{"id":"https://openalex.org/W4401795113","doi":"https://doi.org/10.1109/aim55361.2024.10637006","title":"Hierarchical RL-Guided Large-scale Navigation of a Snake Robot","display_name":"Hierarchical RL-Guided Large-scale Navigation of a Snake Robot","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4401795113","doi":"https://doi.org/10.1109/aim55361.2024.10637006"},"language":"en","primary_location":{"id":"doi:10.1109/aim55361.2024.10637006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim55361.2024.10637006","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5051224603","display_name":"Shuo Jiang","orcid":"https://orcid.org/0000-0003-3645-6301"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shuo Jiang","raw_affiliation_strings":["Northeastern University,Boston,MA,USA,02115"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Boston,MA,USA,02115","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015535724","display_name":"Adarsh Salagame","orcid":"https://orcid.org/0000-0003-4345-3299"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adarsh Salagame","raw_affiliation_strings":["Northeastern University,Boston,MA,USA,02115"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Boston,MA,USA,02115","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101945710","display_name":"Alireza Ramezani","orcid":"https://orcid.org/0000-0002-3391-5288"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alireza Ramezani","raw_affiliation_strings":["Northeastern University,Boston,MA,USA,02115"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Boston,MA,USA,02115","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032791503","display_name":"Lawson L. S. Wong","orcid":"https://orcid.org/0000-0002-9944-7587"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lawson L.S. Wong","raw_affiliation_strings":["Northeastern University,Boston,MA,USA,02115"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Boston,MA,USA,02115","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8644,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.84062767,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1347","last_page":"1352"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9957000017166138,"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/T10868","display_name":"Soft Robotics and Applications","score":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6639522314071655},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.6279409527778625},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5697731375694275},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4343186020851135},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43151143193244934},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.17008879780769348},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.10860869288444519}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6639522314071655},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.6279409527778625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5697731375694275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4343186020851135},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43151143193244934},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.17008879780769348},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.10860869288444519}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim55361.2024.10637006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim55361.2024.10637006","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1570481159","https://openalex.org/W2000589690","https://openalex.org/W2033497856","https://openalex.org/W2045839039","https://openalex.org/W2107620445","https://openalex.org/W2143030465","https://openalex.org/W2143660196","https://openalex.org/W2158833162","https://openalex.org/W2165614408","https://openalex.org/W2169629082","https://openalex.org/W2344451648","https://openalex.org/W2604397499","https://openalex.org/W2737009002","https://openalex.org/W2803946385","https://openalex.org/W2963864421","https://openalex.org/W3011403842","https://openalex.org/W3036233998","https://openalex.org/W3090470663","https://openalex.org/W3117330837","https://openalex.org/W3132175036","https://openalex.org/W3132990433","https://openalex.org/W3154791684","https://openalex.org/W3160155004","https://openalex.org/W3207785214","https://openalex.org/W4309323738","https://openalex.org/W4313194664","https://openalex.org/W4382344551","https://openalex.org/W4383337681","https://openalex.org/W4396906107","https://openalex.org/W4401752201","https://openalex.org/W6684921986","https://openalex.org/W6795538104","https://openalex.org/W6849635099","https://openalex.org/W6859301400","https://openalex.org/W6864402547"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Classical":[0],"snake":[1,38],"robot":[2,39,102],"control":[3,33,112],"leverages":[4],"mimicking":[5],"snake-like":[6],"gaits":[7],"tuned":[8],"for":[9],"specific":[10],"environments.":[11,45],"However,":[12],"to":[13,35,40,74,86,104],"operate":[14],"adaptively":[15],"in":[16,43,76,90],"unstructured":[17],"environments,":[18],"gait":[19,56,59],"generation":[20],"must":[21],"be":[22,83],"dynamically":[23],"scheduled.":[24],"In":[25],"this":[26],"work,":[27],"we":[28],"present":[29],"a":[30,66,91],"four-layer":[31],"hierarchical":[32,111],"scheme":[34],"enable":[36],"the":[37,96,106,109],"navigate":[41,75],"freely":[42],"large-scale":[44],"The":[46],"proposed":[47,110],"model":[48,98],"decomposes":[49],"navigation":[50],"into":[51],"global":[52],"planning,":[53,55],"local":[54],"generation,":[57],"and":[58,65,81],"tracking.":[60],"Using":[61],"reinforcement":[62],"learning":[63],"(RL)":[64],"central":[67],"pattern":[68],"generator":[69],"(CPG),":[70],"our":[71],"method":[72],"learns":[73],"complex":[77],"mazes":[78],"within":[79],"hours":[80],"can":[82],"directly":[84],"deployed":[85],"arbitrary":[87],"new":[88],"environments":[89],"zero-shot":[92],"fashion.":[93],"We":[94],"use":[95],"high-fidelity":[97],"of":[99,108],"Northeastern\u2019s":[100],"slithering":[101],"COBRA":[103],"test":[105],"effectiveness":[107],"approach.":[113]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}