{"id":"https://openalex.org/W4401417189","doi":"https://doi.org/10.1109/icra57147.2024.10611155","title":"Learning Terminal State of the Trajectory Planner: Application for Collision Scenarios of Autonomous Vehicles","display_name":"Learning Terminal State of the Trajectory Planner: Application for Collision Scenarios of Autonomous Vehicles","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401417189","doi":"https://doi.org/10.1109/icra57147.2024.10611155"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611155","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611155","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5113325722","display_name":"Joonhee 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":"Joonhee Lim","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology (KAIST),Robotics Program,Daejeon,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology (KAIST),Robotics Program,Daejeon,Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103075381","display_name":"Kibeom Lee","orcid":"https://orcid.org/0000-0002-9745-7116"},"institutions":[{"id":"https://openalex.org/I12832649","display_name":"Gachon University","ror":"https://ror.org/03ryywt80","country_code":"KR","type":"education","lineage":["https://openalex.org/I12832649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kibeom Lee","raw_affiliation_strings":["Gachon University,Department of Mechanical Engineering,Seongnam,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Gachon University,Department of Mechanical Engineering,Seongnam,Republic of Korea","institution_ids":["https://openalex.org/I12832649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100828218","display_name":"Jangho Shin","orcid":null},"institutions":[{"id":"https://openalex.org/I49946491","display_name":"Hyundai Motors (South Korea)","ror":"https://ror.org/016kvft77","country_code":"KR","type":"company","lineage":["https://openalex.org/I197312522","https://openalex.org/I49946491"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jangho Shin","raw_affiliation_strings":["Hyundai Motor Company,Research &#x0026; Development Division,Hwaseong,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hyundai Motor Company,Research &#x0026; Development Division,Hwaseong,Republic of Korea","institution_ids":["https://openalex.org/I49946491"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091555350","display_name":"Dongsuk Kum","orcid":"https://orcid.org/0000-0002-2590-4845"},"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":"Dongsuk Kum","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology (KAIST),The Cho Chun Shik Graduate School of Mobility,Daejeon,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology (KAIST),The Cho Chun Shik Graduate School of Mobility,Daejeon,Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2187,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.4886729,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"7576","last_page":"7582"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9961000084877014,"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/terminal","display_name":"Terminal (telecommunication)","score":0.8373050689697266},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7962426543235779},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7277444005012512},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6385817527770996},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6301202774047852},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5658044219017029},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5577371120452881},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4568610191345215},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36832693219184875},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.366260290145874},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22390180826187134},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1450916826725006},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.10172668099403381}],"concepts":[{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.8373050689697266},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7962426543235779},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7277444005012512},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6385817527770996},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6301202774047852},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5658044219017029},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5577371120452881},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4568610191345215},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36832693219184875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.366260290145874},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22390180826187134},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1450916826725006},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.10172668099403381},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611155","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra57147.2024.10611155","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1514219443","https://openalex.org/W1522301498","https://openalex.org/W2088900086","https://openalex.org/W2097545165","https://openalex.org/W2106432970","https://openalex.org/W2161859997","https://openalex.org/W2306644740","https://openalex.org/W2579911499","https://openalex.org/W2741296383","https://openalex.org/W2904246096","https://openalex.org/W2908972399","https://openalex.org/W2941647785","https://openalex.org/W2970421303","https://openalex.org/W3000501873","https://openalex.org/W3099728423","https://openalex.org/W3130234876","https://openalex.org/W3135389177","https://openalex.org/W3199668880","https://openalex.org/W3211302749","https://openalex.org/W4206759694","https://openalex.org/W4290375100","https://openalex.org/W4295719664","https://openalex.org/W4306399965","https://openalex.org/W4308842612","https://openalex.org/W4312286648","https://openalex.org/W6631190155","https://openalex.org/W6631558304","https://openalex.org/W6661005613","https://openalex.org/W6732059651","https://openalex.org/W6745935785","https://openalex.org/W6757592117","https://openalex.org/W6774888300","https://openalex.org/W6809802708","https://openalex.org/W6809835264"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W4399598005","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W2165574943"],"abstract_inverted_index":{"Collision":[0],"Avoidance/Mitigation":[1],"System":[2],"(CAMS)":[3],"for":[4,37,50,80],"autonomous":[5,18],"vehicles":[6],"is":[7],"a":[8,76,110,140],"crucial":[9],"technology":[10],"that":[11,82,168],"ensures":[12],"the":[13,55,98,104,118,124,132,135,159,169],"safety":[14],"and":[15,28,68,88,101,108,121,143,152,176,189],"reliability":[16],"of":[17,103,123,134,162],"driving":[19],"systems.":[20],"Conventional":[21],"collision":[22,39,52,150,191],"avoidance":[23,151],"approaches":[24,56],"struggle":[25],"in":[26,66,154,187],"complex":[27,188],"various":[29,190],"scenarios":[30],"by":[31],"avoiding":[32],"collisions":[33],"based":[34,113],"on":[35,114],"rules":[36],"specific":[38],"scenarios.":[40,192],"This":[41],"has":[42],"led":[43],"to":[44,179],"learning-based":[45,181],"methods":[46,182],"using":[47,106],"neural":[48,62,136],"networks":[49,63],"adaptive":[51],"avoidance.":[53],"However,":[54],"directly":[57],"outputting":[58],"control":[59,129],"inputs":[60,130],"through":[61,158],"have":[64],"drawbacks":[65],"interpretability":[67,175],"stability.":[69],"To":[70],"address":[71],"these":[72],"limitations,":[73],"we":[74],"propose":[75],"trajectory":[77,92,105,112,125],"planning":[78],"method":[79,96,171],"CAMS":[81],"combines":[83],"deep":[84],"reinforcement":[85],"learning":[86],"(DRL)":[87],"quintic":[89],"polynomial":[90],"(QP)":[91],"planning.":[93],"The":[94],"proposed":[95,170],"determines":[97],"terminal":[99,119],"state":[100,120],"confidence":[102,122],"DRL":[107],"plans":[109],"QP":[111],"them.":[115],"By":[116],"utilizing":[117],"rather":[126],"than":[127],"direct":[128],"as":[131],"output":[133],"network,":[137],"it":[138],"generates":[139],"more":[141],"realistic":[142],"continuous":[144],"path.":[145],"Moreover,":[146],"this":[147],"approach":[148],"considers":[149],"mitigation":[153],"an":[155],"integrated":[156],"manner":[157],"reward":[160],"function":[161],"RL.":[163],"Our":[164],"experimental":[165],"results":[166],"demonstrate":[167],"not":[172],"only":[173],"improves":[174],"stability":[177],"compared":[178],"existing":[180],"but":[183],"also":[184],"upholds":[185],"performance":[186]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
