{"id":"https://openalex.org/W4400222764","doi":"https://doi.org/10.1007/s40747-024-01493-1","title":"Model inductive bias enhanced deep reinforcement learning for robot navigation in crowded environments","display_name":"Model inductive bias enhanced deep reinforcement learning for robot navigation in crowded environments","publication_year":2024,"publication_date":"2024-07-02","ids":{"openalex":"https://openalex.org/W4400222764","doi":"https://doi.org/10.1007/s40747-024-01493-1"},"language":"en","primary_location":{"id":"doi:10.1007/s40747-024-01493-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-024-01493-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-024-01493-1.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://link.springer.com/content/pdf/10.1007/s40747-024-01493-1.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100652417","display_name":"Man Chen","orcid":"https://orcid.org/0000-0002-8937-6949"},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Man Chen","raw_affiliation_strings":["College of Command and Control Engineering, Army Engineering University of PLA, Nanjing, 210007, China"],"affiliations":[{"raw_affiliation_string":"College of Command and Control Engineering, Army Engineering University of PLA, Nanjing, 210007, China","institution_ids":["https://openalex.org/I4210163363"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028803565","display_name":"Yongjie Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongjie Huang","raw_affiliation_strings":["College of Command and Control Engineering, Army Engineering University of PLA, Nanjing, 210007, China"],"affiliations":[{"raw_affiliation_string":"College of Command and Control Engineering, Army Engineering University of PLA, Nanjing, 210007, China","institution_ids":["https://openalex.org/I4210163363"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030576317","display_name":"Weiwen Wang","orcid":"https://orcid.org/0000-0001-9319-450X"},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiwen Wang","raw_affiliation_strings":["College of Command and Control Engineering, Army Engineering University of PLA, Nanjing, 210007, China"],"affiliations":[{"raw_affiliation_string":"College of Command and Control Engineering, Army Engineering University of PLA, Nanjing, 210007, China","institution_ids":["https://openalex.org/I4210163363"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100446991","display_name":"Yao Zhang","orcid":"https://orcid.org/0000-0002-7468-2409"},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Zhang","raw_affiliation_strings":["College of Command and Control Engineering, Army Engineering University of PLA, Nanjing, 210007, China"],"affiliations":[{"raw_affiliation_string":"College of Command and Control Engineering, Army Engineering University of PLA, Nanjing, 210007, China","institution_ids":["https://openalex.org/I4210163363"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101304577","display_name":"Lei Xu","orcid":"https://orcid.org/0009-0006-2485-7561"},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Xu","raw_affiliation_strings":["College of Command and Control Engineering, Army Engineering University of PLA, Nanjing, 210007, China"],"affiliations":[{"raw_affiliation_string":"College of Command and Control Engineering, Army Engineering University of PLA, Nanjing, 210007, China","institution_ids":["https://openalex.org/I4210163363"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060647236","display_name":"Zhisong Pan","orcid":"https://orcid.org/0009-0001-6683-699X"},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhisong Pan","raw_affiliation_strings":["College of Command and Control Engineering, Army Engineering University of PLA, Nanjing, 210007, China"],"affiliations":[{"raw_affiliation_string":"College of Command and Control Engineering, Army Engineering University of PLA, Nanjing, 210007, China","institution_ids":["https://openalex.org/I4210163363"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100652417"],"corresponding_institution_ids":["https://openalex.org/I4210163363"],"apc_list":{"value":1320,"currency":"GBP","value_usd":1619},"apc_paid":{"value":1320,"currency":"GBP","value_usd":1619},"fwci":0.7479,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.70891433,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"10","issue":"5","first_page":"6965","last_page":"6982"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991000294685364,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/reinforcement-learning","display_name":"Reinforcement learning","score":0.7835570573806763},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6700407266616821},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.60270094871521},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5997717976570129},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5365213751792908},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44593173265457153},{"id":"https://openalex.org/keywords/futures-studies","display_name":"Futures studies","score":0.42109447717666626}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7835570573806763},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6700407266616821},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.60270094871521},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5997717976570129},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5365213751792908},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44593173265457153},{"id":"https://openalex.org/C64848388","wikidata":"https://www.wikidata.org/wiki/Q188867","display_name":"Futures studies","level":2,"score":0.42109447717666626}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s40747-024-01493-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-024-01493-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-024-01493-1.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:f3491264279e471280451e63bb6571df","is_oa":true,"landing_page_url":"https://doaj.org/article/f3491264279e471280451e63bb6571df","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complex & Intelligent Systems, Vol 10, Iss 5, Pp 6965-6982 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s40747-024-01493-1","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-024-01493-1","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-024-01493-1.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4400222764.pdf"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W606806978","https://openalex.org/W2064675550","https://openalex.org/W2103120971","https://openalex.org/W2142943472","https://openalex.org/W2145339207","https://openalex.org/W2167052694","https://openalex.org/W2424778531","https://openalex.org/W2496791995","https://openalex.org/W2890001928","https://openalex.org/W2911283711","https://openalex.org/W2963608065","https://openalex.org/W2963809389","https://openalex.org/W2964319688","https://openalex.org/W2990895887","https://openalex.org/W3035285524","https://openalex.org/W3091067209","https://openalex.org/W3100789280","https://openalex.org/W3118963158","https://openalex.org/W3131623996","https://openalex.org/W3133198136","https://openalex.org/W3135883000","https://openalex.org/W3149322120","https://openalex.org/W3183452672","https://openalex.org/W4220652971","https://openalex.org/W4224288782","https://openalex.org/W4285729221","https://openalex.org/W4286543778","https://openalex.org/W4323671167","https://openalex.org/W4361002041","https://openalex.org/W4366822630","https://openalex.org/W4379930841","https://openalex.org/W4383108695","https://openalex.org/W4383109004","https://openalex.org/W4383556583","https://openalex.org/W4387339882","https://openalex.org/W4389508956","https://openalex.org/W4390661023","https://openalex.org/W6600553734"],"related_works":["https://openalex.org/W2370236282","https://openalex.org/W3156023083","https://openalex.org/W4390453990","https://openalex.org/W2292601982","https://openalex.org/W3164313706","https://openalex.org/W1995047307","https://openalex.org/W2118564637","https://openalex.org/W4388907197","https://openalex.org/W4226108142","https://openalex.org/W2046413193"],"abstract_inverted_index":{"Abstract":[0],"Navigating":[1],"mobile":[2],"robots":[3,18,222],"in":[4,21,48,58,121,143,255,261],"crowded":[5,256],"environments":[6,257],"poses":[7],"a":[8,26,77,108,153,217,266],"significant":[9],"challenge":[10],"and":[11,19,55,81,99,136,146,163,169,181,195,258,264],"is":[12],"essential":[13],"for":[14,36,159,190],"the":[15,64,91,97,134,150,160,191,206,214,240,251],"coexistence":[16],"of":[17,79,101,208,216,243],"humans":[20],"future":[22],"intelligent":[23],"societies.":[24],"As":[25],"pragmatic":[27],"data-driven":[28,80],"approach,":[29],"deep":[30,69,92],"reinforcement":[31,70,93],"learning":[32,71,94],"(DRL)":[33],"holds":[34],"promise":[35],"addressing":[37],"this":[38],"challenge.":[39],"However,":[40],"current":[41],"DRL-based":[42],"navigation":[43,182,241,262],"methods":[44],"have":[45],"possible":[46],"improvements":[47],"understanding":[49],"agent":[50,119,141],"interactions,":[51],"feedback":[52],"mechanism":[53],"design,":[54],"decision":[56],"foresight":[57],"dynamic":[59,122],"environments.":[60,123],"This":[61,166],"paper":[62,151],"introduces":[63],"model":[65,87,129,235],"inductive":[66,88,236],"bias":[67,89,237],"enhanced":[68],"(MIBE-DRL)":[72],"method,":[73],"drawing":[74],"inspiration":[75],"from":[76,270],"fusion":[78],"model-driven":[82],"techniques.":[83],"MIBE-DRL":[84,249],"extensively":[85],"incorporates":[86],"into":[90],"framework,":[95],"enhancing":[96],"efficiency":[98],"safety":[100],"robot":[102],"navigation.":[103],"The":[104,124],"proposed":[105],"approach":[106],"entails":[107],"multi-interaction":[109],"network":[110],"featuring":[111],"three":[112],"modules":[113,139],"designed":[114],"to":[115,201,223,246],"comprehensively":[116],"understand":[117],"potential":[118,178],"interactions":[120,130,142],"pedestrian":[125],"interaction":[126,138],"module":[127],"can":[128,186],"among":[131],"humans,":[132],"while":[133],"temporal":[135,145],"spatial":[137,147],"consider":[140],"both":[144],"dimensions.":[148],"Additionally,":[149],"constructs":[152],"reward":[154,171],"system":[155],"that":[156,233],"fully":[157],"accounts":[158],"robot\u2019s":[161],"direction":[162,194],"position":[164,196],"factors.":[165],"system's":[167],"directional":[168],"positional":[170],"functions":[172],"are":[173],"built":[174],"based":[175],"on":[176],"artificial":[177],"fields":[179],"(APF)":[180],"rules,":[183],"respectively,":[184],"which":[185],"provide":[187],"reasoned":[188],"evaluations":[189],"robot's":[192],"motion":[193],"during":[197],"training,":[198],"enabling":[199,221],"it":[200],"receive":[202],"comprehensive":[203],"feedback.":[204],"Furthermore,":[205],"incorporation":[207],"Monte-Carlo":[209],"tree":[210],"search":[211],"(MCTS)":[212],"facilitates":[213],"development":[215],"foresighted":[218],"action":[219],"strategy,":[220],"execute":[224],"actions":[225],"with":[226],"long-term":[227],"planning":[228],"considerations.":[229],"Experimental":[230],"results":[231],"demonstrate":[232],"integrating":[234],"significantly":[238],"enhances":[239],"performance":[242],"MIBE-DRL.":[244],"Compared":[245],"state-of-the-art":[247],"methods,":[248],"achieves":[250],"highest":[252],"success":[253],"rate":[254],"demonstrates":[259],"advantages":[260],"time":[263],"maintaining":[265],"safe":[267],"social":[268],"distance":[269],"humans.":[271]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
