{"id":"https://openalex.org/W4411406712","doi":"https://doi.org/10.1109/access.2025.3581035","title":"Sim-to-Real Transfer of Deep Reinforcement Learning Agents for Online Coverage Path Planning","display_name":"Sim-to-Real Transfer of Deep Reinforcement Learning Agents for Online Coverage Path Planning","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4411406712","doi":"https://doi.org/10.1109/access.2025.3581035"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3581035","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3581035","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2025.3581035","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083410485","display_name":"Arvi Jonnarth","orcid":"https://orcid.org/0000-0002-3434-2522"},"institutions":[{"id":"https://openalex.org/I2801875454","display_name":"Husqvarna (Sweden)","ror":"https://ror.org/02ayh6y70","country_code":"SE","type":"company","lineage":["https://openalex.org/I2801875454"]},{"id":"https://openalex.org/I4210130947","display_name":"VSL Systems (Sweden)","ror":"https://ror.org/030417565","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210130947"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Arvi Jonnarth","raw_affiliation_strings":["Manta Systems, Link&#x00F6;ping, Sweden","Husqvarna Group, Huskvarna, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-3434-2522","affiliations":[{"raw_affiliation_string":"Manta Systems, Link&#x00F6;ping, Sweden","institution_ids":["https://openalex.org/I4210130947"]},{"raw_affiliation_string":"Husqvarna Group, Huskvarna, Sweden","institution_ids":["https://openalex.org/I2801875454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072067591","display_name":"Ola Johansson","orcid":null},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Ola Johansson","raw_affiliation_strings":["Department of Electrical Engineering, Link&#x00F6;ping University, Link&#x00F6;ping, Sweden","Department of Electrical Engineering, Link&#x00F6;ping University, Sweden"],"raw_orcid":"https://orcid.org/0009-0001-1386-3230","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Link&#x00F6;ping University, Link&#x00F6;ping, Sweden","institution_ids":["https://openalex.org/I102134673"]},{"raw_affiliation_string":"Department of Electrical Engineering, Link&#x00F6;ping University, Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083390005","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-3924-5537"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhao","raw_affiliation_strings":["Department of Information and Communication Engineering, Dalian University of Technology, Dalian, China","Department of Information and Communication Engineering, Dalian University of Technology, China"],"raw_orcid":"https://orcid.org/0000-0002-3924-5537","affiliations":[{"raw_affiliation_string":"Department of Information and Communication Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]},{"raw_affiliation_string":"Department of Information and Communication Engineering, Dalian University of Technology, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042087981","display_name":"Michael Felsberg","orcid":"https://orcid.org/0000-0002-6096-3648"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Michael Felsberg","raw_affiliation_strings":["Department of Electrical Engineering, Link&#x00F6;ping University, Link&#x00F6;ping, Sweden","Department of Electrical Engineering, Link&#x00F6;ping University, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-6096-3648","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Link&#x00F6;ping University, Link&#x00F6;ping, Sweden","institution_ids":["https://openalex.org/I102134673"]},{"raw_affiliation_string":"Department of Electrical Engineering, Link&#x00F6;ping University, Sweden","institution_ids":["https://openalex.org/I102134673"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.1786,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.92153932,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"13","issue":null,"first_page":"106883","last_page":"106905"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9966999888420105,"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":0.9966999888420105,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9340999722480774,"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/T12546","display_name":"Smart Parking Systems Research","score":0.9229000210762024,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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":0.7531697750091553},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.728358268737793},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5876810550689697},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.5410155057907104},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5328303575515747},{"id":"https://openalex.org/keywords/transfer","display_name":"Transfer (computing)","score":0.44855552911758423},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41288289427757263},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33278733491897583},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.24070224165916443},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11998331546783447},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.08641177415847778}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7531697750091553},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.728358268737793},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5876810550689697},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.5410155057907104},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5328303575515747},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.44855552911758423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41288289427757263},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33278733491897583},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.24070224165916443},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11998331546783447},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.08641177415847778}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2025.3581035","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3581035","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:DiVA.org:liu-216664","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-216664","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:e1d1508810ca4149b15daa34c5f91f14","is_oa":true,"landing_page_url":"https://doaj.org/article/e1d1508810ca4149b15daa34c5f91f14","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 13, Pp 106883-106905 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3581035","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3581035","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5757918960","display_name":null,"funder_award_id":"Dnr 2022-02678","funder_id":"https://openalex.org/F4320321030","funder_display_name":"VINNOVA"},{"id":"https://openalex.org/G8869864247","display_name":null,"funder_award_id":"2022-06725","funder_id":"https://openalex.org/F4320322581","funder_display_name":"Vetenskapsr\u00e5det"}],"funders":[{"id":"https://openalex.org/F4320321030","display_name":"VINNOVA","ror":"https://ror.org/01kd5m353"},{"id":"https://openalex.org/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"},{"id":"https://openalex.org/F4320322581","display_name":"Vetenskapsr\u00e5det","ror":"https://ror.org/03zttf063"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W1590932131","https://openalex.org/W1969483458","https://openalex.org/W2019738489","https://openalex.org/W2040872506","https://openalex.org/W2089344586","https://openalex.org/W2103559027","https://openalex.org/W2108154659","https://openalex.org/W2121866178","https://openalex.org/W2136454334","https://openalex.org/W2151250975","https://openalex.org/W2159017378","https://openalex.org/W2194775991","https://openalex.org/W2296073425","https://openalex.org/W2529647363","https://openalex.org/W2605102758","https://openalex.org/W2771728020","https://openalex.org/W2892049203","https://openalex.org/W2904246096","https://openalex.org/W2907537824","https://openalex.org/W2907636777","https://openalex.org/W2910054127","https://openalex.org/W2950546634","https://openalex.org/W2963435654","https://openalex.org/W2968968404","https://openalex.org/W2982083293","https://openalex.org/W3004120916","https://openalex.org/W3009674568","https://openalex.org/W3088310808","https://openalex.org/W3090612618","https://openalex.org/W3095315965","https://openalex.org/W3111602004","https://openalex.org/W3118300017","https://openalex.org/W3119387236","https://openalex.org/W3138516171","https://openalex.org/W3139427593","https://openalex.org/W3207022667","https://openalex.org/W4205994960","https://openalex.org/W4221141531","https://openalex.org/W4226300900","https://openalex.org/W4312349930","https://openalex.org/W4312443924","https://openalex.org/W4383097435","https://openalex.org/W4386285856","https://openalex.org/W4402506114","https://openalex.org/W6637967152","https://openalex.org/W6746428009","https://openalex.org/W6747473740","https://openalex.org/W6754521519","https://openalex.org/W6756463683","https://openalex.org/W6758824984","https://openalex.org/W6767084887","https://openalex.org/W6774815639","https://openalex.org/W6775683342","https://openalex.org/W6798240405","https://openalex.org/W6803126622","https://openalex.org/W6804601995","https://openalex.org/W6876320500"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W2352928148"],"abstract_inverted_index":{"Coverage":[0],"path":[1,10,108],"planning":[2],"(CPP)":[3],"is":[4,130,154,197],"the":[5,13,60,112,121,162,214],"problem":[6],"of":[7,17,62,123,195,216],"finding":[8],"a":[9,18,73,85,106,155,166,170,178,202,237],"that":[11,210],"covers":[12],"entire":[14],"free":[15],"space":[16],"confined":[19],"area,":[20],"with":[21],"applications":[22],"ranging":[23],"from":[24,133,145],"robotic":[25],"lawn":[26],"mowing":[27],"to":[28,50,93,98,114,116,139,147,183,201,236],"search-and-rescue.":[29],"While":[30],"for":[31,67,105,199],"known":[32],"environments,":[33],"offline":[34],"methods":[35,224],"can":[36,243],"find":[37],"provably":[38],"complete":[39,95],"paths,":[40],"and":[41,71,110,173,181,187,221],"in":[42,158,229],"some":[43],"cases":[44],"optimal":[45],"solutions,":[46],"unknown":[47],"environments":[48],"need":[49],"be":[51,136,244],"planned":[52],"<italic":[53,150],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[54,151],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">online</i>":[55],"during":[56],"mapping.":[57],"We":[58,160,191],"investigate":[59,192],"suitability":[61],"continuous-space":[63],"reinforcement":[64],"learning":[65],"(RL)":[66],"this":[68,102],"challenging":[69],"problem,":[70],"propose":[72],"computationally":[74],"feasible":[75],"egocentric":[76],"map":[77],"representation":[78],"based":[79,89],"on":[80,90,126],"frontiers,":[81],"as":[82,84],"well":[83],"novel":[86],"reward":[87],"term":[88],"total":[91],"variation":[92],"promote":[94],"coverage.":[96],"Compared":[97],"existing":[99],"classical":[100],"methods,":[101],"approach":[103,212],"allows":[104],"flexible":[107],"space,":[109],"enables":[111],"agent":[113],"adapt":[115],"specific":[117],"environment":[118,185],"characteristics.":[119],"Meanwhile,":[120,231],"deployment":[122],"RL":[124],"models":[125],"real":[127,171,238],"robot":[128,172],"systems":[129],"difficult.":[131],"Training":[132],"scratch":[134],"may":[135],"infeasible":[137],"due":[138],"slow":[140],"convergence":[141],"times,":[142],"while":[143,176],"transferring":[144],"simulation":[146],"reality,":[148],"i.e.":[149],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">sim-to-real":[152],"transfer</i>,":[153],"key":[156],"challenge":[157],"itself.":[159],"bridge":[161],"sim-to-real":[163],"gap":[164],"through":[165],"semi-virtual":[167],"environment,":[168],"including":[169],"real-time":[174],"aspects,":[175],"utilizing":[177],"simulated":[179],"sensor":[180],"obstacles":[182],"enable":[184],"randomization":[186],"automated":[188],"episode":[189],"resetting.":[190],"what":[193],"level":[194],"fine-tuning":[196],"needed":[198],"adapting":[200],"realistic":[203],"setting.":[204],"Through":[205],"extensive":[206],"experiments,":[207],"we":[208],"show":[209],"our":[211,232],"surpasses":[213],"performance":[215],"both":[217],"previous":[218],"RL-based":[219],"approaches":[220],"highly":[222],"specialized":[223],"across":[225],"multiple":[226],"CPP":[227],"variations":[228],"simulation.":[230],"method":[233],"successfully":[234],"transfers":[235],"robot.":[239],"Our":[240],"code":[241],"implementation":[242],"found":[245],"online.":[246]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
