{"id":"https://openalex.org/W4410297443","doi":"https://doi.org/10.1109/hri61500.2025.10974004","title":"SafeSwarm: Decentralized Safe RL for the Swarm of Drones Landing in Dense Crowds","display_name":"SafeSwarm: Decentralized Safe RL for the Swarm of Drones Landing in Dense Crowds","publication_year":2025,"publication_date":"2025-03-04","ids":{"openalex":"https://openalex.org/W4410297443","doi":"https://doi.org/10.1109/hri61500.2025.10974004"},"language":"en","primary_location":{"id":"doi:10.1109/hri61500.2025.10974004","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hri61500.2025.10974004","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI)","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/A5025152183","display_name":"Grik Tadevosyan","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Grik Tadevosyan","raw_affiliation_strings":["Skoltech,Moscow,Russia"],"affiliations":[{"raw_affiliation_string":"Skoltech,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Maksim Osipenko","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Maksim Osipenko","raw_affiliation_strings":["Skoltech,Moscow,Russia"],"affiliations":[{"raw_affiliation_string":"Skoltech,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094145969","display_name":"Demetros Aschu","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Demetros Aschu","raw_affiliation_strings":["Skoltech,Moscow,Russia"],"affiliations":[{"raw_affiliation_string":"Skoltech,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052797806","display_name":"Aleksey Fedoseev","orcid":"https://orcid.org/0000-0003-2506-9111"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Aleksey Fedoseev","raw_affiliation_strings":["Skoltech,Moscow,Russia"],"affiliations":[{"raw_affiliation_string":"Skoltech,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065937697","display_name":"Valerii Serpiva","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Valerii Serpiva","raw_affiliation_strings":["Skoltech,Moscow,Russia"],"affiliations":[{"raw_affiliation_string":"Skoltech,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023534521","display_name":"Oleg Sautenkov","orcid":"https://orcid.org/0009-0009-0783-9830"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Oleg Sautenkov","raw_affiliation_strings":["Skoltech,Moscow,Russia"],"affiliations":[{"raw_affiliation_string":"Skoltech,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053158063","display_name":"Sausar Karaf","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Sausar Karaf","raw_affiliation_strings":["Skoltech,Moscow,Russia"],"affiliations":[{"raw_affiliation_string":"Skoltech,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056458774","display_name":"Dzmitry Tsetserukou","orcid":"https://orcid.org/0000-0001-8055-5345"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dzmitry Tsetserukou","raw_affiliation_strings":["Skoltech,Moscow,Russia"],"affiliations":[{"raw_affiliation_string":"Skoltech,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5025152183"],"corresponding_institution_ids":["https://openalex.org/I125989756"],"apc_list":null,"apc_paid":null,"fwci":4.6519,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.94715065,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1665","last_page":"1669"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965999722480774,"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":0.9965999722480774,"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9861000180244446,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9804999828338623,"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/crowds","display_name":"Crowds","score":0.935272753238678},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.8856257796287537},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6604878902435303},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6426156163215637},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.4149099588394165},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.4143866300582886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25417131185531616},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15896135568618774},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07184895873069763}],"concepts":[{"id":"https://openalex.org/C2777852691","wikidata":"https://www.wikidata.org/wiki/Q13430821","display_name":"Crowds","level":2,"score":0.935272753238678},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8856257796287537},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6604878902435303},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6426156163215637},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.4149099588394165},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.4143866300582886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25417131185531616},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15896135568618774},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07184895873069763},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/hri61500.2025.10974004","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hri61500.2025.10974004","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1267233886","display_name":null,"funder_award_id":"24-41-02039","funder_id":"https://openalex.org/F4320306201","funder_display_name":"Russell Sage Foundation"}],"funders":[{"id":"https://openalex.org/F4320306201","display_name":"Russell Sage Foundation","ror":"https://ror.org/02yh9se80"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4379143281","https://openalex.org/W2605096541","https://openalex.org/W3200286695","https://openalex.org/W2743170747"],"abstract_inverted_index":{"This":[0,120],"paper":[1],"introduces":[2],"a":[3,67,103,123],"safe":[4,58],"swarm":[5,34,68],"of":[6,9,35,69,99,106],"drones":[7,36],"capable":[8],"performing":[10],"landings":[11],"in":[12,46,117,128],"crowded":[13],"environments":[14,129],"robustly":[15],"by":[16],"relying":[17],"on":[18,42],"Reinforcement":[19],"Learning":[20],"techniques":[21],"combined":[22],"with":[23,37,52,78,102],"Safe":[24],"Learning.":[25],"The":[26,57],"developed":[27,63],"system":[28,83,95],"allows":[29],"us":[30],"to":[31,40,84],"teach":[32],"the":[33,79],"different":[38],"dynamics":[39],"land":[41],"moving":[43],"landing":[44,97],"pads":[45],"an":[47],"environment":[48],"while":[49],"avoiding":[50],"collisions":[51],"obstacles":[53],"and":[54,64,88,109,115,132],"between":[55],"agents.":[56],"barrier":[59],"net":[60],"algorithm":[61],"was":[62],"evaluated":[65],"using":[66],"Crazyflie":[70],"2.1":[71],"micro":[72],"quadrotors,":[73],"which":[74],"were":[75],"tested":[76],"indoors":[77],"Vicon":[80],"motion":[81],"capture":[82],"ensure":[85],"precise":[86],"localization":[87],"control.":[89],"Experimental":[90],"results":[91],"show":[92],"that":[93],"our":[94],"achieves":[96],"accuracy":[98],"2.25":[100],"cm":[101],"mean":[104],"time":[105],"17":[107],"s":[108],"collision-free":[110],"landings,":[111],"underscoring":[112],"its":[113],"effectiveness":[114],"robustness":[116],"real-world":[118],"scenarios.":[119],"work":[121],"offers":[122],"promising":[124],"foundation":[125],"for":[126],"applications":[127],"where":[130],"safety":[131],"precision":[133],"are":[134],"paramount.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
