{"id":"https://openalex.org/W3131301495","doi":"https://doi.org/10.1109/iros45743.2020.9341148","title":"Optimal Robot Motion Planning in Constrained Workspaces Using Reinforcement Learning","display_name":"Optimal Robot Motion Planning in Constrained Workspaces Using Reinforcement Learning","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3131301495","doi":"https://doi.org/10.1109/iros45743.2020.9341148","mag":"3131301495"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341148","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5001781861","display_name":"Panagiotis Rousseas","orcid":"https://orcid.org/0000-0003-4669-3204"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":true,"raw_author_name":"Panagiotis Rousseas","raw_affiliation_strings":["Control System Lab, School of Mechanical Engineering, National Technical University of Athens, Greece"],"affiliations":[{"raw_affiliation_string":"Control System Lab, School of Mechanical Engineering, National Technical University of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020695725","display_name":"Charalampos P. Bechlioulis","orcid":"https://orcid.org/0000-0001-9850-2540"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Charalampos P. Bechlioulis","raw_affiliation_strings":["Control System Lab, School of Mechanical Engineering, National Technical University of Athens, Greece"],"affiliations":[{"raw_affiliation_string":"Control System Lab, School of Mechanical Engineering, National Technical University of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012966309","display_name":"Kostas J. Kyriakopoulos","orcid":"https://orcid.org/0000-0002-1229-3029"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Kostas J. Kyriakopoulos","raw_affiliation_strings":["Control System Lab, School of Mechanical Engineering, National Technical University of Athens, Greece"],"affiliations":[{"raw_affiliation_string":"Control System Lab, School of Mechanical Engineering, National Technical University of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5001781861"],"corresponding_institution_ids":["https://openalex.org/I174458059"],"apc_list":null,"apc_paid":null,"fwci":0.6839,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.72909525,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9987999796867371,"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":0.9921000003814697,"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":0.8740326166152954},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7974625825881958},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7654892802238464},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6315193176269531},{"id":"https://openalex.org/keywords/hamilton\u2013jacobi\u2013bellman-equation","display_name":"Hamilton\u2013Jacobi\u2013Bellman equation","score":0.6096692085266113},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5909541845321655},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5889634490013123},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5732690095901489},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.48490506410598755},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46423450112342834},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41265565156936646},{"id":"https://openalex.org/keywords/bellman-equation","display_name":"Bellman equation","score":0.34022656083106995},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2502362132072449}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8740326166152954},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7974625825881958},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7654892802238464},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6315193176269531},{"id":"https://openalex.org/C196978813","wikidata":"https://www.wikidata.org/wiki/Q3302775","display_name":"Hamilton\u2013Jacobi\u2013Bellman equation","level":3,"score":0.6096692085266113},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5909541845321655},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5889634490013123},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5732690095901489},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.48490506410598755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46423450112342834},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41265565156936646},{"id":"https://openalex.org/C14646407","wikidata":"https://www.wikidata.org/wiki/Q1430750","display_name":"Bellman equation","level":2,"score":0.34022656083106995},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2502362132072449},{"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/iros45743.2020.9341148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341148","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W234738007","https://openalex.org/W1516027685","https://openalex.org/W1971086298","https://openalex.org/W1983523797","https://openalex.org/W2001804342","https://openalex.org/W2022020194","https://openalex.org/W2030777923","https://openalex.org/W2083283377","https://openalex.org/W2096078692","https://openalex.org/W2104332709","https://openalex.org/W2108286682","https://openalex.org/W2110144538","https://openalex.org/W2125968961","https://openalex.org/W2125973284","https://openalex.org/W2128990851","https://openalex.org/W2154722715","https://openalex.org/W2159722616","https://openalex.org/W2177274602","https://openalex.org/W2484646121","https://openalex.org/W2772403059","https://openalex.org/W2786893837","https://openalex.org/W2890358241","https://openalex.org/W2891736816","https://openalex.org/W2963700156","https://openalex.org/W4247582681","https://openalex.org/W4289542662","https://openalex.org/W6645928536","https://openalex.org/W6754990898"],"related_works":["https://openalex.org/W4320342078","https://openalex.org/W4239477580","https://openalex.org/W3116531410","https://openalex.org/W4320025330","https://openalex.org/W3211342299","https://openalex.org/W4352981143","https://openalex.org/W2115200209","https://openalex.org/W1519610715","https://openalex.org/W2542922942","https://openalex.org/W3131301495"],"abstract_inverted_index":{"In":[0,36],"this":[1],"work,":[2],"a":[3,15,30,64,72],"novel":[4],"solution":[5],"to":[6,43],"the":[7,46,49,55,76],"optimal":[8,77],"motion":[9,78],"planning":[10,79],"problem":[11],"is":[12,27,41],"proposed,":[13],"through":[14],"continuous,":[16],"deterministic":[17],"and":[18,25,70],"provably":[19],"correct":[20],"approach,":[21],"with":[22],"guaranteed":[23],"safety":[24],"which":[26],"based":[28],"on":[29],"parametrized":[31],"Artificial":[32],"Potential":[33],"Field":[34],"(APF).":[35],"particular,":[37],"Reinforcement":[38],"Learning":[39],"(RL)":[40],"applied":[42],"adjust":[44],"appropriately":[45],"parameters":[47],"of":[48],"underlying":[50],"potential":[51],"field":[52],"towards":[53],"minimizing":[54],"Hamilton-Jacobi-Bellman":[56],"(HJB)":[57],"error.":[58],"The":[59],"proposed":[60],"method,":[61],"outperforms":[62],"consistently":[63],"Rapidly-exploring":[65],"Random":[66],"Trees":[67],"(RRT*)":[68],"method":[69],"consists":[71],"fertile":[73],"advancement":[74],"in":[75],"problem.":[80]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}