{"id":"https://openalex.org/W3046896135","doi":"https://doi.org/10.1109/iros45743.2020.9341376","title":"Cooperative Control of Mobile Robots with Stackelberg Learning","display_name":"Cooperative Control of Mobile Robots with Stackelberg Learning","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3046896135","doi":"https://doi.org/10.1109/iros45743.2020.9341376","mag":"3046896135"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341376","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2008.00679","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Joewie J. Koh","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joewie J. Koh","raw_affiliation_strings":["University of Colorado,Department of Computer Science,Boulder"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado,Department of Computer Science,Boulder","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Guohui Ding","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guohui Ding","raw_affiliation_strings":["University of Colorado,Department of Computer Science,Boulder"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado,Department of Computer Science,Boulder","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Christoffer Heckman","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christoffer Heckman","raw_affiliation_strings":["University of Colorado,Department of Computer Science,Boulder"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado,Department of Computer Science,Boulder","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Lijun Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lijun Chen","raw_affiliation_strings":["University of Colorado,Department of Computer Science,Boulder"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado,Department of Computer Science,Boulder","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":null,"display_name":"Alessandro Roncone","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alessandro Roncone","raw_affiliation_strings":["University of Colorado,Department of Computer Science,Boulder"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado,Department of Computer Science,Boulder","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4062,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.69645609,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7985","last_page":"7992"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9954000115394592,"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":0.9954000115394592,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9735999703407288,"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/T10328","display_name":"Supply Chain and Inventory Management","score":0.9550999999046326,"subfield":{"id":"https://openalex.org/subfields/1404","display_name":"Management Information Systems"},"field":{"id":"https://openalex.org/fields/14","display_name":"Business, Management and Accounting"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/stackelberg-competition","display_name":"Stackelberg competition","score":0.8889999985694885},{"id":"https://openalex.org/keywords/stochastic-game","display_name":"Stochastic game","score":0.6830000281333923},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5781999826431274},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5263000130653381},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.41769999265670776},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.40529999136924744},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.34689998626708984}],"concepts":[{"id":"https://openalex.org/C199510392","wikidata":"https://www.wikidata.org/wiki/Q1184602","display_name":"Stackelberg competition","level":2,"score":0.8889999985694885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6898000240325928},{"id":"https://openalex.org/C22171661","wikidata":"https://www.wikidata.org/wiki/Q1074380","display_name":"Stochastic game","level":2,"score":0.6830000281333923},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5781999826431274},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5263000130653381},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4706999957561493},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.41769999265670776},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.40529999136924744},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4004000127315521},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.34689998626708984},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34310001134872437},{"id":"https://openalex.org/C47175762","wikidata":"https://www.wikidata.org/wiki/Q13422573","display_name":"Non-cooperative game","level":3,"score":0.31470000743865967},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3025999963283539},{"id":"https://openalex.org/C2781311116","wikidata":"https://www.wikidata.org/wiki/Q83306","display_name":"Group (periodic table)","level":2,"score":0.3010999858379364},{"id":"https://openalex.org/C108713360","wikidata":"https://www.wikidata.org/wiki/Q1824206","display_name":"Supply chain","level":2,"score":0.2851000130176544},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.25929999351501465},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2533000111579895},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.25200000405311584}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros45743.2020.9341376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341376","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"},{"id":"pmh:oai:arXiv.org:2008.00679","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.00679","pdf_url":"https://arxiv.org/pdf/2008.00679","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2008.00679","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.00679","pdf_url":"https://arxiv.org/pdf/2008.00679","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1502765764","https://openalex.org/W1542941925","https://openalex.org/W1602614133","https://openalex.org/W1641379095","https://openalex.org/W1977655452","https://openalex.org/W2103171634","https://openalex.org/W2114245943","https://openalex.org/W2137767427","https://openalex.org/W2142924305","https://openalex.org/W2145339207","https://openalex.org/W2166952533","https://openalex.org/W2345280790","https://openalex.org/W2529658650","https://openalex.org/W2534986651","https://openalex.org/W2581799494","https://openalex.org/W2765218414","https://openalex.org/W2908261578","https://openalex.org/W2910320401","https://openalex.org/W2963428623","https://openalex.org/W2967991056","https://openalex.org/W2979814933","https://openalex.org/W2981038142","https://openalex.org/W2991030979","https://openalex.org/W6606208309","https://openalex.org/W6606434334","https://openalex.org/W6678168664","https://openalex.org/W6755920568","https://openalex.org/W6758507868","https://openalex.org/W6772108462","https://openalex.org/W6775020266"],"related_works":[],"abstract_inverted_index":{"Multi-robot":[0],"cooperation":[1],"requires":[2],"agents":[3],"to":[4,63],"make":[5],"decisions":[6],"that":[7,18,102],"are":[8,75],"consistent":[9],"with":[10,69,78],"the":[11,45,65,79,92],"shared":[12],"goal":[13],"without":[14],"disregarding":[15],"action-specific":[16],"preferences":[17],"might":[19],"arise":[20],"from":[21],"asymmetry":[22],"in":[23,40],"capabilities":[24],"and":[25,58,100],"individual":[26],"objectives.":[27],"To":[28],"accomplish":[29],"this":[30],"goal,":[31],"we":[32,90],"propose":[33],"a":[34,48,84],"method":[35],"named":[36],"SLiCC:":[37],"Stackelberg":[38,55,81],"Learning":[39],"Cooperative":[41],"Control.":[42],"SLiCC":[43,95,103],"models":[44],"problem":[46],"as":[47],"partially":[49],"observable":[50],"stochastic":[51],"game":[52],"composed":[53],"of":[54,94],"bimatrix":[56],"games,":[57],"uses":[59],"deep":[60],"reinforcement":[61],"learning":[62],"obtain":[64],"payoff":[66],"matrices":[67],"associated":[68],"these":[70],"games.":[71],"Appropriate":[72],"cooperative":[73,86],"actions":[74],"then":[76],"selected":[77],"derived":[80],"equilibria.":[82],"Using":[83],"bi-robot":[85],"object":[87],"transportation":[88],"problem,":[89],"validate":[91],"performance":[93],"against":[96],"centralized":[97],"multi-agent":[98],"Q-learning":[99],"demonstrate":[101],"achieves":[104],"better":[105],"combined":[106],"utility.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2020-08-07T00:00:00"}