{"id":"https://openalex.org/W7168181525","doi":"https://doi.org/10.1007/s10586-026-06315-2","title":"IPGDR-SAC: a lidar-driven mapless navigation algorithm using reinforcement learning","display_name":"IPGDR-SAC: a lidar-driven mapless navigation algorithm using reinforcement learning","publication_year":2026,"publication_date":"2026-07-01","ids":{"openalex":"https://openalex.org/W7168181525","doi":"https://doi.org/10.1007/s10586-026-06315-2"},"language":"en","primary_location":{"id":"doi:10.1007/s10586-026-06315-2","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10586-026-06315-2","pdf_url":null,"source":{"id":"https://openalex.org/S106148199","display_name":"Cluster Computing","issn_l":"1386-7857","issn":["1386-7857","1573-7543"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Cluster Computing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055710985","display_name":"Huiyan Han","orcid":"https://orcid.org/0000-0001-8387-8633"},"institutions":[{"id":"https://openalex.org/I135714990","display_name":"North University of China","ror":"https://ror.org/047bp1713","country_code":"CN","type":"education","lineage":["https://openalex.org/I135714990"]},{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Huiyan Han","raw_affiliation_strings":["School of Computer Science and Technology, North University of China, Xueyuan Road, Taiyuan, 030051, Shanxi, China","Shanxi Key Laboratory of Machine Vision and Virtual Reality, Taiyuan, 030051, Shanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, North University of China, Xueyuan Road, Taiyuan, 030051, Shanxi, China","institution_ids":["https://openalex.org/I135714990"]},{"raw_affiliation_string":"Shanxi Key Laboratory of Machine Vision and Virtual Reality, Taiyuan, 030051, Shanxi, China","institution_ids":["https://openalex.org/I181877577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108047889","display_name":"Yi-Xiang Wang","orcid":"https://orcid.org/0000-0001-5697-0717"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaqi Wang","raw_affiliation_strings":["School of System Science and Technology, Sun Yat-Sen University, Xingangxi Road, Guangzhou, 510275, Guangdong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of System Science and Technology, Sun Yat-Sen University, Xingangxi Road, Guangzhou, 510275, Guangdong, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008624693","display_name":"Wanning Li","orcid":null},"institutions":[{"id":"https://openalex.org/I135714990","display_name":"North University of China","ror":"https://ror.org/047bp1713","country_code":"CN","type":"education","lineage":["https://openalex.org/I135714990"]},{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanning Li","raw_affiliation_strings":["School of Computer Science and Technology, North University of China, Xueyuan Road, Taiyuan, 030051, Shanxi, China","Shanxi Key Laboratory of Machine Vision and Virtual Reality, Taiyuan, 030051, Shanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, North University of China, Xueyuan Road, Taiyuan, 030051, Shanxi, China","institution_ids":["https://openalex.org/I135714990"]},{"raw_affiliation_string":"Shanxi Key Laboratory of Machine Vision and Virtual Reality, Taiyuan, 030051, Shanxi, China","institution_ids":["https://openalex.org/I181877577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135143042","display_name":"Liqun Kuang","orcid":null},"institutions":[{"id":"https://openalex.org/I135714990","display_name":"North University of China","ror":"https://ror.org/047bp1713","country_code":"CN","type":"education","lineage":["https://openalex.org/I135714990"]},{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liqun Kuang","raw_affiliation_strings":["School of Computer Science and Technology, North University of China, Xueyuan Road, Taiyuan, 030051, Shanxi, China","Shanxi Key Laboratory of Machine Vision and Virtual Reality, Taiyuan, 030051, Shanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, North University of China, Xueyuan Road, Taiyuan, 030051, Shanxi, China","institution_ids":["https://openalex.org/I135714990"]},{"raw_affiliation_string":"Shanxi Key Laboratory of Machine Vision and Virtual Reality, Taiyuan, 030051, Shanxi, China","institution_ids":["https://openalex.org/I181877577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5140556527","display_name":"Xie Han","orcid":null},"institutions":[{"id":"https://openalex.org/I135714990","display_name":"North University of China","ror":"https://ror.org/047bp1713","country_code":"CN","type":"education","lineage":["https://openalex.org/I135714990"]},{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xie Han","raw_affiliation_strings":["School of Computer Science and Technology, North University of China, Xueyuan Road, Taiyuan, 030051, Shanxi, China","Shanxi Key Laboratory of Machine Vision and Virtual Reality, Taiyuan, 030051, Shanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, North University of China, Xueyuan Road, Taiyuan, 030051, Shanxi, China","institution_ids":["https://openalex.org/I135714990"]},{"raw_affiliation_string":"Shanxi Key Laboratory of Machine Vision and Virtual Reality, Taiyuan, 030051, Shanxi, China","institution_ids":["https://openalex.org/I181877577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5055710985"],"corresponding_institution_ids":["https://openalex.org/I135714990","https://openalex.org/I181877577"],"apc_list":{"value":2790,"currency":"USD","value_usd":2790},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.87855091,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"29","issue":"8","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":0.5627999901771545,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.5627999901771545,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2597000002861023,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.03680000081658363,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7042999863624573},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5978000164031982},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5335000157356262},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5317999720573425},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5070000290870667},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4957999885082245},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.45019999146461487},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.44020000100135803},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4250999987125397}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8939999938011169},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7042999863624573},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5978000164031982},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5335000157356262},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5317999720573425},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5185999870300293},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5070000290870667},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4957999885082245},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.45019999146461487},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.44020000100135803},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4250999987125397},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4059999883174896},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.39899998903274536},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3644999861717224},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3549000024795532},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.3529999852180481},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.3449999988079071},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.33320000767707825},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3133000135421753},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.31220000982284546},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.29589998722076416},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.2842000126838684},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2809000015258789},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.26589998602867126},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.26409998536109924},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2551000118255615},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.2549000084400177}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10586-026-06315-2","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10586-026-06315-2","pdf_url":null,"source":{"id":"https://openalex.org/S106148199","display_name":"Cluster Computing","issn_l":"1386-7857","issn":["1386-7857","1573-7543"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Cluster Computing","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1534702153","display_name":null,"funder_award_id":"62272426","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8122850518","display_name":null,"funder_award_id":"202303021211153","funder_id":"https://openalex.org/F4320322666","funder_display_name":"Natural Science Foundation of Shanxi Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322666","display_name":"Natural Science Foundation of Shanxi Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W2044829437","https://openalex.org/W2145339207","https://openalex.org/W2555661494","https://openalex.org/W2781726626","https://openalex.org/W2945310371","https://openalex.org/W2978949425","https://openalex.org/W3012109984","https://openalex.org/W3037694644","https://openalex.org/W3093104061","https://openalex.org/W3094704314","https://openalex.org/W3140133525","https://openalex.org/W3165885159","https://openalex.org/W3196022347","https://openalex.org/W3198178251","https://openalex.org/W3206465908","https://openalex.org/W3214738088","https://openalex.org/W3216473363","https://openalex.org/W4200571365","https://openalex.org/W4221079771","https://openalex.org/W4229066299","https://openalex.org/W4285093429","https://openalex.org/W4309035111","https://openalex.org/W4313368693","https://openalex.org/W4313889428","https://openalex.org/W4321435241","https://openalex.org/W4361213336","https://openalex.org/W4376108486","https://openalex.org/W4379930841","https://openalex.org/W4381186551","https://openalex.org/W4381987765","https://openalex.org/W4385741604","https://openalex.org/W4386051596","https://openalex.org/W4406275100","https://openalex.org/W4410709510","https://openalex.org/W4414194841","https://openalex.org/W4415285843","https://openalex.org/W4416116732"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-07-14T00:00:00"}
