{"id":"https://openalex.org/W4389665370","doi":"https://doi.org/10.1109/iros55552.2023.10342416","title":"Reinforced Potential Field for Multi-Robot Motion Planning in Cluttered Environments","display_name":"Reinforced Potential Field for Multi-Robot Motion Planning in Cluttered Environments","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665370","doi":"https://doi.org/10.1109/iros55552.2023.10342416"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5103086495","display_name":"Dengyu Zhang","orcid":"https://orcid.org/0009-0004-7412-576X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dengyu Zhang","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yatsen University,Shenzhen,P.R. China,518107"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yatsen University,Shenzhen,P.R. China,518107","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100390697","display_name":"Xinyu Zhang","orcid":"https://orcid.org/0000-0002-4986-4649"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Zhang","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yatsen University,Shenzhen,P.R. China,518107"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yatsen University,Shenzhen,P.R. China,518107","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100360209","display_name":"Zheng Zhang","orcid":"https://orcid.org/0000-0001-6674-6495"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Zhang","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yatsen University,Shenzhen,P.R. China,518107"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yatsen University,Shenzhen,P.R. China,518107","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101911706","display_name":"Bo Zhu","orcid":"https://orcid.org/0000-0003-1189-644X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Zhu","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yatsen University,Shenzhen,P.R. China,518107"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yatsen University,Shenzhen,P.R. China,518107","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064825247","display_name":"Qingrui Zhang","orcid":"https://orcid.org/0000-0002-1733-159X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingrui Zhang","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yatsen University,Shenzhen,P.R. China,518107"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yatsen University,Shenzhen,P.R. China,518107","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5103086495"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":0.6186,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.70911682,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"699","last_page":"704"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9995999932289124,"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":0.9994999766349792,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8057106733322144},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7556288838386536},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6487230062484741},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.6272872090339661},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.5609338879585266},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5519256591796875},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5191737413406372},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5041569471359253},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4567905068397522},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44952502846717834},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4427946209907532},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.43216004967689514},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36168572306632996},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3572070300579071},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3513106405735016},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22273102402687073},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1254015862941742},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10965016484260559}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8057106733322144},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7556288838386536},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6487230062484741},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.6272872090339661},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.5609338879585266},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5519256591796875},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5191737413406372},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5041569471359253},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4567905068397522},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44952502846717834},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4427946209907532},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.43216004967689514},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36168572306632996},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3572070300579071},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3513106405735016},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22273102402687073},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1254015862941742},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10965016484260559},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"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/iros55552.2023.10342416","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342416","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7099999785423279}],"awards":[{"id":"https://openalex.org/G3158903734","display_name":null,"funder_award_id":"2021ZYA02017","funder_id":"https://openalex.org/F4320321106","funder_display_name":"Ministry of Education of the People's Republic of China"},{"id":"https://openalex.org/G699479682","display_name":null,"funder_award_id":"62103451","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7570304953","display_name":null,"funder_award_id":"JCYJ20220530145209021","funder_id":"https://openalex.org/F4320336569","funder_display_name":"Shenzhen Science and Technology Innovation Program"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321106","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934"},{"id":"https://openalex.org/F4320336569","display_name":"Shenzhen Science and Technology Innovation Program","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1608481154","https://openalex.org/W1650780448","https://openalex.org/W1976517551","https://openalex.org/W2025984802","https://openalex.org/W2129853306","https://openalex.org/W2227909145","https://openalex.org/W2604216058","https://openalex.org/W2736601468","https://openalex.org/W2748490912","https://openalex.org/W2772821814","https://openalex.org/W2790268363","https://openalex.org/W2803245620","https://openalex.org/W2883532348","https://openalex.org/W2890001928","https://openalex.org/W2891392570","https://openalex.org/W2909324603","https://openalex.org/W2962946377","https://openalex.org/W2967052728","https://openalex.org/W3000498189","https://openalex.org/W3008967682","https://openalex.org/W3031798691","https://openalex.org/W3100710916","https://openalex.org/W3109702511","https://openalex.org/W3118665117","https://openalex.org/W3209101326","https://openalex.org/W4221155562","https://openalex.org/W4308080054"],"related_works":["https://openalex.org/W4388726836","https://openalex.org/W1965569281","https://openalex.org/W4324119413","https://openalex.org/W2062919732","https://openalex.org/W4319978806","https://openalex.org/W2546046681","https://openalex.org/W2893406334","https://openalex.org/W4282942842","https://openalex.org/W2893030767","https://openalex.org/W2897089229"],"abstract_inverted_index":{"Motion":[0],"planning":[1],"is":[2,34,42,60,73],"challenging":[3],"for":[4,36],"multiple":[5],"robots":[6,96],"in":[7,13,97],"cluttered":[8],"environments":[9],"without":[10],"communication,":[11],"especially":[12],"view":[14],"of":[15,46,95,134],"real-time":[16],"efficiency,":[17],"motion":[18,39],"safety,":[19],"distributed":[20,37],"computation,":[21],"and":[22,49,66,114],"trajectory":[23,78],"optimality,":[24],"etc.":[25],"In":[26],"this":[27],"paper,":[28],"a":[29,43,57,111],"reinforced":[30],"potential":[31,51],"field":[32],"method":[33,81,99,116],"developed":[35,74],"multi-robot":[38],"planning,":[40,85],"which":[41],"synthesized":[44],"design":[45],"reinforcement":[47],"learning":[48],"artificial":[50],"fields.":[52],"An":[53],"observation":[54],"embedding":[55],"with":[56],"self-attention":[58],"mechanism":[59],"presented":[61],"to":[62,75,83,104,129],"model":[63],"the":[64,77,132],"robot-robot":[65],"robot-environment":[67],"interactions.":[68],"A":[69],"soft":[70],"wall-following":[71],"rule":[72],"improve":[76],"smoothness.":[79],"Our":[80],"belongs":[82],"reactive":[84],"but":[86],"environment":[87],"properties":[88],"are":[89,124],"implicitly":[90],"encoded.":[91],"The":[92,107],"total":[93],"amount":[94],"our":[98,135],"can":[100],"be":[101],"scaled":[102],"up":[103],"any":[105],"number.":[106],"performance":[108],"improvement":[109],"over":[110],"vanilla":[112],"APF":[113],"RL":[115],"has":[117],"been":[118],"demonstrated":[119],"via":[120],"numerical":[121],"simulations.":[122],"Experiments":[123],"also":[125],"performed":[126],"using":[127],"quadrotors":[128],"further":[130],"illustrate":[131],"competence":[133],"method.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-04T09:10:02.777135","created_date":"2025-10-10T00:00:00"}