{"id":"https://openalex.org/W4402608346","doi":"https://doi.org/10.1017/s0263574724001115","title":"Robust motion planning for mobile robots under attacks against obstacle localization","display_name":"Robust motion planning for mobile robots under attacks against obstacle localization","publication_year":2024,"publication_date":"2024-08-01","ids":{"openalex":"https://openalex.org/W4402608346","doi":"https://doi.org/10.1017/s0263574724001115"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574724001115","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1017/s0263574724001115","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5102746353","display_name":"Fenghua Wu","orcid":"https://orcid.org/0000-0002-4765-1973"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Fenghua Wu","raw_affiliation_strings":["School of Computer Science and Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022407163","display_name":"Wenbing Tang","orcid":"https://orcid.org/0000-0003-0125-1939"},"institutions":[{"id":"https://openalex.org/I4210139618","display_name":"Shanghai Key Laboratory of Trustworthy Computing","ror":"https://ror.org/030qbr085","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210139618"]},{"id":"https://openalex.org/I66867065","display_name":"East China Normal University","ror":"https://ror.org/02n96ep67","country_code":"CN","type":"education","lineage":["https://openalex.org/I66867065"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenbing Tang","raw_affiliation_strings":["Shanghai Key Laboratory of Trustworthy Computing, East China Normal University, Shanghai, PR China"],"raw_orcid":"https://orcid.org/0000-0003-0125-1939","affiliations":[{"raw_affiliation_string":"Shanghai Key Laboratory of Trustworthy Computing, East China Normal University, Shanghai, PR China","institution_ids":["https://openalex.org/I4210139618","https://openalex.org/I66867065"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083918663","display_name":"Yuan Zhou","orcid":"https://orcid.org/0000-0002-1583-7570"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yuan Zhou","raw_affiliation_strings":["School of Computer Science and Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-1583-7570","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072863865","display_name":"Shang\u2010Wei Lin","orcid":"https://orcid.org/0000-0002-9726-3434"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shang-Wei Lin","raw_affiliation_strings":["School of Computer Science and Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077615805","display_name":"Zuohua Ding","orcid":"https://orcid.org/0000-0002-9671-7836"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zuohua Ding","raw_affiliation_strings":["School of Information Science and Technology, Zhejiang Sci-Tech University, Hangzhou, PR China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Zhejiang Sci-Tech University, Hangzhou, PR China","institution_ids":["https://openalex.org/I1328775524"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112034677","display_name":"Yang Liu","orcid":"https://orcid.org/0000-0002-2604-4381"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yang Liu","raw_affiliation_strings":["School of Computer Science and Engineering, Nanyang Technological University, Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5022407163"],"corresponding_institution_ids":["https://openalex.org/I4210139618","https://openalex.org/I66867065"],"apc_list":null,"apc_paid":null,"fwci":0.4087,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.60216654,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"42","issue":"8","first_page":"2781","last_page":"2800"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965999722480774,"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":0.9965999722480774,"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":0.9514999985694885,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9343000054359436,"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/obstacle","display_name":"Obstacle","score":0.7457247376441956},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6416839957237244},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.59288090467453},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5886372327804565},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5684492588043213},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5276552438735962},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5070643424987793},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49425411224365234},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.20450958609580994}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7457247376441956},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6416839957237244},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.59288090467453},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5886372327804565},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5684492588043213},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5276552438735962},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5070643424987793},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49425411224365234},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.20450958609580994},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574724001115","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1017/s0263574724001115","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2281433634","https://openalex.org/W2394276631","https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W3114279067","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729"],"abstract_inverted_index":{"Abstract":[0],"Thanks":[1],"to":[2,92,121,137,175],"its":[3,38],"real-time":[4],"computation":[5],"efficiency,":[6],"deep":[7],"reinforcement":[8],"learning":[9],"(DRL)":[10],"has":[11],"been":[12],"widely":[13],"applied":[14],"in":[15,66,124,145],"motion":[16,107,178],"planning":[17,108],"for":[18,30,155],"mobile":[19],"robots.":[20],"In":[21,100],"DRL-based":[22],"methods,":[23],"a":[24,31,70,105,113,130],"DRL":[25,119,173],"model":[26,136],"computes":[27],"an":[28],"action":[29],"robot":[32,71,91],"based":[33,132],"on":[34,133],"the":[35,54,59,67,90,97,125,134,139,161,165,171,198],"states":[36,62],"of":[37,96,141,164,200],"surrounding":[39,98,166],"obstacles,":[40,167],"including":[41],"other":[42],"robots":[43],"that":[44,53,186],"may":[45,72],"communicate":[46],"with":[47],"it.":[48],"These":[49],"methods":[50,174],"always":[51],"assume":[52],"environment":[55],"is":[56],"attack-free":[57],"and":[58,85,147,192],"obtained":[60],"obstacles\u2019":[61,142],"are":[63,153],"reliable.":[64],"However,":[65],"real":[68],"world,":[69],"suffer":[73],"from":[74],"obstacle":[75],"localization":[76],"attacks":[77],"(OLAs),":[78],"such":[79],"as":[80],"sensor":[81],"attacks,":[82,84,87],"communication":[83],"remote-control":[86],"which":[88],"cause":[89],"retrieve":[93],"inaccurate":[94],"positions":[95,144,163],"obstacles.":[99],"this":[101],"paper,":[102],"we":[103],"propose":[104],"robust":[106],"method":[109],"ObsGAN-DRL":[110,128,156,168,187,201],",":[111],"integrating":[112],"generative":[114],"adversarial":[115],"network":[116],"(GAN)":[117],"into":[118],"models":[120],"mitigate":[122,189],"OLAs":[123,190],"environment.":[126],"First,":[127],"learns":[129],"generator":[131],"GAN":[135],"compute":[138,176],"approximation":[140,162],"accurate":[143],"benign":[146],"attack":[148],"scenarios.":[149],"Therefore,":[150],"no":[151],"detectors":[152],"required":[154],".":[157,202],"Second,":[158],"by":[159],"using":[160],"can":[169,188],"leverage":[170],"state-of-the-art":[172],"collision-free":[177],"commands":[179],"(e.g.,":[180],"velocity)":[181],"efficiently.":[182],"Comprehensive":[183],"experiments":[184],"show":[185],"effectively":[191],"guarantee":[193],"safety.":[194],"We":[195],"also":[196],"demonstrate":[197],"generalization":[199]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
