{"id":"https://openalex.org/W4413925762","doi":"https://doi.org/10.1109/icra55743.2025.11128470","title":"Soft Actor-Critic-Based Control Barrier Adaptation for Robust Autonomous Navigation in Unknown Environments","display_name":"Soft Actor-Critic-Based Control Barrier Adaptation for Robust Autonomous Navigation in Unknown Environments","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925762","doi":"https://doi.org/10.1109/icra55743.2025.11128470"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128470","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/A5049846109","display_name":"Nicholas Mohammad","orcid":null},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nicholas Mohammad","raw_affiliation_strings":["University of Virginia,Autonomous Mobile Robots Lab (AMR Lab),Department of Electrical and Computer Engineering,Charlottesville,VA,USA,22903"],"affiliations":[{"raw_affiliation_string":"University of Virginia,Autonomous Mobile Robots Lab (AMR Lab),Department of Electrical and Computer Engineering,Charlottesville,VA,USA,22903","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091277504","display_name":"Nicola Bezzo","orcid":"https://orcid.org/0000-0001-6627-5048"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicola Bezzo","raw_affiliation_strings":["University of Virginia,Autonomous Mobile Robots Lab (AMR Lab),Department of Electrical and Computer Engineering,Charlottesville,VA,USA,22903"],"affiliations":[{"raw_affiliation_string":"University of Virginia,Autonomous Mobile Robots Lab (AMR Lab),Department of Electrical and Computer Engineering,Charlottesville,VA,USA,22903","institution_ids":["https://openalex.org/I51556381"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5049846109"],"corresponding_institution_ids":["https://openalex.org/I51556381"],"apc_list":null,"apc_paid":null,"fwci":3.6542,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.93778247,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2361","last_page":"2367"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9805999994277954,"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":0.9805999994277954,"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":0.949999988079071,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9452999830245972,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.6307251453399658},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6147425770759583},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45926937460899353},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35446518659591675},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33666813373565674},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3328999876976013},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.222982257604599},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09174656867980957},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.07023036479949951}],"concepts":[{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.6307251453399658},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6147425770759583},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45926937460899353},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35446518659591675},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33666813373565674},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3328999876976013},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.222982257604599},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09174656867980957},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.07023036479949951}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128470","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":[],"funders":[{"id":"https://openalex.org/F328363578","display_name":"Commonwealth Cyber Initiative","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1673917587","https://openalex.org/W1980569135","https://openalex.org/W2009903597","https://openalex.org/W2075793174","https://openalex.org/W2117211893","https://openalex.org/W2560504659","https://openalex.org/W2977676795","https://openalex.org/W3046925685","https://openalex.org/W3115471303","https://openalex.org/W3122878979","https://openalex.org/W3131580247","https://openalex.org/W3209325542","https://openalex.org/W4285102592","https://openalex.org/W4315489117","https://openalex.org/W4383108702","https://openalex.org/W4401415339"],"related_works":["https://openalex.org/W2997567050","https://openalex.org/W1483272040","https://openalex.org/W4283377908","https://openalex.org/W1526712007","https://openalex.org/W1533421371","https://openalex.org/W2003050223","https://openalex.org/W2091777911","https://openalex.org/W2766405861","https://openalex.org/W2360975119","https://openalex.org/W2912421143"],"abstract_inverted_index":{"Motion":[0],"planning":[1],"failures":[2],"during":[3],"autonomous":[4],"navigation":[5],"often":[6],"occur":[7],"when":[8],"safety":[9,33,43],"constraints":[10,34],"are":[11],"either":[12],"too":[13,19],"conservative,":[14],"leading":[15],"to":[16,35,113],"deadlocks,":[17],"or":[18],"liberal,":[20],"resulting":[21],"in":[22,92],"collisions.":[23],"To":[24,47],"improve":[25],"robustness,":[26],"a":[27,52,78],"robot":[28,112],"must":[29],"dynamically":[30],"adapt":[31],"its":[32,39,115],"ensure":[36],"it":[37],"reaches":[38],"goal":[40,117],"while":[41],"balancing":[42],"and":[44,85,89,98],"performance":[45],"measures.":[46],"this":[48],"end,":[49],"we":[50,101],"propose":[51],"Soft":[53],"Actor-Critic":[54],"(SAC)-based":[55],"policy":[56],"for":[57,77],"adapting":[58],"Control":[59],"Barrier":[60],"Function":[61],"(CBF)":[62],"constraint":[63],"parameters":[64],"at":[65],"runtime,":[66],"ensuring":[67],"safe":[68],"yet":[69],"non-conservative":[70],"motion.":[71],"The":[72],"proposed":[73],"approach":[74],"is":[75,90],"designed":[76],"general":[79],"high-level":[80],"motion":[81],"planner,":[82],"low-level":[83],"controller,":[84],"target":[86],"system":[87],"model,":[88],"trained":[91],"simulation":[93],"only.":[94],"Through":[95],"extensive":[96],"simulations":[97],"physical":[99],"experiments,":[100],"demonstrate":[102],"that":[103],"our":[104],"framework":[105],"effectively":[106],"adapts":[107],"CBF":[108],"constraints,":[109],"enabling":[110],"the":[111],"reach":[114],"final":[116],"without":[118],"compromising":[119],"safety.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}