{"id":"https://openalex.org/W3207246097","doi":"https://doi.org/10.1109/icra48506.2021.9561040","title":"Extendable Navigation Network based Reinforcement Learning for Indoor Robot Exploration","display_name":"Extendable Navigation Network based Reinforcement Learning for Indoor Robot Exploration","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207246097","doi":"https://doi.org/10.1109/icra48506.2021.9561040","mag":"3207246097"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561040","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5047011011","display_name":"Woo\u2010Cheol Lee","orcid":"https://orcid.org/0000-0001-6718-4092"},"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":"Woo-Cheol Lee","raw_affiliation_strings":["KAIST,Department of Aerospace Engineering,Daejeon,Korea","Department of Aerospace Engineering, KAIST, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"KAIST,Department of Aerospace Engineering,Daejeon,Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Aerospace Engineering, KAIST, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055933312","display_name":"Ming Chong Lim","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":false,"raw_author_name":"Ming Chong Lim","raw_affiliation_strings":["KAIST,Department of Aerospace Engineering,Daejeon,Korea","Department of Aerospace Engineering, KAIST, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"KAIST,Department of Aerospace Engineering,Daejeon,Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Aerospace Engineering, KAIST, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049291168","display_name":"Han\u2010Lim Choi","orcid":"https://orcid.org/0000-0003-3985-0419"},"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":"Han-Lim Choi","raw_affiliation_strings":["KAIST,Department of Aerospace Engineering,Daejeon,Korea","Department of Aerospace Engineering, KAIST, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"KAIST,Department of Aerospace Engineering,Daejeon,Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Aerospace Engineering, KAIST, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5047011011"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":3.06,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.91218424,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"11508","last_page":"11514"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.7603322267532349},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7443569898605347},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6573621034622192},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.6374555826187134},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6071562767028809},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4393256604671478},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43282854557037354},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4175736904144287},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40444862842559814},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.09276798367500305}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7603322267532349},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7443569898605347},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6573621034622192},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.6374555826187134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6071562767028809},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4393256604671478},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43282854557037354},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4175736904144287},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40444862842559814},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.09276798367500305},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/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/icra48506.2021.9561040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561040","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1662382123","https://openalex.org/W2006003168","https://openalex.org/W2041995828","https://openalex.org/W2045819098","https://openalex.org/W2107667896","https://openalex.org/W2111025587","https://openalex.org/W2130422193","https://openalex.org/W2172103629","https://openalex.org/W2173199691","https://openalex.org/W2198547365","https://openalex.org/W2222512263","https://openalex.org/W2296693980","https://openalex.org/W2465015709","https://openalex.org/W2519887557","https://openalex.org/W2562788852","https://openalex.org/W2564666437","https://openalex.org/W2606202972","https://openalex.org/W2763168458","https://openalex.org/W2771342126","https://openalex.org/W2771728020","https://openalex.org/W2784154204","https://openalex.org/W2910054127","https://openalex.org/W2963984147","https://openalex.org/W2964015378","https://openalex.org/W2964113829","https://openalex.org/W2964311892","https://openalex.org/W2964321699","https://openalex.org/W2968376492","https://openalex.org/W2968968404","https://openalex.org/W2973940980","https://openalex.org/W3011400958","https://openalex.org/W6637178625","https://openalex.org/W6685350579","https://openalex.org/W6719270105","https://openalex.org/W6720006811","https://openalex.org/W6726873649","https://openalex.org/W6775047284"],"related_works":["https://openalex.org/W2468279273","https://openalex.org/W2354198838","https://openalex.org/W1989130879","https://openalex.org/W2103419012","https://openalex.org/W2988126442","https://openalex.org/W1974414866","https://openalex.org/W2057568687","https://openalex.org/W2063982682","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,20,51,61,75,79],"navigation":[4],"network":[5],"based":[6],"deep":[7],"reinforcement":[8],"learning":[9],"framework":[10,71,102],"for":[11,32],"autonomous":[12],"indoor":[13,47],"robot":[14,76],"exploration.":[15],"The":[16,55,69,95],"presented":[17],"method":[18],"features":[19],"pattern":[21],"cognitive":[22],"non-myopic":[23],"exploration":[24,106],"strategy":[25],"that":[26],"can":[27],"better":[28],"reflect":[29],"universal":[30],"preferences":[31],"structure.":[33],"We":[34],"propose":[35],"the":[36,43,67,84,98,101],"Extendable":[37],"Navigation":[38],"Network":[39],"(ENN)":[40],"to":[41,50,74],"encode":[42],"partially":[44],"observed":[45],"high-dimensional":[46],"Euclidean":[48],"space":[49],"sparse":[52],"graph":[53],"representation.":[54],"robot’s":[56],"motion":[57],"is":[58,66,72],"generated":[59],"by":[60],"learned":[62],"Q-network":[63],"whose":[64],"input":[65],"ENN.":[68],"proposed":[70],"applied":[73],"equipped":[77],"with":[78],"2D":[80],"LIDAR":[81],"sensor":[82],"in":[83,103],"GAZEBO":[85],"simulation":[86],"where":[87],"floor":[88],"plans":[89],"of":[90,100,105],"real":[91],"buildings":[92],"are":[93],"implemented.":[94],"experiments":[96],"demonstrate":[97],"efficiency":[99],"terms":[104],"time.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}