{"id":"https://openalex.org/W4413918654","doi":"https://doi.org/10.1109/icra55743.2025.11128442","title":"Dashing for the Golden Snitch: Multi-Drone Time-Optimal Motion Planning with Multi-Agent Reinforcement Learning","display_name":"Dashing for the Golden Snitch: Multi-Drone Time-Optimal Motion Planning with Multi-Agent Reinforcement Learning","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413918654","doi":"https://doi.org/10.1109/icra55743.2025.11128442"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128442","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5100352414","display_name":"Xian Wang","orcid":"https://orcid.org/0000-0003-0041-7589"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xian Wang","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062969947","display_name":"Jin Zhou","orcid":"https://orcid.org/0000-0001-8121-4198"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Zhou","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109418383","display_name":"Yuanli Feng","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanli Feng","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113396651","display_name":"Jiahao Mei","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahao Mei","raw_affiliation_strings":["Zhejiang University of Technology,Department of Automation,Hangzhou,China,310023"],"affiliations":[{"raw_affiliation_string":"Zhejiang University of Technology,Department of Automation,Hangzhou,China,310023","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100726036","display_name":"Jiming Chen","orcid":"https://orcid.org/0000-0001-7993-3193"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiming Chen","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100386630","display_name":"Shuo Li","orcid":"https://orcid.org/0000-0002-5184-3230"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Li","raw_affiliation_strings":["College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027"],"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100352414"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":3.9571,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.94413367,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"16692","last_page":"16698"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"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":0.9975000023841858,"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/T12288","display_name":"Optimization and Search Problems","score":0.9879999756813049,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9642999768257141,"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/drone","display_name":"Drone","score":0.8924016952514648},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.829703688621521},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6529374122619629},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6146966814994812},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5634952187538147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5194723010063171},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36699819564819336},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17972955107688904}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8924016952514648},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.829703688621521},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6529374122619629},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6146966814994812},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5634952187538147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5194723010063171},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36699819564819336},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17972955107688904},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128442","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6915453585","display_name":null,"funder_award_id":"62203385,62088101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2057799302","https://openalex.org/W2769498435","https://openalex.org/W2963821308","https://openalex.org/W3003344567","https://openalex.org/W3135798748","https://openalex.org/W3183413118","https://openalex.org/W3185165122","https://openalex.org/W4200438872","https://openalex.org/W4206742276","https://openalex.org/W4229007520","https://openalex.org/W4285117968","https://openalex.org/W4285163488","https://openalex.org/W4381785675","https://openalex.org/W4383109358","https://openalex.org/W4386285856","https://openalex.org/W4386718967","https://openalex.org/W4389665397","https://openalex.org/W4401051858","https://openalex.org/W4401416465","https://openalex.org/W4403721505","https://openalex.org/W4404035361","https://openalex.org/W4411328628"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4379143281","https://openalex.org/W2605096541","https://openalex.org/W3200286695","https://openalex.org/W4212885606"],"abstract_inverted_index":{"Recent":[0],"innovations":[1],"in":[2,9,15,42,83,97,139,156],"autonomous":[3],"drones":[4],"have":[5,28],"facilitated":[6],"time-optimal":[7,30,57],"flight":[8,65],"single-drone":[10,113],"configurations,":[11],"and":[12,22,67,95,148],"enhanced":[13],"maneuverability":[14],"multi-drone":[16,34,58,116],"systems":[17],"by":[18,77],"applying":[19],"optimal":[20],"control":[21],"learning-based":[23],"methods.":[24,79],"However,":[25],"few":[26],"studies":[27],"achieved":[29],"motion":[31],"planning":[32],"for":[33,56],"systems,":[35,114],"particularly":[36],"during":[37],"highly":[38],"agile":[39],"maneuvers":[40],"or":[41],"dynamic":[43],"scenarios.":[44],"This":[45],"paper":[46],"presents":[47],"a":[48,62,72,84,122,142,149,157],"decentralized":[49,87],"policy":[50],"network":[51,137],"using":[52,134],"multi-agent":[53],"reinforcement":[54],"learning":[55],"flight.":[59],"To":[60],"strike":[61],"balance":[63],"between":[64],"efficiency":[66,94],"collision":[68,124],"avoidance,":[69],"we":[70,91],"introduce":[71],"soft":[73],"collision-free":[74],"mechanism":[75],"inspired":[76],"optimization-based":[78],"By":[80],"customizing":[81],"PPO":[82],"centralized":[85],"training,":[86],"execution":[88],"(CTDE)":[89],"fashion,":[90],"unlock":[92],"higher":[93],"stability":[96],"training":[98],"while":[99],"ensuring":[100],"lightweight":[101],"implementation.":[102],"Extensive":[103],"simulations":[104],"show":[105],"that,":[106],"despite":[107],"slight":[108],"performance":[109,120],"tradeoffs":[110],"compared":[111],"to":[112],"our":[115,129],"approach":[117],"maintains":[118],"near-time-optimal":[119],"with":[121,131],"low":[123],"rate.":[125],"Real-world":[126],"experiments":[127],"validate":[128],"method,":[130],"two":[132],"quadrotors":[133],"the":[135],"same":[136],"as":[138],"simulation":[140],"achieving":[141],"maximum":[143,150],"speed":[144],"of":[145,153],"13.65":[146],"m/s":[147],"body":[151],"rate":[152],"13.4":[154],"rad/s":[155],"5.5":[158,161],"m":[159,162,165],"\u00d7":[160,163],"2.0":[164],"space":[166],"across":[167],"various":[168],"tracks,":[169],"relying":[170],"entirely":[171],"on":[172],"onboard":[173],"computation":[174],"[video<sup":[175],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[176,178,180,182],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</sup><sup":[177],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</sup>https://youtu.be/KACuFMtGGpo][code<sup":[179],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">4</sup><sup":[181],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">4</sup>https://github.com/KafuuChikai/Dashing-for-the-Golden-Snitch-Multi-Drone-RL].":[183]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}