{"id":"https://openalex.org/W4402219161","doi":"https://doi.org/10.1109/icrca60878.2024.10649312","title":"Artificial Potential Field-Enhanced Deep Reinforcement Learning for Motion Planning","display_name":"Artificial Potential Field-Enhanced Deep Reinforcement Learning for Motion Planning","publication_year":2024,"publication_date":"2024-01-12","ids":{"openalex":"https://openalex.org/W4402219161","doi":"https://doi.org/10.1109/icrca60878.2024.10649312"},"language":"en","primary_location":{"id":"doi:10.1109/icrca60878.2024.10649312","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icrca60878.2024.10649312","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 8th International Conference on Robotics, Control and Automation (ICRCA)","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/A5034961582","display_name":"Tengyue Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210158570","display_name":"Zhejiang University-University of Edinburgh Institute","ror":"https://ror.org/04jth1r26","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210158570","https://openalex.org/I76130692","https://openalex.org/I98677209"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tengyue Wang","raw_affiliation_strings":["ZJU-UIUC Institute, International Campus, Zhejiang University, School of Mechanical Engineering,Haining,China"],"affiliations":[{"raw_affiliation_string":"ZJU-UIUC Institute, International Campus, Zhejiang University, School of Mechanical Engineering,Haining,China","institution_ids":["https://openalex.org/I4210158570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046390476","display_name":"Xianhao Chen","orcid":"https://orcid.org/0009-0001-7031-1440"},"institutions":[{"id":"https://openalex.org/I4210158570","display_name":"Zhejiang University-University of Edinburgh Institute","ror":"https://ror.org/04jth1r26","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210158570","https://openalex.org/I76130692","https://openalex.org/I98677209"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianhao Chen","raw_affiliation_strings":["ZJU-UIUC Institute, International Campus, Zhejiang University,Haining,China"],"affiliations":[{"raw_affiliation_string":"ZJU-UIUC Institute, International Campus, Zhejiang University,Haining,China","institution_ids":["https://openalex.org/I4210158570"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chen Lei","orcid":null},"institutions":[{"id":"https://openalex.org/I4210158570","display_name":"Zhejiang University-University of Edinburgh Institute","ror":"https://ror.org/04jth1r26","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210158570","https://openalex.org/I76130692","https://openalex.org/I98677209"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Lei","raw_affiliation_strings":["ZJU-UIUC Institute, International Campus, Zhejiang University,Haining,China"],"affiliations":[{"raw_affiliation_string":"ZJU-UIUC Institute, International Campus, Zhejiang University,Haining,China","institution_ids":["https://openalex.org/I4210158570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048861559","display_name":"L. Yang","orcid":"https://orcid.org/0000-0002-3294-0879"},"institutions":[{"id":"https://openalex.org/I4210158570","display_name":"Zhejiang University-University of Edinburgh Institute","ror":"https://ror.org/04jth1r26","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210158570","https://openalex.org/I76130692","https://openalex.org/I98677209"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liangjing Yang","raw_affiliation_strings":["ZJU-UIUC Institute, International Campus, Zhejiang University, School of Mechanical Engineering,Haining,China"],"affiliations":[{"raw_affiliation_string":"ZJU-UIUC Institute, International Campus, Zhejiang University, School of Mechanical Engineering,Haining,China","institution_ids":["https://openalex.org/I4210158570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034961582"],"corresponding_institution_ids":["https://openalex.org/I4210158570"],"apc_list":null,"apc_paid":null,"fwci":0.4846,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.63909536,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"459","last_page":"465"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9991999864578247,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.7791070938110352},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.58735591173172},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5718371272087097},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5527809262275696},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5213600397109985},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.507194995880127},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1567016839981079},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08037838339805603}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7791070938110352},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.58735591173172},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5718371272087097},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5527809262275696},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5213600397109985},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.507194995880127},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1567016839981079},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08037838339805603},{"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/icrca60878.2024.10649312","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icrca60878.2024.10649312","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 8th International Conference on Robotics, Control and Automation (ICRCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W777906034","https://openalex.org/W2008777809","https://openalex.org/W2052971528","https://openalex.org/W2096078692","https://openalex.org/W2103120971","https://openalex.org/W2113286054","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2145339207","https://openalex.org/W2146015339","https://openalex.org/W2154522324","https://openalex.org/W2158334497","https://openalex.org/W2288650507","https://openalex.org/W2413992829","https://openalex.org/W2542343768","https://openalex.org/W2553422056","https://openalex.org/W2575705757","https://openalex.org/W2739330054","https://openalex.org/W2740584750","https://openalex.org/W2770649262","https://openalex.org/W2790458093","https://openalex.org/W2891816981","https://openalex.org/W2911283711","https://openalex.org/W2913127416","https://openalex.org/W2954115742","https://openalex.org/W2963428623","https://openalex.org/W2963864421","https://openalex.org/W2967846306","https://openalex.org/W2972941110","https://openalex.org/W3019349330","https://openalex.org/W3044457827","https://openalex.org/W3091091967","https://openalex.org/W3099578266","https://openalex.org/W3100789280","https://openalex.org/W3127561923","https://openalex.org/W3161261757","https://openalex.org/W3163638304","https://openalex.org/W3206985716","https://openalex.org/W3216656735","https://openalex.org/W4243194985","https://openalex.org/W4298857966","https://openalex.org/W6630218378","https://openalex.org/W6637967152","https://openalex.org/W6684921986"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W2031695474","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2586732548","https://openalex.org/W3049728571"],"abstract_inverted_index":{"To":[0],"address":[1],"the":[2,44,51,70,73,90,95,104,108],"significant":[3],"challenge":[4],"of":[5,40,46,53,94],"local":[6],"motion":[7,24],"planning":[8,25],"for":[9],"ground":[10],"mobile":[11],"agents":[12],"in":[13,98],"unknown,":[14],"dense,":[15],"and":[16,33,50,79,92,100,119],"dynamic":[17],"environments,":[18],"this":[19],"paper":[20],"presents":[21],"a":[22,54],"hybrid":[23],"approach":[26,97,105],"that":[27],"merges":[28],"artificial":[29],"potential":[30,41],"field":[31],"(APF)":[32],"deep":[34],"reinforcement":[35,63],"learning":[36,64],"(DRL).":[37],"The":[38],"utilization":[39],"fields":[42],"enables":[43],"characterization":[45],"surrounding":[47],"obstacle":[48],"distributions":[49],"construction":[52],"reward":[55],"function.":[56],"By":[57],"training":[58],"with":[59,113],"an":[60],"APF":[61],"-enhanced":[62],"algorithm":[65],"across":[66],"three":[67],"distinct":[68],"scenarios,":[69],"agent":[71],"acquires":[72],"ability":[74],"to":[75],"tackle":[76],"both":[77],"stationary":[78],"moving":[80,86],"obstacles,":[81],"as":[82,84],"well":[83],"track":[85],"targets.":[87],"Results":[88],"demonstrate":[89],"practicality":[91],"adaptability":[93],"proposed":[96],"simulations":[99],"real-world":[101],"implementation.":[102],"Notably,":[103],"successfully":[106],"overcomes":[107],"inherent":[109],"limitations":[110],"commonly":[111],"associated":[112],"APF,":[114],"further":[115],"enhancing":[116],"its":[117],"effectiveness":[118],"applicability.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}