{"id":"https://openalex.org/W4383108501","doi":"https://doi.org/10.1109/icra48891.2023.10160725","title":"Reinforcement Learning-Based Optimal Multiple Waypoint Navigation","display_name":"Reinforcement Learning-Based Optimal Multiple Waypoint Navigation","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108501","doi":"https://doi.org/10.1109/icra48891.2023.10160725"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160725","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5072937080","display_name":"Christos Vlachos","orcid":"https://orcid.org/0000-0003-0514-6781"},"institutions":[{"id":"https://openalex.org/I174878644","display_name":"University of Patras","ror":"https://ror.org/017wvtq80","country_code":"GR","type":"education","lineage":["https://openalex.org/I174878644"]}],"countries":["GR"],"is_corresponding":true,"raw_author_name":"Christos Vlachos","raw_affiliation_strings":["University of Patras,Department of Electrical and Computer Engineering,Greece","Department of Electrical and Computer Engineering, University of Patras, Greece"],"affiliations":[{"raw_affiliation_string":"University of Patras,Department of Electrical and Computer Engineering,Greece","institution_ids":["https://openalex.org/I174878644"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Patras, Greece","institution_ids":["https://openalex.org/I174878644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001781861","display_name":"Panagiotis Rousseas","orcid":"https://orcid.org/0000-0003-4669-3204"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Panagiotis Rousseas","raw_affiliation_strings":["School of Mechanical Engineering, Control Systems Laboratory, National Technical University of Athens,Greece","School of Mechanical Engineering, Control Systems Laboratory, National Technical University of Athens, Greece"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Control Systems Laboratory, National Technical University of Athens,Greece","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"School of Mechanical Engineering, Control Systems Laboratory, National Technical University of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020695725","display_name":"Charalampos P. Bechlioulis","orcid":"https://orcid.org/0000-0001-9850-2540"},"institutions":[{"id":"https://openalex.org/I174878644","display_name":"University of Patras","ror":"https://ror.org/017wvtq80","country_code":"GR","type":"education","lineage":["https://openalex.org/I174878644"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Charalampos P. Bechlioulis","raw_affiliation_strings":["University of Patras,Department of Electrical and Computer Engineering,Greece","Department of Electrical and Computer Engineering, University of Patras, Greece"],"affiliations":[{"raw_affiliation_string":"University of Patras,Department of Electrical and Computer Engineering,Greece","institution_ids":["https://openalex.org/I174878644"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Patras, Greece","institution_ids":["https://openalex.org/I174878644"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012966309","display_name":"Kostas J. Kyriakopoulos","orcid":"https://orcid.org/0000-0002-1229-3029"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas J. Kyriakopoulos","raw_affiliation_strings":["Center of AI &#x0026; Robotics (CAIR), New York University,Abu Dhabi"],"affiliations":[{"raw_affiliation_string":"Center of AI &#x0026; Robotics (CAIR), New York University,Abu Dhabi","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5072937080"],"corresponding_institution_ids":["https://openalex.org/I174878644"],"apc_list":null,"apc_paid":null,"fwci":0.369,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.58823218,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1537","last_page":"1543"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9970999956130981,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9926999807357788,"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/waypoint","display_name":"Waypoint","score":0.8722301721572876},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8636345267295837},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7549026012420654},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7357429265975952},{"id":"https://openalex.org/keywords/novelty","display_name":"Novelty","score":0.7068133354187012},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.68272864818573},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5533273220062256},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5213802456855774},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5009050369262695},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.49523892998695374},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4900397062301636},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.44229888916015625},{"id":"https://openalex.org/keywords/bellman-equation","display_name":"Bellman equation","score":0.4277706742286682},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41763538122177124},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1806471049785614},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13917276263237},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.11584916710853577}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.8722301721572876},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8636345267295837},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7549026012420654},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7357429265975952},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.7068133354187012},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.68272864818573},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5533273220062256},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5213802456855774},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5009050369262695},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.49523892998695374},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4900397062301636},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.44229888916015625},{"id":"https://openalex.org/C14646407","wikidata":"https://www.wikidata.org/wiki/Q1430750","display_name":"Bellman equation","level":2,"score":0.4277706742286682},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41763538122177124},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1806471049785614},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13917276263237},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.11584916710853577},{"id":"https://openalex.org/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160725","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W6908809","https://openalex.org/W131069610","https://openalex.org/W1904799423","https://openalex.org/W1971086298","https://openalex.org/W2076738229","https://openalex.org/W2100885264","https://openalex.org/W2107699930","https://openalex.org/W2128990851","https://openalex.org/W2129260095","https://openalex.org/W2152161277","https://openalex.org/W2177274602","https://openalex.org/W2196067399","https://openalex.org/W2199171022","https://openalex.org/W2739589480","https://openalex.org/W2908598976","https://openalex.org/W2968341523","https://openalex.org/W3016507688","https://openalex.org/W3127645627","https://openalex.org/W3133407528","https://openalex.org/W3213288801","https://openalex.org/W4210968171","https://openalex.org/W4247582681","https://openalex.org/W4285189729","https://openalex.org/W6605295560"],"related_works":["https://openalex.org/W1965569281","https://openalex.org/W2062919732","https://openalex.org/W2573269332","https://openalex.org/W2863424594","https://openalex.org/W2546046681","https://openalex.org/W2893406334","https://openalex.org/W4388726836","https://openalex.org/W4324119413","https://openalex.org/W4319978806","https://openalex.org/W4282942842"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,32,49,57,87,109],"novel":[4,104],"method":[5,70],"based":[6],"on":[7],"Artificial":[8],"Potential":[9],"Field":[10],"(APF)":[11],"theory":[12],"is":[13,29,99],"presented,":[14],"for":[15,23,75],"optimal":[16,73],"motion":[17,105],"planning":[18,106],"in":[19,53,68,79],"fully-known,":[20],"static":[21],"workspaces,":[22],"multiple":[24,76],"final":[25,77,89],"goal":[26],"configurations.":[27],"Optimization":[28],"achieved":[30],"through":[31,48],"Reinforcement":[33],"Learning":[34],"(RL)":[35],"framework.":[36],"More":[37],"specifically,":[38],"the":[39,42,64,69,94],"parameters":[40],"of":[41,63,93,96],"underlying":[43],"potential":[44],"field":[45],"are":[46],"adjusted":[47],"policy":[50],"gradient":[51],"algorithm":[52],"order":[54],"to":[55,81],"minimize":[56],"cost":[58],"function.":[59],"The":[60],"main":[61],"novelty":[62],"proposed":[65],"scheme":[66,107],"lies":[67],"that":[71,85],"provides":[72],"policies":[74],"positions,":[78],"contrast":[80],"most":[82],"existing":[83],"methodologies":[84],"consider":[86],"single":[88],"configuration.":[90],"An":[91],"assessment":[92],"optimality":[95],"our":[97,103],"results":[98],"conducted":[100],"by":[101],"comparing":[102],"against":[108],"RRT*":[110],"method.":[111]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
