{"id":"https://openalex.org/W4285102212","doi":"https://doi.org/10.1109/icra46639.2022.9812090","title":"Confidence-Based Robot Navigation Under Sensor Occlusion with Deep Reinforcement Learning","display_name":"Confidence-Based Robot Navigation Under Sensor Occlusion with Deep Reinforcement Learning","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102212","doi":"https://doi.org/10.1109/icra46639.2022.9812090"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812090","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"2022 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/A5002190070","display_name":"Hyeongyeol Ryu","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hyeongyeol Ryu","raw_affiliation_strings":["School of Computing, Korea Advanced Institute of Science and Technology,South Korea","School of Computing, Korea Advanced Institute of Science and Technology, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Computing, Korea Advanced Institute of Science and Technology,South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"School of Computing, Korea Advanced Institute of Science and Technology, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071352137","display_name":"Minsung Yoon","orcid":"https://orcid.org/0000-0001-9860-9647"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Minsung Yoon","raw_affiliation_strings":["School of Computing, Korea Advanced Institute of Science and Technology,South Korea","School of Computing, Korea Advanced Institute of Science and Technology, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Computing, Korea Advanced Institute of Science and Technology,South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"School of Computing, Korea Advanced Institute of Science and Technology, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074295573","display_name":"Daehyung Park","orcid":"https://orcid.org/0000-0002-1287-9433"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Daehyung Park","raw_affiliation_strings":["School of Computing, Korea Advanced Institute of Science and Technology,South Korea","School of Computing, Korea Advanced Institute of Science and Technology, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Computing, Korea Advanced Institute of Science and Technology,South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"School of Computing, Korea Advanced Institute of Science and Technology, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078173428","display_name":"Sung\u2010Eui Yoon","orcid":"https://orcid.org/0000-0002-7123-1119"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung-Eui Yoon","raw_affiliation_strings":["School of Computing, Korea Advanced Institute of Science and Technology,South Korea","School of Computing, Korea Advanced Institute of Science and Technology, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Computing, Korea Advanced Institute of Science and Technology,South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"School of Computing, Korea Advanced Institute of Science and Technology, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5002190070"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.7167,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.79141235,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8231","last_page":"8237"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9930999875068665,"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/visibility","display_name":"Visibility","score":0.8082542419433594},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7591938972473145},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.684395432472229},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6762948632240295},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6406446099281311},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5349155068397522},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5337404012680054},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4538794755935669},{"id":"https://openalex.org/keywords/occlusion","display_name":"Occlusion","score":0.42746394872665405},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3311353921890259}],"concepts":[{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.8082542419433594},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7591938972473145},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.684395432472229},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6762948632240295},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6406446099281311},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5349155068397522},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5337404012680054},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4538794755935669},{"id":"https://openalex.org/C2776268601","wikidata":"https://www.wikidata.org/wiki/Q968808","display_name":"Occlusion","level":2,"score":0.42746394872665405},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3311353921890259},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C164705383","wikidata":"https://www.wikidata.org/wiki/Q10379","display_name":"Cardiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812090","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812090","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1447872667","display_name":null,"funder_award_id":"NRF-2021R1A4A3032834","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G6664587916","display_name":null,"funder_award_id":"IITP-2015-0-00199","funder_id":"https://openalex.org/F4320335489","funder_display_name":"Institute for Information and Communications Technology Promotion"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"},{"id":"https://openalex.org/F4320335489","display_name":"Institute for Information and Communications Technology Promotion","ror":"https://ror.org/01g0hqq23"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1981965276","https://openalex.org/W2064675550","https://openalex.org/W2117211893","https://openalex.org/W2121949800","https://openalex.org/W2142943472","https://openalex.org/W2157331557","https://openalex.org/W2560609797","https://openalex.org/W2565125300","https://openalex.org/W2578666296","https://openalex.org/W2781726626","https://openalex.org/W2792197846","https://openalex.org/W2901136733","https://openalex.org/W2907537824","https://openalex.org/W2912063360","https://openalex.org/W2921469264","https://openalex.org/W2963428623","https://openalex.org/W2963625099","https://openalex.org/W2963821308","https://openalex.org/W2963864421","https://openalex.org/W2967847744","https://openalex.org/W2968104655","https://openalex.org/W2970787054","https://openalex.org/W2984168904","https://openalex.org/W3000219846","https://openalex.org/W3021999445","https://openalex.org/W3044068291","https://openalex.org/W3091453879","https://openalex.org/W3094551248","https://openalex.org/W3131053238","https://openalex.org/W3131482536","https://openalex.org/W3158253560","https://openalex.org/W4214717370","https://openalex.org/W4298857966","https://openalex.org/W6631190155","https://openalex.org/W6637967152","https://openalex.org/W6684921986","https://openalex.org/W6747473740","https://openalex.org/W6756486208","https://openalex.org/W6769280084"],"related_works":["https://openalex.org/W2392812199","https://openalex.org/W4200176076","https://openalex.org/W598185802","https://openalex.org/W2355516524","https://openalex.org/W2361471170","https://openalex.org/W2025616642","https://openalex.org/W1954972543","https://openalex.org/W2954738200","https://openalex.org/W4220843223","https://openalex.org/W4226107239"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"the":[3,40,50,54,58,69,133,147],"problem":[4],"of":[5,72],"prolonged":[6],"occlusions":[7,19,98],"on":[8],"navigation":[9,46,87],"sensors":[10],"due":[11],"to":[12,52],"dust,":[13],"smudges,":[14],"soils,":[15],"etc.":[16],"Such":[17],"uncontrollable":[18],"often":[20],"cause":[21],"lower":[22],"visibility":[23,36],"as":[24,26],"well":[25],"higher":[27],"uncertainty":[28],"that":[29,48,126],"require":[30],"considerably":[31],"sophisticated":[32],"behavior.":[33],"To":[34,64],"secure":[35],"(i.e.,":[37],"confidence":[38],"about":[39],"world),":[41],"we":[42,75],"propose":[43],"a":[44,77,85,101],"confidence-based":[45],"method":[47,83,106,128],"encourages":[49],"robot":[51,59],"explore":[53],"uncertain":[55],"region":[56],"around":[57],"maximizing":[60],"its":[61],"local":[62],"confidence.":[63],"effectively":[65],"extract":[66],"features":[67],"from":[68],"variable":[70],"size":[71],"sensor":[73,97,136],"occlusions,":[74],"adopt":[76],"point-cloud":[78],"based":[79],"representation":[80],"network.":[81],"Our":[82],"returns":[84],"resilient":[86],"policy":[88],"via":[89],"deep":[90],"reinforcement":[91],"learning,":[92],"autonomously":[93],"avoiding":[94],"collisions":[95],"under":[96,118,132],"while":[99],"reaching":[100],"goal.":[102],"We":[103],"evaluate":[104],"our":[105,127],"in":[107,146],"simulated":[108],"and":[109,138,142,150],"real-world":[110],"environments":[111],"with":[112],"either":[113],"static":[114,149],"or":[115],"dynamic":[116,151],"obstacles":[117],"various":[119],"sensor-occlusion":[120],"scenarios.":[121],"The":[122],"experimental":[123],"result":[124],"shows":[125],"outperforms":[129],"baseline":[130],"methods":[131],"highly":[134],"occurring":[135],"occlusion,":[137],"achieves":[139],"maximum":[140],"90%":[141],"80%":[143],"success":[144],"rates":[145],"tested":[148],"environments,":[152],"respectively.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4}],"updated_date":"2026-04-01T17:29:45.350535","created_date":"2025-10-10T00:00:00"}
