{"id":"https://openalex.org/W3089854016","doi":"https://doi.org/10.1109/icra40945.2020.9196810","title":"Collision-free Navigation of Human-centered Robots via Markov Games","display_name":"Collision-free Navigation of Human-centered Robots via Markov Games","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089854016","doi":"https://doi.org/10.1109/icra40945.2020.9196810","mag":"3089854016"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196810","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","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/A5100655342","display_name":"Guo Ye","orcid":"https://orcid.org/0000-0001-9361-9977"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Guo Ye","raw_affiliation_strings":["Department of Computer Science, Northwestern University, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023912091","display_name":"Qinjie Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qinjie Lin","raw_affiliation_strings":["Department of Computer Science, Northwestern University, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003112703","display_name":"Tzung-Han Juang","orcid":"https://orcid.org/0000-0003-1629-8617"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tzung-Han Juang","raw_affiliation_strings":["Department of Computer Science, Northwestern University, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100349037","display_name":"Han Liu","orcid":"https://orcid.org/0000-0002-2470-1755"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Han Liu","raw_affiliation_strings":["Department of Computer Science, Northwestern University, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100655342"],"corresponding_institution_ids":["https://openalex.org/I111979921"],"apc_list":null,"apc_paid":null,"fwci":0.1978,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.49987743,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9987000226974487,"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":0.9857000112533569,"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/robot","display_name":"Robot","score":0.7476366758346558},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.712804913520813},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.6893599033355713},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.660256028175354},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6551764011383057},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.5778133869171143},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.5505452752113342},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5192716121673584},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.46117082238197327},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.45510661602020264},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4473883807659149},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3046126961708069},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.13209962844848633},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10374188423156738}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7476366758346558},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.712804913520813},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.6893599033355713},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.660256028175354},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6551764011383057},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.5778133869171143},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.5505452752113342},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5192716121673584},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.46117082238197327},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.45510661602020264},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4473883807659149},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3046126961708069},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.13209962844848633},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10374188423156738},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9196810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196810","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.75}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":69,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1519783625","https://openalex.org/W1542941925","https://openalex.org/W1586102543","https://openalex.org/W1965760189","https://openalex.org/W1976953317","https://openalex.org/W2057134775","https://openalex.org/W2069830673","https://openalex.org/W2071563913","https://openalex.org/W2097639646","https://openalex.org/W2099471712","https://openalex.org/W2099618002","https://openalex.org/W2117211893","https://openalex.org/W2119200271","https://openalex.org/W2120846115","https://openalex.org/W2125631327","https://openalex.org/W2142943472","https://openalex.org/W2145067550","https://openalex.org/W2172133054","https://openalex.org/W2227909145","https://openalex.org/W2602963933","https://openalex.org/W2736601468","https://openalex.org/W2740377041","https://openalex.org/W2751954243","https://openalex.org/W2762117857","https://openalex.org/W2788115019","https://openalex.org/W2788212683","https://openalex.org/W2892258706","https://openalex.org/W2897205373","https://openalex.org/W2899771611","https://openalex.org/W2912063360","https://openalex.org/W2941095974","https://openalex.org/W2945924974","https://openalex.org/W2962917939","https://openalex.org/W2962954724","https://openalex.org/W2963407617","https://openalex.org/W2963428623","https://openalex.org/W2963722165","https://openalex.org/W2963747324","https://openalex.org/W2963809389","https://openalex.org/W2963821308","https://openalex.org/W2964251366","https://openalex.org/W2964319688","https://openalex.org/W2967292964","https://openalex.org/W2968217299","https://openalex.org/W2968547254","https://openalex.org/W2996343955","https://openalex.org/W3016507688","https://openalex.org/W3103635569","https://openalex.org/W4297810554","https://openalex.org/W4299802797","https://openalex.org/W4319988845","https://openalex.org/W4320013936","https://openalex.org/W6631168379","https://openalex.org/W6678168664","https://openalex.org/W6678605012","https://openalex.org/W6681342480","https://openalex.org/W6735677848","https://openalex.org/W6738796088","https://openalex.org/W6741002519","https://openalex.org/W6743181215","https://openalex.org/W6745190604","https://openalex.org/W6748910126","https://openalex.org/W6749032143","https://openalex.org/W6755427034","https://openalex.org/W6756040250","https://openalex.org/W6759364557","https://openalex.org/W6761851991","https://openalex.org/W6762427411"],"related_works":["https://openalex.org/W3113932901","https://openalex.org/W650625605","https://openalex.org/W2379651310","https://openalex.org/W2113019827","https://openalex.org/W1541249122","https://openalex.org/W2413828414","https://openalex.org/W2367222340","https://openalex.org/W187740018","https://openalex.org/W2162286586","https://openalex.org/W4255368532"],"abstract_inverted_index":{"We":[0],"exploit":[1],"Markov":[2,24,34],"games":[3,35],"as":[4,21],"a":[5,22,28,37,53,60,66,74],"framework":[6,32,61],"for":[7],"collision-free":[8],"navigation":[9,20],"of":[10,33],"human-centered":[11],"robots.":[12],"Unlike":[13],"the":[14,45,48,93,97],"classical":[15],"methods":[16],"which":[17],"formulate":[18],"robot":[19,46],"single-agent":[23],"decision":[25],"process":[26],"with":[27,40],"static":[29],"environment,":[30],"our":[31],"adopts":[36],"multi-agent":[38],"formulation":[39],"one":[41],"primary":[42],"agent":[43],"representing":[44],"and":[47,86,104],"remaining":[49],"auxiliary":[50],"agents":[51],"form":[52],"dynamic":[54],"or":[55],"even":[56],"competing":[57],"environment.":[58],"Such":[59],"allows":[62],"us":[63],"to":[64,72],"develop":[65],"path-following":[67],"type":[68],"adversarial":[69],"training":[70],"strategy":[71],"learn":[73],"robust":[75],"decentralized":[76],"collision":[77],"avoidance":[78],"policy.":[79],"Through":[80],"thorough":[81],"experiments":[82],"on":[83],"both":[84,101],"simulated":[85],"real-world":[87],"mobile":[88],"robots,":[89],"we":[90],"show":[91],"that":[92],"learnt":[94],"policy":[95],"outperforms":[96],"state-of-the-art":[98],"algorithms":[99],"in":[100],"sample":[102],"complexity":[103],"runtime":[105],"robustness.":[106]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
