{"id":"https://openalex.org/W4403534364","doi":"https://doi.org/10.1109/codit62066.2024.10708223","title":"Reinforcement Learning for Autonomous Control of Articulated Vehicles in Roundabout Intersections","display_name":"Reinforcement Learning for Autonomous Control of Articulated Vehicles in Roundabout Intersections","publication_year":2024,"publication_date":"2024-07-01","ids":{"openalex":"https://openalex.org/W4403534364","doi":"https://doi.org/10.1109/codit62066.2024.10708223"},"language":"en","primary_location":{"id":"doi:10.1109/codit62066.2024.10708223","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit62066.2024.10708223","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5093713816","display_name":"Daniel Attard","orcid":null},"institutions":[{"id":"https://openalex.org/I197854408","display_name":"University of Malta","ror":"https://ror.org/03a62bv60","country_code":"MT","type":"education","lineage":["https://openalex.org/I197854408"]}],"countries":["MT"],"is_corresponding":false,"raw_author_name":"Daniel Attard","raw_affiliation_strings":["University of Malta,Faculty of ICT,Department of Artificial Intelligence"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Malta,Faculty of ICT,Department of Artificial Intelligence","institution_ids":["https://openalex.org/I197854408"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5093713817","display_name":"Josef Bajada","orcid":null},"institutions":[{"id":"https://openalex.org/I197854408","display_name":"University of Malta","ror":"https://ror.org/03a62bv60","country_code":"MT","type":"education","lineage":["https://openalex.org/I197854408"]}],"countries":["MT"],"is_corresponding":false,"raw_author_name":"Josef Bajada","raw_affiliation_strings":["University of Malta,Faculty of ICT,Department of Artificial Intelligence"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Malta,Faculty of ICT,Department of Artificial Intelligence","institution_ids":["https://openalex.org/I197854408"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I197854408"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"450","last_page":"454"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9509999752044678,"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"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9509999752044678,"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/roundabout","display_name":"Roundabout","score":0.9784606695175171},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.753311276435852},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6164765954017639},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5641434788703918},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.4689202904701233},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36250537633895874},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3320785462856293},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29198259115219116},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.29111626744270325}],"concepts":[{"id":"https://openalex.org/C109157449","wikidata":"https://www.wikidata.org/wiki/Q7371221","display_name":"Roundabout","level":2,"score":0.9784606695175171},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.753311276435852},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6164765954017639},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5641434788703918},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.4689202904701233},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36250537633895874},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3320785462856293},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29198259115219116},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.29111626744270325},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/codit62066.2024.10708223","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit62066.2024.10708223","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W110011235","https://openalex.org/W2066260126","https://openalex.org/W2771382448","https://openalex.org/W2996430598","https://openalex.org/W3085640145","https://openalex.org/W3117126067","https://openalex.org/W3120638006","https://openalex.org/W3130288902","https://openalex.org/W3210638693","https://openalex.org/W4214717370","https://openalex.org/W4226374401","https://openalex.org/W4308069108","https://openalex.org/W4308870593","https://openalex.org/W4387143380","https://openalex.org/W6741002519","https://openalex.org/W6752963931","https://openalex.org/W6775604910"],"related_works":["https://openalex.org/W2093826578","https://openalex.org/W4294237266","https://openalex.org/W3195565206","https://openalex.org/W647040144","https://openalex.org/W2558143469","https://openalex.org/W2176704059","https://openalex.org/W4375811566","https://openalex.org/W3118850949","https://openalex.org/W2053055974","https://openalex.org/W2040382538"],"abstract_inverted_index":{"Trailer-tractor":[0],"vehicles":[1,24],"are":[2],"the":[3,35,45,85,91,101,112],"backbone":[4],"of":[5,34,39,104,122],"logistical":[6],"operations,":[7],"delivering":[8],"goods":[9],"to":[10,44,73,78,95],"their":[11,14],"destination.":[12],"Despite":[13],"importance,":[15],"publicly":[16],"available":[17],"research":[18],"in":[19],"mechanisms":[20],"for":[21,90],"making":[22],"such":[23,41,57],"autonomous":[25],"is":[26,32],"sparse.":[27],"Furthermore,":[28],"navigating":[29],"through":[30,80],"roundabouts":[31],"one":[33],"most":[36],"challenging":[37],"aspects":[38,56],"driving":[40],"vehicles,":[42],"due":[43],"necessary":[46],"lane":[47],"changes,":[48],"trajectories":[49],"and":[50],"tight":[51],"curvatures,":[52],"together":[53,99],"with":[54,60,100],"dynamic":[55],"as":[58],"coordinating":[59],"other":[61],"traffic.":[62],"In":[63],"this":[64],"work,":[65],"we":[66],"propose":[67],"a":[68,75,118],"reinforcement":[69],"learning":[70],"based":[71],"framework":[72],"train":[74],"tractor-trailer":[76,87],"vehicle":[77,88],"navigate":[79],"roundabout":[81,105],"intersections.":[82],"We":[83],"provide":[84],"first":[86,102],"model":[89,108],"high-fidelity":[92],"CAR":[93],"Learning":[94],"Act":[96],"(CARLA)":[97],"simulator":[98],"dataset":[103],"scenarios.":[106],"A":[107],"was":[109],"trained":[110],"using":[111],"Proximal":[113],"Policy":[114],"Optimisation":[115],"algorithm,":[116],"obtaining":[117],"testing":[119],"success":[120],"rate":[121],"77%":[123],"while":[124],"maintaining":[125],"minimal":[126],"lateral":[127],"deviation,":[128],"mimicking":[129],"human-like":[130],"behaviour.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}