{"id":"https://openalex.org/W3090059281","doi":"https://doi.org/10.1109/ijcnn48605.2020.9207248","title":"Multi-Robot Cooperative Target Encirclement through Learning Distributed Transferable Policy","display_name":"Multi-Robot Cooperative Target Encirclement through Learning Distributed Transferable Policy","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3090059281","doi":"https://doi.org/10.1109/ijcnn48605.2020.9207248","mag":"3090059281"},"language":"en","primary_location":{"id":"doi:10.1109/ijcnn48605.2020.9207248","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn48605.2020.9207248","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 International Joint Conference on Neural Networks (IJCNN)","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/A5074422885","display_name":"Tianle Zhang","orcid":"https://orcid.org/0000-0002-0779-5905"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tianle Zhang","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100412085","display_name":"Zhen Liu","orcid":"https://orcid.org/0000-0003-1610-2338"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Liu","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103000550","display_name":"Shiguang Wu","orcid":"https://orcid.org/0000-0001-9091-5236"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiguang Wu","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060319097","display_name":"Zhiqiang Pu","orcid":"https://orcid.org/0000-0002-4841-4048"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Pu","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019541846","display_name":"Jianqiang Yi","orcid":"https://orcid.org/0000-0003-3268-9482"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqiang Yi","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China","University of Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5074422885"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879","https://openalex.org/I4210165038"],"apc_list":null,"apc_paid":null,"fwci":1.0605,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.82310819,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9962000250816345,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9962000250816345,"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":0.9824000000953674,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9118000268936157,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7590234279632568},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.702410876750946},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6869716644287109},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6834918856620789},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5463143587112427},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5419173836708069},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5241335034370422},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.48583361506462097},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.42610982060432434},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.402260959148407},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.14377593994140625},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.11163130402565002}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7590234279632568},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.702410876750946},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6869716644287109},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6834918856620789},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5463143587112427},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5419173836708069},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5241335034370422},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.48583361506462097},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.42610982060432434},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.402260959148407},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.14377593994140625},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.11163130402565002},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ijcnn48605.2020.9207248","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn48605.2020.9207248","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1996549841","https://openalex.org/W2005245444","https://openalex.org/W2058339219","https://openalex.org/W2064675550","https://openalex.org/W2085207353","https://openalex.org/W2091446596","https://openalex.org/W2100781213","https://openalex.org/W2139823312","https://openalex.org/W2296073425","https://openalex.org/W2343089421","https://openalex.org/W2592570835","https://openalex.org/W2617547828","https://openalex.org/W2736601468","https://openalex.org/W2785315072","https://openalex.org/W2803155336","https://openalex.org/W2948342290","https://openalex.org/W2962938168","https://openalex.org/W2963039558","https://openalex.org/W2963407617","https://openalex.org/W2963717208","https://openalex.org/W2963858333","https://openalex.org/W2966893381","https://openalex.org/W2977829724","https://openalex.org/W2984557458","https://openalex.org/W4288336223","https://openalex.org/W4297733535","https://openalex.org/W4299802797","https://openalex.org/W6680566034","https://openalex.org/W6738796088","https://openalex.org/W6741002519","https://openalex.org/W6745537798","https://openalex.org/W6747941106","https://openalex.org/W6751139674","https://openalex.org/W6763173156"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W4306904969","https://openalex.org/W2743212448","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W2742483371","https://openalex.org/W3005999311"],"abstract_inverted_index":{"Making":[0],"efficient":[1],"motion":[2],"decisions":[3],"for":[4,85],"a":[5,9,37,82,101,126],"multi-robot":[6,55,86,98],"system":[7],"is":[8,48,67,81,94,113,129,146],"challenging":[10],"problem":[11,53],"in":[12],"target":[13,28,57,139],"encirclement":[14,29,58,140],"with":[15,21,59,141,180],"collision":[16,31,60,142],"avoidance.":[17,61,143],"Specifically,":[18],"each":[19],"robot":[20],"local":[22],"communication":[23,92],"has":[24],"to":[25,50,69,96,115,131,148,176],"consider":[26],"cooperative":[27,56,105],"and":[30,78,103],"avoidance":[32],"simultaneously.":[33],"In":[34,88,124],"this":[35,154],"paper,":[36],"distributed":[38],"transferable":[39],"policy":[40,64,172],"network":[41,65],"framework":[42,66],"based":[43],"on":[44],"deep":[45],"reinforcement":[46],"learning":[47,145],"proposed":[49,63,163],"solve":[51],"the":[52,71,108,117,133,136,151,159,162,170],"of":[54,73,76,119,122,135,138,153,161],"The":[62],"able":[68],"process":[70,152],"information":[72,106],"uncertain":[74,120],"number":[75,121],"robots":[77],"obstacles,":[79],"which":[80],"desirable":[83],"property":[84],"systems.":[87],"particular,":[89],"graph":[90,102],"attention":[91],"mechanism":[93],"adopted":[95],"model":[97],"interactions":[99],"as":[100],"extract":[104],"from":[107],"graph.":[109],"Long":[110],"short-term":[111],"memory":[112],"used":[114],"accept":[116],"states":[118],"obstacles.":[123],"addition,":[125],"compound":[127],"reward":[128],"designed":[130],"lead":[132],"training":[134],"behavior":[137],"Curriculum":[144],"implemented":[147],"speed":[149],"up":[150],"training.":[155],"Simulation":[156],"results":[157],"validate":[158],"effectiveness":[160],"algorithm.":[164],"Moreover,":[165],"we":[166],"further":[167],"show":[168],"that":[169],"learned":[171],"can":[173],"directly":[174],"transfer":[175],"different":[177],"scenarios":[178],"along":[179],"good":[181],"generalization.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
