{"id":"https://openalex.org/W3046809911","doi":"https://doi.org/10.1109/case48305.2020.9216798","title":"Deep-Reinforcement-Learning-Based Semantic Navigation of Mobile Robots in Dynamic Environments","display_name":"Deep-Reinforcement-Learning-Based Semantic Navigation of Mobile Robots in Dynamic Environments","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3046809911","doi":"https://doi.org/10.1109/case48305.2020.9216798","mag":"3046809911"},"language":"en","primary_location":{"id":"doi:10.1109/case48305.2020.9216798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9216798","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://export.arxiv.org/pdf/2008.00516","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044968499","display_name":"Linh K\u00e4stner","orcid":"https://orcid.org/0000-0001-5263-4687"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Linh Kastner","raw_affiliation_strings":["Chair Industry Grade Networks and Clouds Department, Technical University of Berlin, Berlin, Germany","Technical University of Berlin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair Industry Grade Networks and Clouds Department, Technical University of Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]},{"raw_affiliation_string":"Technical University of Berlin","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013523657","display_name":"Cornelius Marx","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cornelius Marx","raw_affiliation_strings":["Chair Industry Grade Networks and Clouds Department, Technical University of Berlin, Berlin, Germany","Technical University of Berlin,Chair Industry Grade Networks and Clouds Department,Berlin,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair Industry Grade Networks and Clouds Department, Technical University of Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]},{"raw_affiliation_string":"Technical University of Berlin,Chair Industry Grade Networks and Clouds Department,Berlin,Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002499102","display_name":"Jens Lambrecht","orcid":"https://orcid.org/0000-0002-1017-9548"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jens Lambrecht","raw_affiliation_strings":["Chair Industry Grade Networks and Clouds Department, Technical University of Berlin, Berlin, Germany","Technical University of Berlin,Chair Industry Grade Networks and Clouds Department,Berlin,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair Industry Grade Networks and Clouds Department, Technical University of Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]},{"raw_affiliation_string":"Technical University of Berlin,Chair Industry Grade Networks and Clouds Department,Berlin,Germany","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4577782"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1110","last_page":"1115"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994999766349792,"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":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8085558414459229},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7301632165908813},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5934139490127563},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5693541765213013},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5414822101593018},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5120344758033752},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48126524686813354},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.47048571705818176},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4649679958820343},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.44924116134643555},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.19989854097366333}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8085558414459229},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7301632165908813},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5934139490127563},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5693541765213013},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5414822101593018},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5120344758033752},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48126524686813354},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.47048571705818176},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4649679958820343},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.44924116134643555},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.19989854097366333},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/case48305.2020.9216798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9216798","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"mag:3046809911","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2008.00516","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2008.00516","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2008.00516","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"mag:3046809911","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2008.00516","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1484387568","https://openalex.org/W1877753485","https://openalex.org/W2057134775","https://openalex.org/W2098774185","https://openalex.org/W2100677568","https://openalex.org/W2139053308","https://openalex.org/W2139647031","https://openalex.org/W2145339207","https://openalex.org/W2155968351","https://openalex.org/W2342840547","https://openalex.org/W2532493213","https://openalex.org/W2556215627","https://openalex.org/W2746553466","https://openalex.org/W2768879211","https://openalex.org/W2801073287","https://openalex.org/W2807785345","https://openalex.org/W2962887844","https://openalex.org/W2962973039","https://openalex.org/W2967453881","https://openalex.org/W2969608721","https://openalex.org/W2971384749","https://openalex.org/W2999230396","https://openalex.org/W3041202696","https://openalex.org/W3100838107","https://openalex.org/W3130385304","https://openalex.org/W6674884181","https://openalex.org/W6704559304","https://openalex.org/W6790709622"],"related_works":["https://openalex.org/W3091957856","https://openalex.org/W3150979816","https://openalex.org/W3200618822","https://openalex.org/W3206106160","https://openalex.org/W3203757447","https://openalex.org/W3127177108","https://openalex.org/W3206728721","https://openalex.org/W3100153298","https://openalex.org/W2798472928","https://openalex.org/W2901044055","https://openalex.org/W3093073439","https://openalex.org/W3011184007","https://openalex.org/W2992263225","https://openalex.org/W3127756416","https://openalex.org/W2969277962","https://openalex.org/W3081837578","https://openalex.org/W3085271681","https://openalex.org/W3131579243","https://openalex.org/W3116833835","https://openalex.org/W2748490912"],"abstract_inverted_index":{"Mobile":[0],"robots":[1],"have":[2],"gained":[3],"increased":[4],"importance":[5],"within":[6,25],"industrial":[7,31],"tasks":[8],"such":[9],"as":[10],"commissioning,":[11],"delivery":[12],"or":[13],"operation":[14],"in":[15,30,45,155],"hazardous":[16],"environments.":[17,47,123],"The":[18],"ability":[19],"to":[20,77,118,137,147],"autonomously":[21],"navigate":[22],"safely":[23],"especially":[24],"dynamic":[26,46,122,169],"environments,":[27],"is":[28,135],"paramount":[29],"mobile":[32],"robotics.":[33],"Current":[34],"navigation":[35,69,107,111],"methods":[36],"depend":[37],"on":[38,55,115,167],"preexisting":[39],"static":[40],"maps":[41],"and":[42,65,70,143,159],"are":[43],"error-prone":[44],"Furthermore,":[48],"for":[49,92],"safety":[50,57,80,158],"reasons,":[51],"they":[52],"often":[53],"rely":[54],"hand-crafted":[56],"guidelines,":[58],"which":[59,109,134],"makes":[60],"the":[61,75,79,87,168],"system":[62,108],"less":[63],"flexible":[64,95],"slow.":[66],"Visual":[67],"based":[68,105,113,166],"high":[71],"level":[72],"semantics":[73],"bear":[74],"potential":[76],"enhance":[78],"of":[81,157],"path":[82],"planing":[83],"by":[84],"creating":[85],"links":[86],"agent":[88],"can":[89],"reason":[90],"about":[91],"a":[93,102,127,162],"more":[94],"navigation.":[96],"On":[97],"this":[98],"account,":[99],"we":[100,125],"propose":[101],"reinforcement":[103],"learning":[104],"local":[106],"learns":[110],"behavior":[112],"solely":[114],"visual":[116],"observations":[117],"cope":[119],"with":[120],"highly":[121,139],"Therefore,":[124],"develop":[126],"simple":[128],"yet":[129],"efficient":[130],"simulator":[131],"-":[132],"ARENA2D-":[133],"able":[136],"generate":[138],"randomized":[140],"training":[141],"environments":[142],"provide":[144],"semantic":[145],"information":[146],"train":[148],"our":[149],"agent.":[150],"We":[151],"demonstrate":[152],"enhanced":[153],"results":[154],"terms":[156],"robustness":[160],"over":[161],"traditional":[163],"baseline":[164],"approach":[165],"window":[170],"approach.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}
