{"id":"https://openalex.org/W4210517247","doi":"https://doi.org/10.1109/cdc45484.2021.9683056","title":"Scenario-Based Collision Avoidance Control with Deep Q-Networks for Industrial Robot Manipulators","display_name":"Scenario-Based Collision Avoidance Control with Deep Q-Networks for Industrial Robot Manipulators","publication_year":2021,"publication_date":"2021-12-14","ids":{"openalex":"https://openalex.org/W4210517247","doi":"https://doi.org/10.1109/cdc45484.2021.9683056"},"language":"en","primary_location":{"id":"doi:10.1109/cdc45484.2021.9683056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9683056","pdf_url":null,"source":{"id":"https://openalex.org/S4363607724","display_name":"2021 60th IEEE Conference on Decision and Control (CDC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 60th IEEE Conference on Decision and Control (CDC)","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/A5080025079","display_name":"Nikolas Sacchi","orcid":"https://orcid.org/0000-0002-7600-1136"},"institutions":[{"id":"https://openalex.org/I4210139705","display_name":"Ingegneria dei Sistemi (Italy)","ror":"https://ror.org/03spsm219","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210139705"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikolas Sacchi","raw_affiliation_strings":["University of Genova,Robotica e Ingegneria dei Sistemi,Dipartimento di Informatica Bioingegneria,Genova,Italy,16100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Genova,Robotica e Ingegneria dei Sistemi,Dipartimento di Informatica Bioingegneria,Genova,Italy,16100","institution_ids":["https://openalex.org/I4210139705"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047095480","display_name":"Bianca Sangiovanni","orcid":"https://orcid.org/0000-0002-2903-6141"},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Bianca Sangiovanni","raw_affiliation_strings":["University of Pavia,Dipartimento di Ingegneria Industriale e Dell&#x2019;Informazione,Pavia,Italy,27100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pavia,Dipartimento di Ingegneria Industriale e Dell&#x2019;Informazione,Pavia,Italy,27100","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066287429","display_name":"Gian Paolo Incremona","orcid":"https://orcid.org/0000-0003-1974-5646"},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gian Paolo Incremona","raw_affiliation_strings":["University of Pavia,Dipartimento di Ingegneria Industriale e Dell&#x2019;Informazione,Pavia,Italy,27100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pavia,Dipartimento di Ingegneria Industriale e Dell&#x2019;Informazione,Pavia,Italy,27100","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073649425","display_name":"Antonella Ferrara","orcid":"https://orcid.org/0000-0002-1977-8248"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonella Ferrara","raw_affiliation_strings":["Politecnico di Milano,Informazione e Bioingegneria,Dipartimento di Elettronica,Milan,Italy,20133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Politecnico di Milano,Informazione e Bioingegneria,Dipartimento di Elettronica,Milan,Italy,20133","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1313,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.5213467,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4388","last_page":"4393"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976000189781189,"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":0.9976000189781189,"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":0.9968000054359436,"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":0.9952999949455261,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7902584075927734},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7621335983276367},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7142511606216431},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6723132133483887},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6175962090492249},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5824493169784546},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5773178339004517},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5352566838264465},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4696827530860901},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.42424869537353516},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.422759473323822},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.41086915135383606},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3393096327781677},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15691882371902466}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7902584075927734},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7621335983276367},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7142511606216431},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6723132133483887},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6175962090492249},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5824493169784546},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5773178339004517},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5352566838264465},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4696827530860901},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.42424869537353516},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.422759473323822},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.41086915135383606},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3393096327781677},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15691882371902466},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc45484.2021.9683056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9683056","pdf_url":null,"source":{"id":"https://openalex.org/S4363607724","display_name":"2021 60th IEEE Conference on Decision and Control (CDC)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 60th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1203205","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/1203205","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1515851193","https://openalex.org/W1985406432","https://openalex.org/W1989065913","https://openalex.org/W2024570702","https://openalex.org/W2050835671","https://openalex.org/W2070221123","https://openalex.org/W2103120971","https://openalex.org/W2110987513","https://openalex.org/W2116966230","https://openalex.org/W2131292439","https://openalex.org/W2145339207","https://openalex.org/W2154777391","https://openalex.org/W2560504659","https://openalex.org/W2623902153","https://openalex.org/W2743263284","https://openalex.org/W2883364792","https://openalex.org/W2902067689","https://openalex.org/W3008343234","https://openalex.org/W3015470607","https://openalex.org/W3038610377","https://openalex.org/W4206800106","https://openalex.org/W4256073327"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W4312814274","https://openalex.org/W1590307681","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W2742483371","https://openalex.org/W3005999311"],"abstract_inverted_index":{"This":[0],"work":[1],"proposes":[2],"a":[3,27,52,76,122],"scenario-based":[4],"Deep":[5,125],"Reinforcement":[6],"Learning":[7],"(DRL)":[8],"approach":[9],"enabling":[10],"robot":[11,86],"manipulators":[12],"to":[13,36,39,55],"efficiently":[14],"execute":[15,56],"industrial":[16,59],"tasks":[17],"while":[18],"avoiding":[19],"the":[20,46,57,65,72,85,90,93,95,105,113,140],"collision":[21],"with":[22,99],"obstacles.":[23],"The":[24,61,116,128],"proposal":[25,129],"exploits":[26],"DRL-based":[28],"decision":[29],"maker":[30],"trained":[31],"ad":[32],"hoc":[33],"so":[34],"as":[35,102,104],"be":[37],"able":[38],"automatically":[40,67],"select":[41],"at":[42],"any":[43],"time":[44],"instant":[45],"most":[47],"appropriate":[48],"control":[49],"methodology,":[50,101],"in":[51,139],"given":[53],"set,":[54],"required":[58],"task.":[60],"capability":[62],"of":[63,107],"performing":[64],"selection":[66],"is":[68,119,130],"\"learnt\"":[69],"by":[70,111,121],"training":[71],"system":[73],"relying":[74,132],"on":[75,133],"suitably":[77],"designed":[78],"reward":[79],"function.":[80],"It":[81],"takes":[82],"into":[83],"account":[84],"relative":[87],"distances":[88],"from":[89],"target":[91],"and":[92],"obstacles,":[94],"computational":[96],"cost":[97],"associated":[98],"each":[100],"well":[103],"percentage":[106],"task":[108],"completion":[109],"obtained":[110],"applying":[112],"selected":[114],"methodology.":[115],"learning":[117],"skill":[118],"enforced":[120],"properly":[123],"sized":[124],"Q-Network":[126],"(DQN).":[127],"assessed":[131],"realistic":[134],"robotic":[135],"manipulator":[136],"scenarios":[137],"reproduced":[138],"CoppeliaSim":[141],"environment.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
