{"id":"https://openalex.org/W4400653379","doi":"https://doi.org/10.1080/01691864.2024.2376029","title":"Motion generation for a tracked robot going over an unfixed obstacle on a slope using reinforcement learning","display_name":"Motion generation for a tracked robot going over an unfixed obstacle on a slope using reinforcement learning","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4400653379","doi":"https://doi.org/10.1080/01691864.2024.2376029"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2024.2376029","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2024.2376029","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5078988502","display_name":"Hidenori Takamiya","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hidenori Takamiya","raw_affiliation_strings":["Department of Precision Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077210047","display_name":"Ryosuke Yajima","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryosuke Yajima","raw_affiliation_strings":["Department of Precision Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051800939","display_name":"Jun Younes Louhi Kasahara","orcid":"https://orcid.org/0000-0002-5924-8858"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Younes Louhi Kasahara","raw_affiliation_strings":["Department of Precision Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5924-8858","affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069375578","display_name":"Ren Komatsu","orcid":"https://orcid.org/0000-0002-6526-0802"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ren Komatsu","raw_affiliation_strings":["Department of Precision Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-6526-0802","affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050838590","display_name":"Keiji Nagatani","orcid":"https://orcid.org/0000-0003-2147-2712"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keiji Nagatani","raw_affiliation_strings":["Department of Precision Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-2147-2712","affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021260328","display_name":"Atsushi Yamashita","orcid":"https://orcid.org/0000-0003-1280-069X"},"institutions":[{"id":"https://openalex.org/I159385669","display_name":"Chiba University","ror":"https://ror.org/01hjzeq58","country_code":"JP","type":"education","lineage":["https://openalex.org/I159385669"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Yamashita","raw_affiliation_strings":["Department of Human and Engineered Environmental Studies, The University of Tokyo, Chiba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Human and Engineered Environmental Studies, The University of Tokyo, Chiba, Japan","institution_ids":["https://openalex.org/I159385669","https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064103302","display_name":"Hajime Asama","orcid":"https://orcid.org/0000-0002-9482-497X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hajime Asama","raw_affiliation_strings":["Department of Precision Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5078988502"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09472628,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"38","issue":"15","first_page":"1024","last_page":"1037"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9972000122070312,"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/obstacle","display_name":"Obstacle","score":0.6193471550941467},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5731469988822937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5311927199363708},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.522174596786499},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.521208643913269},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49241960048675537},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45902711153030396},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4177033305168152},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36589205265045166},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34243279695510864},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27462315559387207},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14869984984397888}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6193471550941467},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5731469988822937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5311927199363708},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.522174596786499},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.521208643913269},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49241960048675537},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45902711153030396},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4177033305168152},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36589205265045166},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34243279695510864},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27462315559387207},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14869984984397888},{"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:10.1080/01691864.2024.2376029","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2024.2376029","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5830100352","display_name":null,"funder_award_id":"JPMJMS2032","funder_id":"https://openalex.org/F4320338247","funder_display_name":"Moonshot Research and Development Program"}],"funders":[{"id":"https://openalex.org/F4320338247","display_name":"Moonshot Research and Development Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W130901642","https://openalex.org/W369158565","https://openalex.org/W774034202","https://openalex.org/W1964168076","https://openalex.org/W1969882717","https://openalex.org/W2014862465","https://openalex.org/W2023991152","https://openalex.org/W2029569297","https://openalex.org/W2034498579","https://openalex.org/W2036708630","https://openalex.org/W2041227160","https://openalex.org/W2082927964","https://openalex.org/W2092107259","https://openalex.org/W2101655082","https://openalex.org/W2106022757","https://openalex.org/W2120944055","https://openalex.org/W2131555988","https://openalex.org/W2136622542","https://openalex.org/W2174423225","https://openalex.org/W2314415844","https://openalex.org/W2571268510","https://openalex.org/W2759879155","https://openalex.org/W2905560833","https://openalex.org/W2966009002","https://openalex.org/W2976996725","https://openalex.org/W3091331410","https://openalex.org/W3093922502","https://openalex.org/W3104876774","https://openalex.org/W3208589965","https://openalex.org/W4229775210","https://openalex.org/W4247838075","https://openalex.org/W4250685322","https://openalex.org/W4321020569","https://openalex.org/W6677916085"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2357323510"],"abstract_inverted_index":{"Tracked":[0],"robots":[1,16,40,62],"are":[2,58],"useful":[3],"in":[4,128],"disaster":[5],"recovery":[6],"missions":[7],"owing":[8],"to":[9,35,41,60,91,95,135,165,175],"their":[10],"high":[11,167],"traversability.":[12],"However,":[13],"even":[14],"tracked":[15,39],"find":[17],"traversing":[18],"terrains":[19],"with":[20],"obstacles":[21,28,45],"such":[22],"as":[23],"rocks":[24],"difficult.":[25],"Particularly,":[26],"unfixed":[27,44,77,140,180],"pose":[29],"problems.":[30],"Therefore,":[31],"this":[32],"study":[33],"aims":[34],"generate":[36],"motion":[37],"for":[38,66,107],"go":[42,96,136,176],"over":[43,75,97,112,137,177],"on":[46,82],"slopes":[47],"by":[48],"utilizing":[49],"a":[50,70,86,124,129,138,166],"reinforcement":[51],"learning":[52],"(RL)":[53],"approach.":[54],"In":[55,121],"RL,":[56],"rewards":[57],"important":[59],"make":[61],"learn":[63],"optimal":[64],"policies":[65],"various":[67,143],"tasks.":[68],"Hence,":[69],"new":[71],"definition":[72],"of":[73,110,118,147,155],"going":[74,111],"an":[76],"obstacle":[78,99,141],"is":[79,89,126],"proposed.":[80],"Based":[81],"the":[83,93,98,102,108,114,119,148,156,161,170,178],"proposed":[84],"definition,":[85],"sparse":[87],"reward":[88],"designed":[90],"motivate":[92],"robot":[94,125,171],"while":[100],"avoiding":[101],"large":[103,115],"sliding-down":[104],"phenomenon":[105],"responsible":[106],"failure":[109],"and":[113,132,152,169],"directional":[116],"deviation":[117],"robot.":[120],"our":[122],"experiment,":[123],"trained":[127],"dynamic":[130],"simulator":[131],"it":[133],"attempts":[134],"spherical":[139,179],"under":[142],"environmental":[144],"conditions:":[145],"radius":[146],"obstacle,":[149],"slope":[150],"degree,":[151],"initial":[153],"position":[154],"obstacle.":[157,181],"We":[158],"verify":[159],"that":[160],"success":[162],"rate":[163],"converges":[164],"value":[168],"successfully":[172],"generates":[173],"motions":[174]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}