{"id":"https://openalex.org/W7225622213","doi":"https://doi.org/10.3390/machines14111322","title":"PC-MAPPO: Phase-Conditioned Rollout Buffering for Multi-Robot Collaborative Motion Planning","display_name":"PC-MAPPO: Phase-Conditioned Rollout Buffering for Multi-Robot Collaborative Motion Planning","publication_year":2026,"publication_date":"2026-11-08","ids":{"openalex":"https://openalex.org/W7225622213","doi":"https://doi.org/10.3390/machines14111322"},"language":"en","primary_location":{"id":"doi:10.3390/machines14111322","doi":"https://doi.org/10.3390/machines14111322","is_oa":true,"landing_page_url":"https://doi.org/10.3390/machines14111322","pdf_url":null,"source":{"id":"https://openalex.org/S4210219839","display_name":"Machines","issn_l":"2075-1702","issn":["2075-1702"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Machines","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/machines14111322","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5161339565","display_name":"Siqi Sun","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siqi Sun","raw_affiliation_strings":["School of Computer Science, Jiangsu University of Science and Technology, Mengxi Campus, No. 2 Mengxi Road, Jingkou District, Zhenjiang 212000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Jiangsu University of Science and Technology, Mengxi Campus, No. 2 Mengxi Road, Jingkou District, Zhenjiang 212000, China","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108049579","display_name":"Hualong Yu","orcid":"https://orcid.org/0000-0001-9621-4158","observed_orcids":["https://orcid.org/0000-0001-9621-4158"]},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hualong Yu","raw_affiliation_strings":["School of Computer Science, Jiangsu University of Science and Technology, Mengxi Campus, No. 2 Mengxi Road, Jingkou District, Zhenjiang 212000, China"],"raw_orcid":"https://orcid.org/0000-0001-9621-4158","affiliations":[{"raw_affiliation_string":"School of Computer Science, Jiangsu University of Science and Technology, Mengxi Campus, No. 2 Mengxi Road, Jingkou District, Zhenjiang 212000, China","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009298783","display_name":"Boyin Jin","orcid":"https://orcid.org/0009-0009-2869-6322","observed_orcids":["https://orcid.org/0009-0009-2869-6322"]},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Boyin Jin","raw_affiliation_strings":["School of Computer Science, Jiangsu University of Science and Technology, Mengxi Campus, No. 2 Mengxi Road, Jingkou District, Zhenjiang 212000, China"],"raw_orcid":"https://orcid.org/0009-0009-2869-6322","affiliations":[{"raw_affiliation_string":"School of Computer Science, Jiangsu University of Science and Technology, Mengxi Campus, No. 2 Mengxi Road, Jingkou District, Zhenjiang 212000, China","institution_ids":["https://openalex.org/I4210096899"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054379544","display_name":"Qi Wang","orcid":"https://orcid.org/0000-0002-2821-0064","observed_orcids":["https://orcid.org/0000-0002-2821-0064"]},"institutions":[{"id":"https://openalex.org/I4210096899","display_name":"Jiangsu University of Science and Technology","ror":"https://ror.org/00tyjp878","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210096899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Wang","raw_affiliation_strings":["School of Computer Science, Jiangsu University of Science and Technology, Mengxi Campus, No. 2 Mengxi Road, Jingkou District, Zhenjiang 212000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Jiangsu University of Science and Technology, Mengxi Campus, No. 2 Mengxi Road, Jingkou District, Zhenjiang 212000, China","institution_ids":["https://openalex.org/I4210096899"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5009298783"],"corresponding_institution_ids":["https://openalex.org/I4210096899"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2896},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2896},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":"11","first_page":"1322","last_page":"1322"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9473000168800354,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9473000168800354,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.05090000107884407,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.0006000000284984708,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/multi-robot-motion-planning","display_name":"multi-robot motion planning","score":0.9549999833106995},{"id":"https://openalex.org/keywords/formation-maintenance","display_name":"formation maintenance","score":0.6710000038146973},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"obstacle avoidance","score":0.7609999775886536},{"id":"https://openalex.org/keywords/mappo","display_name":"MAPPO","score":0.6520000100135803},{"id":"https://openalex.org/keywords/graph-attention-networks","display_name":"graph attention networks","score":0.8889999985694885},{"id":"https://openalex.org/keywords/artificial-potential-field","display_name":"artificial potential field","score":0.9559999704360962},{"id":"https://openalex.org/keywords/multi-agent-reinforcement-learning","display_name":"multi-agent reinforcement learning","score":0.7699999809265137},{"id":"https://openalex.org/keywords/dynamic-obstacles","display_name":"dynamic obstacles","score":0.7200000286102295},{"id":"https://openalex.org/keywords/narrow-passages","display_name":"narrow passages","score":0.45100000500679016}],"concepts":[{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.6420999765396118},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6108999848365784},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.527400016784668},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4903999865055084},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4343000054359436},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.415800005197525},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.39629998803138733},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.375900000333786},{"id":"https://openalex.org/C189216461","wikidata":"https://www.wikidata.org/wiki/Q2443456","display_name":"Topology optimization","level":3,"score":0.36640000343322754},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.3605000078678131},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.35350000858306885},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3346000015735626},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.3149000108242035},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.31029999256134033},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.30730000138282776},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2989000082015991},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.2976999878883362},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2971999943256378},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2840000092983246},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.2646999955177307},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.2572999894618988},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.257099986076355},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.2563999891281128},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25459998846054077},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.25270000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3390/machines14111322","doi":"https://doi.org/10.3390/machines14111322","is_oa":true,"landing_page_url":"https://doi.org/10.3390/machines14111322","pdf_url":null,"source":{"id":"https://openalex.org/S4210219839","display_name":"Machines","issn_l":"2075-1702","issn":["2075-1702"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Machines","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.3390/machines14111322","doi":"https://doi.org/10.3390/machines14111322","is_oa":true,"landing_page_url":"https://doi.org/10.3390/machines14111322","pdf_url":null,"source":{"id":"https://openalex.org/S4210219839","display_name":"Machines","issn_l":"2075-1702","issn":["2075-1702"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Machines","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W7203500364","https://openalex.org/W7213922307","https://openalex.org/W4362594060","https://openalex.org/W7160158524","https://openalex.org/W7162349082","https://openalex.org/W2384608630","https://openalex.org/W4281668779","https://openalex.org/W7084114960","https://openalex.org/W4415033971","https://openalex.org/W7125975911"],"abstract_inverted_index":{"Phase-dependent":[0],"experience":[1],"creates":[2],"a":[3,20,74],"practical":[4],"tension":[5],"between":[6],"formation":[7,26,51,67],"maintenance":[8],"and":[9,27,45,52,58,89,95,123,126,134,149,154,156,172,186],"obstacle-aware":[10,28,93],"navigation":[11,29,53],"in":[12,30,142,181],"multi-robot":[13,25],"motion":[14],"planning.":[15],"This":[16],"paper":[17],"presents":[18],"PC-MAPPO,":[19],"phase-conditioned":[21,104],"rollout":[22,114],"framework":[23],"for":[24],"the":[31,38,139,177,179],"evaluated":[32],"simulation":[33],"setting.":[34],"The":[35,98],"method":[36],"retains":[37],"Multi-Agent":[39],"Proximal":[40],"Policy":[41],"Optimization":[42],"(MAPPO)":[43],"optimizer":[44],"reorganizes":[46],"on-policy":[47],"data":[48],"through":[49,113],"separate":[50],"buffers,":[54],"concatenated":[55],"batch":[56],"updates,":[57],"effective":[59],"0.5/0.5":[60],"transition":[61],"weights":[62],"whenever":[63],"an":[64,80,102,109],"update":[65],"follows":[66],"detection.":[68],"Graph":[69],"Attention":[70],"Networks":[71],"(GATs)":[72],"encode":[73],"fixed":[75],"scenario-specific":[76],"interaction":[77],"graph,":[78],"while":[79],"Artificial":[81],"Potential":[82],"Field":[83],"(APF)-inspired":[84],"directional":[85,135],"layer":[86],"blends":[87],"target":[88],"repulsive":[90],"directions":[91],"during":[92],"training":[94],"decentralized":[96],"execution.":[97],"methodological":[99],"contribution":[100],"is":[101,184],"end-to-end":[103],"MAPPO":[105],"formulation":[106,129],"that":[107],"carries":[108],"environment-derived":[110],"phase":[111],"label":[112],"storage,":[115],"phase-wise":[116],"Generalized":[117],"Advantage":[118],"Estimation":[119],"(GAE),":[120],"advantage":[121],"normalization,":[122],"loss":[124],"aggregation,":[125],"couples":[127],"this":[128],"to":[130],"fixed-graph":[131],"relational":[132],"encoding":[133],"guidance.":[136],"We":[137],"evaluate":[138],"complete":[140],"implementation":[141],"static":[143,173],"fields":[144],"with":[145],"0,":[146],"3,":[147],"5,":[148],"7":[150],"obstacles,":[151],"dynamic-obstacle":[152],"scenes,":[153],"three-":[155],"four-agent":[157],"narrow":[158],"passages,":[159],"using":[160],"combined-implementation":[161],"ablations.":[162],"Additional":[163],"multi-run":[164],"ablations,":[165],"coordination-pressure":[166],"tests,":[167],"topology":[168],"comparisons,":[169,171],"APF-mechanism":[170],"stress":[174],"tests":[175],"characterize":[176],"contribution,":[178],"conditions":[180],"which":[182],"it":[183],"supported,":[185],"its":[187],"operating":[188],"boundaries.":[189]},"counts_by_year":[],"updated_date":"2026-11-11T12:16:26.678958","created_date":"2026-11-10T00:00:00"}
