{"id":"https://openalex.org/W4408100502","doi":"https://doi.org/10.1109/ants63515.2024.10898701","title":"Adaptive Trajectory Planning in Autonomous Vehicles: A Hierarchical Reinforcement Learning Approach with Soft Actor-Critic","display_name":"Adaptive Trajectory Planning in Autonomous Vehicles: A Hierarchical Reinforcement Learning Approach with Soft Actor-Critic","publication_year":2024,"publication_date":"2024-12-15","ids":{"openalex":"https://openalex.org/W4408100502","doi":"https://doi.org/10.1109/ants63515.2024.10898701"},"language":"en","primary_location":{"id":"doi:10.1109/ants63515.2024.10898701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ants63515.2024.10898701","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 Networks and Telecommunications Systems (ANTS)","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/A5101883460","display_name":"Amit Kumar Sharma","orcid":"https://orcid.org/0000-0001-6922-8757"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Amit Kumar Sharma","raw_affiliation_strings":["Sir Chhotu Ram Institute of Engineering and Technology,Electronics and Communication,Meerut,Uttar Pradesh,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sir Chhotu Ram Institute of Engineering and Technology,Electronics and Communication,Meerut,Uttar Pradesh,India","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102768076","display_name":"Archna Choudhary","orcid":"https://orcid.org/0000-0003-2437-6355"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Amit Choudhary","raw_affiliation_strings":["KTH Royal Institute of Technology,Electrical Engineering and Computer Science,Stockholm,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Electrical Engineering and Computer Science,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086598229","display_name":"Rajat Chaudhary","orcid":"https://orcid.org/0000-0002-6554-918X"},"institutions":[{"id":"https://openalex.org/I3129773123","display_name":"Bennett University","ror":"https://ror.org/00an5hx75","country_code":"IN","type":"education","lineage":["https://openalex.org/I3129773123"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Rajat Chaudhary","raw_affiliation_strings":["Bennett University,School of Computer Science and Engineering Technology,Greater Noida,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bennett University,School of Computer Science and Engineering Technology,Greater Noida,India","institution_ids":["https://openalex.org/I3129773123"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026590747","display_name":"Aditya Bhardwaj","orcid":"https://orcid.org/0000-0003-2488-0092"},"institutions":[{"id":"https://openalex.org/I3129773123","display_name":"Bennett University","ror":"https://ror.org/00an5hx75","country_code":"IN","type":"education","lineage":["https://openalex.org/I3129773123"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Aditya Bhardwaj","raw_affiliation_strings":["Bennett University,School of Computer Science and Engineering Technology,Greater Noida,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bennett University,School of Computer Science and Engineering Technology,Greater Noida,India","institution_ids":["https://openalex.org/I3129773123"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102812278","display_name":"Anjum Mohd Aslam","orcid":null},"institutions":[{"id":"https://openalex.org/I3129773123","display_name":"Bennett University","ror":"https://ror.org/00an5hx75","country_code":"IN","type":"education","lineage":["https://openalex.org/I3129773123"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Anjum Mohd Aslam","raw_affiliation_strings":["Bennett University,School of Computer Science and Engineering Technology,Greater Noida,India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bennett University,School of Computer Science and Engineering Technology,Greater Noida,India","institution_ids":["https://openalex.org/I3129773123"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6109,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.76327714,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.8844000101089478,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.8844000101089478,"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/T10524","display_name":"Traffic control and management","score":0.8240000009536743,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.8195000290870667,"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":0.840958297252655},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7194648385047913},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6909278035163879},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.560673177242279},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.47293949127197266},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4209226965904236},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.251044899225235}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.840958297252655},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7194648385047913},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6909278035163879},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.560673177242279},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.47293949127197266},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4209226965904236},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.251044899225235},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ants63515.2024.10898701","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ants63515.2024.10898701","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 Networks and Telecommunications Systems (ANTS)","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":0,"referenced_works":[],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W3131574667","https://openalex.org/W4391331176"],"abstract_inverted_index":{"This":[0],"study":[1],"introduces":[2,59],"a":[3,19,81,94],"methodology":[4],"enabling":[5],"automated":[6,41],"vehicles":[7,42],"to":[8,30,51,68,104],"perform":[9],"lane":[10,54],"changes":[11],"effectively":[12],"within":[13],"complex":[14],"road":[15],"systems.":[16],"It":[17],"emphasizes":[18],"hierarchical":[20],"driver":[21],"behavior":[22],"framework":[23],"that":[24],"integrates":[25],"decision-making":[26],"with":[27],"trajectory":[28],"planning":[29,86],"enhance":[31],"safety.":[32],"The":[33,57],"approach":[34],"utilizes":[35],"reinforcement":[36],"learning":[37],"(RL)":[38],"agents":[39],"for":[40,47,90],"and":[43,72,87,99,102],"the":[44,53,60],"MOBIL":[45],"model":[46],"human-operated":[48],"vehicles,":[49,92],"aiming":[50],"optimize":[52],"change":[55],"process.":[56],"paper":[58],"Soft":[61],"Actor-Critic":[62],"(SAC),":[63],"an":[64],"off-policy":[65],"actor-critic":[66],"algorithm,":[67],"improve":[69],"training":[70],"stability":[71],"effectiveness":[73],"in":[74,106],"real-world":[75],"robotics":[76],"applications.":[77],"Additionally,":[78],"it":[79],"offers":[80],"comprehensive":[82,95],"review":[83],"of":[84,97],"existing":[85],"control":[88],"algorithms":[89],"self-driving":[91],"offering":[93],"survey":[96],"techniques":[98],"their":[100],"strengths":[101],"limitations":[103],"aid":[105],"informed":[107],"design":[108],"choices.":[109]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
