{"id":"https://openalex.org/W3194089584","doi":"https://doi.org/10.1109/icar53236.2021.9659438","title":"Reward Signal Design for Autonomous Racing","display_name":"Reward Signal Design for Autonomous Racing","publication_year":2021,"publication_date":"2021-12-06","ids":{"openalex":"https://openalex.org/W3194089584","doi":"https://doi.org/10.1109/icar53236.2021.9659438","mag":"3194089584"},"language":"en","primary_location":{"id":"doi:10.1109/icar53236.2021.9659438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659438","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2103.10098","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076940088","display_name":"Benjamin Evans","orcid":"https://orcid.org/0000-0001-6312-1203"},"institutions":[{"id":"https://openalex.org/I26092322","display_name":"Stellenbosch University","ror":"https://ror.org/05bk57929","country_code":"ZA","type":"education","lineage":["https://openalex.org/I26092322"]}],"countries":["ZA"],"is_corresponding":false,"raw_author_name":"Benjamin Evans","raw_affiliation_strings":["Electrical and Electronic Engineering Department, Stellenbosch University, Stellenbosch, South Africa","StellenBosch University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Electronic Engineering Department, Stellenbosch University, Stellenbosch, South Africa","institution_ids":["https://openalex.org/I26092322"]},{"raw_affiliation_string":"StellenBosch University","institution_ids":["https://openalex.org/I26092322"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091413322","display_name":"Herman A. Engelbrecht","orcid":"https://orcid.org/0000-0001-8753-8994"},"institutions":[{"id":"https://openalex.org/I26092322","display_name":"Stellenbosch University","ror":"https://ror.org/05bk57929","country_code":"ZA","type":"education","lineage":["https://openalex.org/I26092322"]}],"countries":["ZA"],"is_corresponding":false,"raw_author_name":"Herman A. Engelbrecht","raw_affiliation_strings":["Electrical and Electronic Engineering Department, Stellenbosch University, Stellenbosch, South Africa","StellenBosch University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Electronic Engineering Department, Stellenbosch University, Stellenbosch, South Africa","institution_ids":["https://openalex.org/I26092322"]},{"raw_affiliation_string":"StellenBosch University","institution_ids":["https://openalex.org/I26092322"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065610954","display_name":"Hendrik Willem Jordaan","orcid":"https://orcid.org/0000-0002-6466-6456"},"institutions":[{"id":"https://openalex.org/I26092322","display_name":"Stellenbosch University","ror":"https://ror.org/05bk57929","country_code":"ZA","type":"education","lineage":["https://openalex.org/I26092322"]}],"countries":["ZA"],"is_corresponding":false,"raw_author_name":"Hendrik W. Jordaan","raw_affiliation_strings":["Electrical and Electronic Engineering Department, Stellenbosch University, Stellenbosch, South Africa","StellenBosch University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Electronic Engineering Department, Stellenbosch University, Stellenbosch, South Africa","institution_ids":["https://openalex.org/I26092322"]},{"raw_affiliation_string":"StellenBosch University","institution_ids":["https://openalex.org/I26092322"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I26092322"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10046977,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"455","last_page":"460"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9995999932289124,"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":0.9995999932289124,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9969000220298767,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9940000176429749,"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":0.8342039585113525},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6625930666923523},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6589165925979614},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6159307956695557},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.6048316359519958},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5328460335731506},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5140541791915894},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.42954832315444946},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4100935161113739},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3822580873966217},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.367196261882782},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3381146788597107},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.327640175819397}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8342039585113525},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6625930666923523},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6589165925979614},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6159307956695557},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.6048316359519958},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5328460335731506},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5140541791915894},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.42954832315444946},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4100935161113739},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3822580873966217},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.367196261882782},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3381146788597107},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.327640175819397},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icar53236.2021.9659438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659438","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2103.10098","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.10098","pdf_url":"https://arxiv.org/pdf/2103.10098","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":null,"raw_type":"text"},{"id":"mag:3194089584","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2103.10098.pdf","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.2103.10098","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2103.10098","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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2103.10098","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.10098","pdf_url":"https://arxiv.org/pdf/2103.10098","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":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3194089584.pdf","grobid_xml":"https://content.openalex.org/works/W3194089584.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1923344279","https://openalex.org/W2041448245","https://openalex.org/W2120179083","https://openalex.org/W2121863487","https://openalex.org/W2136209220","https://openalex.org/W2588289902","https://openalex.org/W2616635592","https://openalex.org/W2736791111","https://openalex.org/W2787938642","https://openalex.org/W2790924949","https://openalex.org/W2795910581","https://openalex.org/W2893359011","https://openalex.org/W2893381601","https://openalex.org/W2951357333","https://openalex.org/W2962887844","https://openalex.org/W2963428623","https://openalex.org/W2964043796","https://openalex.org/W2964061993","https://openalex.org/W3021958118","https://openalex.org/W3109220298","https://openalex.org/W3130368935","https://openalex.org/W3202635380","https://openalex.org/W6678081342","https://openalex.org/W6692846177","https://openalex.org/W6738700159","https://openalex.org/W6755160885","https://openalex.org/W6764205057"],"related_works":["https://openalex.org/W2966477667","https://openalex.org/W3091628900","https://openalex.org/W1147687102","https://openalex.org/W2897200624","https://openalex.org/W3208494958","https://openalex.org/W3101805180","https://openalex.org/W3202907878","https://openalex.org/W3089195865","https://openalex.org/W2605369401","https://openalex.org/W3165885159","https://openalex.org/W2763153488","https://openalex.org/W2991137823","https://openalex.org/W2099860458","https://openalex.org/W208428353","https://openalex.org/W3167755691","https://openalex.org/W1969302761","https://openalex.org/W2971204102","https://openalex.org/W2736657918","https://openalex.org/W2991138762","https://openalex.org/W3130271297"],"abstract_inverted_index":{"Reinforcement":[0],"learning":[1],"(RL)":[2],"has":[3],"shown":[4],"to":[5,22,65,72,110,133,159],"be":[6],"a":[7,23,29,38,150,160],"valuable":[8],"tool":[9],"in":[10,54,75,93,121],"training":[11],"neural":[12],"networks":[13],"for":[14,51,60],"autonomous":[15,61],"motion":[16],"planning.":[17],"The":[18,146],"application":[19],"of":[20,47,57,83,96,102,139],"RL":[21],"specific":[24],"problem":[25,46],"is":[26,114],"dependent":[27],"on":[28,106,136,153],"reward":[30,48,67,129,151],"signal":[31,49],"that":[32,69,149],"quantifies":[33],"how":[34],"good":[35],"or":[36],"bad":[37],"certain":[39],"action":[40],"is.":[41],"This":[42],"paper":[43],"addresses":[44],"the":[45,55,94,104,124,128,137,154,165],"design":[50,66],"robotic":[52],"control":[53],"context":[56,95],"local":[58],"planning":[59],"racing.":[62,98],"We":[63],"aim":[64],"signals":[68,130],"are":[70,89,117,131],"able":[71],"perform":[73],"well":[74],"multiple,":[76],"competing,":[77],"continuous":[78],"metrics.":[79],"Three":[80],"different":[81],"methodologies":[82],"position-based,":[84],"velocity-based,":[85],"and":[86,91,119,123,143,156],"action-based":[87],"rewards":[88],"considered":[90],"evaluated":[92],"F1/10th":[97],"A":[99],"novel":[100],"method":[101],"rewarding":[103],"agent":[105],"its":[107],"state":[108],"relative":[109,158],"an":[111],"optimal":[112],"trajectory":[113,163],"presented.":[115],"Agents":[116],"trained":[118],"tested":[120],"simulation":[122],"behaviours":[125],"generated":[126],"by":[127],"compared":[132],"each":[134],"other":[135],"basis":[138],"average":[140],"lap":[141,167],"time":[142],"completion":[144],"rate.":[145],"results":[147],"indicate":[148],"based":[152],"distance":[155],"velocity":[157],"minimum":[161],"curvature":[162],"produces":[164],"fastest":[166],"times.":[168]},"counts_by_year":[],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}