technology","institution_ids":["https://openalex.org/I74525822"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74525822"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6435999870300293,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6435999870300293,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.3474000096321106,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.002400000113993883,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/dueling-deep-q-network","display_name":"dueling deep Q-network","score":0.9309999942779541},{"id":"https://openalex.org/keywords/unknown-environments","display_name":"unknown environments","score":0.6639999747276306}],"concepts":[{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.8762999773025513},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7096999883651733},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6657999753952026},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.5874000191688538},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5776000022888184},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5741999745368958},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5138000249862671},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49070000648498535},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48159998655319214},{"id":"https://openalex.org/C4679612","wikidata":"https://www.wikidata.org/wiki/Q866298","display_name":"Aggregate (composite)","level":2,"score":0.4449999928474426},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.41040000319480896},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3424000144004822},{"id":"https://openalex.org/C7545210","wikidata":"https://www.wikidata.org/wiki/Q838123","display_name":"Data redundancy","level":2,"score":0.3409999907016754},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33880001306533813},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31139999628067017},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3109000027179718},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.2937999963760376},{"id":"https://openalex.org/C2780595565","wikidata":"https://www.wikidata.org/wiki/Q5145833","display_name":"Collaborative engineering","level":3,"score":0.2921000123023987},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.25940001010894775},{"id":"https://openalex.org/C2982907496","wikidata":"https://www.wikidata.org/wiki/Q1145523","display_name":"Collaborative design","level":3,"score":0.25940001010894775}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.21203/rs.3.rs-11425388/v1","doi":"https://doi.org/10.21203/rs.3.rs-11425388/v1","is_oa":true,"landing_page_url":"https://doi.org/10.21203/rs.3.rs-11425388/v1","pdf_url":"https://www.researchsquare.com/article/rs-11425388/latest.pdf","source":{"id":"https://openalex.org/S4306525896","display_name":"Research Square","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Research Square","raw_type":"posted-content"}],"best_oa_location":{"id":"doi:10.21203/rs.3.rs-11425388/v1","doi":"https://doi.org/10.21203/rs.3.rs-11425388/v1","is_oa":true,"landing_page_url":"https://doi.org/10.21203/rs.3.rs-11425388/v1","pdf_url":"https://www.researchsquare.com/article/rs-11425388/latest.pdf","source":{"id":"https://openalex.org/S4306525896","display_name":"Research Square","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Research Square","raw_type":"posted-content"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7225415083.pdf","grobid_xml":"https://content.openalex.org/works/W7225415083.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W2145339207","https://openalex.org/W2173248099","https://openalex.org/W2201581102","https://openalex.org/W2746553466","https://openalex.org/W2890001928","https://openalex.org/W2890176466","https://openalex.org/W2949845527","https://openalex.org/W2963428623","https://openalex.org/W2963821308","https://openalex.org/W3029079934","https://openalex.org/W3164666502","https://openalex.org/W3194369326","https://openalex.org/W3197083160","https://openalex.org/W3210448484","https://openalex.org/W4200406880","https://openalex.org/W4205113159","https://openalex.org/W4210376712","https://openalex.org/W4210843023","https://openalex.org/W4289688034","https://openalex.org/W4308480822","https://openalex.org/W4322503516","https://openalex.org/W4383503893","https://openalex.org/W4386038368","https://openalex.org/W4386322131","https://openalex.org/W4398162670","https://openalex.org/W4399710452","https://openalex.org/W4400904814","https://openalex.org/W4402193932","https://openalex.org/W4405237355","https://openalex.org/W4408441586","https://openalex.org/W4408548212","https://openalex.org/W4413104083","https://openalex.org/W4413925460","https://openalex.org/W4415367581","https://openalex.org/W4416749062","https://openalex.org/W7118166471"],"related_works":["https://openalex.org/W4289688034","https://openalex.org/W3090355888","https://openalex.org/W4415361800","https://openalex.org/W7126016037","https://openalex.org/W4390492413","https://openalex.org/W4412404578","https://openalex.org/W3004117210","https://openalex.org/W4387170679","https://openalex.org/W3206129103","https://openalex.org/W2965996200"],"abstract_inverted_index":{"Abstract":[0],"Existing":[1],"multi-robot":[2],"coverage":[3,97,130,180,201],"methods":[4],"in":[5,187,207],"unknown":[6],"environments":[7],"suffer":[8],"from":[9],"inadequate":[10],"use":[11],"of":[12,137,151],"inter-robot":[13,62],"interaction":[14,91],"information,":[15,54,60],"limited":[16],"collaborative":[17,41,63,67,138],"decision-making":[18],"capabilities,":[19],"excessive":[20],"repeated":[21,129],"coverage,":[22],"and":[23,30,61,78,86,114,131,143,153,166,182,190,203,214],"insufficient":[24],"adaptability":[25,161,184],"to":[26,88,94,121,158,162,185],"different":[27,163],"team":[28,80,164,191],"sizes":[29,165],"map":[31,156,167,188],"environments.":[32,168],"To":[33],"address":[34],"these":[35],"issues,":[36],"this":[37,100],"paper":[38],"proposes":[39],"a":[40,49,105,115],"deep":[42,107],"Q-network":[43,108],"(CD-DQN)":[44],"framework.":[45],"The":[46],"framework":[47,145],"constructs":[48],"task-state":[50],"representation":[51,136],"integrating":[52],"robot-specific":[53],"local":[55],"environmental":[56],"observations,":[57],"regional":[58],"task":[59],"relationships.":[64],"A":[65,134],"multi-head":[66],"attention":[68],"module":[69],"uses":[70],"the":[71,76,79,84,95,144,174,195],"current":[72,96],"robot\u2019s":[73],"features":[74,82,139],"as":[75,83],"query":[77],"members\u2019":[81],"keys":[85],"values":[87],"adaptively":[89],"aggregate":[90],"information":[92],"relevant":[93],"decision.":[98],"On":[99],"basis,":[101],"action-value":[102],"estimation":[103],"using":[104],"dueling":[106],"(Dueling":[109],"DQN),":[110],"dynamic":[111],"region":[112],"allocation,":[113],"multi-level":[116],"reward":[117],"mechanism":[118],"are":[119],"combined":[120],"guide":[122],"robots":[123,152],"toward":[124],"unexplored":[125],"areas":[126],"while":[127],"reducing":[128],"motion":[132],"conflicts.":[133],"fixed-length":[135],"is":[140,146],"also":[141],"adopted,":[142],"trained":[147],"with":[148,194,211],"varying":[149],"numbers":[150],"randomly":[154],"generated":[155],"layouts":[157],"improve":[159],"policy":[160],"Experimental":[169],"results":[170],"show":[171],"that,":[172],"within":[173],"tested":[175,209],"configurations,":[176],"CD-DQN":[177,198],"maintains":[178],"high":[179],"performance":[181],"demonstrates":[183],"changes":[186],"size":[189],"size.":[192],"Compared":[193],"baseline":[196],"algorithms,":[197],"achieves":[199],"higher":[200],"rates":[202],"fewer":[204],"completion":[205],"steps":[206],"both":[208],"scenarios,":[210],"competitive":[212],"redundancy":[213],"collaboration":[215],"performance.":[216]},"counts_by_year":[],"updated_date":"2026-11-09T13:22:03.289127","created_date":"2026-11-07T00:00:00"}