{"id":"https://openalex.org/W4405785955","doi":"https://doi.org/10.1109/iros58592.2024.10801657","title":"RaceMOP: Mapless Online Path Planning for Multi-Agent Autonomous Racing using Residual Policy Learning","display_name":"RaceMOP: Mapless Online Path Planning for Multi-Agent Autonomous Racing using Residual Policy Learning","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785955","doi":"https://doi.org/10.1109/iros58592.2024.10801657"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801657","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801657","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5049788861","display_name":"Raphael Trumpp","orcid":"https://orcid.org/0000-0003-3902-7916"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Raphael Trumpp","raw_affiliation_strings":["Technical University of Munich,TUM School of Engineering and Design,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,TUM School of Engineering and Design,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080705403","display_name":"Ehsan Javanmardi","orcid":"https://orcid.org/0000-0003-0337-115X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ehsan Javanmardi","raw_affiliation_strings":["The University of Tokyo,Graduate School of Information Science and Technology,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Graduate School of Information Science and Technology,Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091566433","display_name":"Jin Nakazato","orcid":"https://orcid.org/0000-0002-2394-267X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jin Nakazato","raw_affiliation_strings":["The University of Tokyo,Graduate School of Information Science and Technology,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Graduate School of Information Science and Technology,Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067716610","display_name":"Manabu Tsukada","orcid":"https://orcid.org/0000-0001-8045-3939"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Manabu Tsukada","raw_affiliation_strings":["The University of Tokyo,Graduate School of Information Science and Technology,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Graduate School of Information Science and Technology,Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060442004","display_name":"Marco Caccamo","orcid":"https://orcid.org/0000-0003-2328-044X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marco Caccamo","raw_affiliation_strings":["Technical University of Munich,TUM School of Engineering and Design,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical University of Munich,TUM School of Engineering and Design,Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8449","last_page":"8456"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.977400004863739,"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":0.977400004863739,"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":0.9108999967575073,"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/computer-science","display_name":"Computer science","score":0.699114203453064},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.6463651657104492},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5540213584899902},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5469815731048584},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4058612585067749},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1826116442680359},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14546695351600647},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07688206434249878}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.699114203453064},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.6463651657104492},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5540213584899902},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5469815731048584},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4058612585067749},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1826116442680359},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14546695351600647},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07688206434249878}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801657","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801657","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1554604621","https://openalex.org/W1777783943","https://openalex.org/W2041448245","https://openalex.org/W2041911815","https://openalex.org/W2082142320","https://openalex.org/W2096892251","https://openalex.org/W2153809277","https://openalex.org/W2154844948","https://openalex.org/W2177274602","https://openalex.org/W2989707382","https://openalex.org/W3068678661","https://openalex.org/W3116616624","https://openalex.org/W3122693939","https://openalex.org/W3204990527","https://openalex.org/W4210367049","https://openalex.org/W4225642194","https://openalex.org/W4226430621","https://openalex.org/W4235740860","https://openalex.org/W4285228542","https://openalex.org/W4286374783","https://openalex.org/W4308068350","https://openalex.org/W4308217460","https://openalex.org/W4366748330","https://openalex.org/W4385322538","https://openalex.org/W4386285856","https://openalex.org/W4387678082","https://openalex.org/W4391770389","https://openalex.org/W4392745449","https://openalex.org/W6637967152","https://openalex.org/W6741002519","https://openalex.org/W6756848961","https://openalex.org/W6790375019","https://openalex.org/W6848225649","https://openalex.org/W6856312260","https://openalex.org/W7047190309"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"The":[0],"interactive":[1],"decision-making":[2,136],"in":[3,120,163],"multi-agent":[4,55],"autonomous":[5],"racing":[6,56,67],"offers":[7],"insights":[8],"valuable":[9],"beyond":[10],"the":[11,35,105,116],"domain":[12],"of":[13,22,57,134],"self-driving":[14],"cars.":[15,59],"Mapless":[16],"online":[17,50],"path":[18,51],"planning":[19,37,52],"is":[20,132,167],"particularly":[21],"practical":[23],"appeal":[24],"but":[25],"poses":[26],"a":[27,45,72,92,109],"challenge":[28],"for":[29,48,54,112,160],"safely":[30],"overtaking":[31,81,142],"opponents":[32],"due":[33],"to":[34,78,99,154],"limited":[36],"horizon.":[38],"To":[39],"address":[40],"this,":[41],"we":[42],"introduce":[43],"RaceMOP,":[44],"novel":[46,110],"method":[47,90],"mapless":[49,150],"designed":[53],"F1TENTH":[58],"Unlike":[60],"classical":[61],"planners":[62,151],"that":[63,130],"rely":[64],"on":[65,125],"predefined":[66],"lines,":[68],"RaceMOP":[69,131,144],"operates":[70],"without":[71],"map,":[73],"utilizing":[74],"only":[75],"local":[76],"observations":[77],"execute":[79],"high-speed":[80],"maneuvers.":[82,143],"Our":[83,165],"approach":[84,111],"combines":[85],"an":[86],"artificial":[87],"potential":[88,159],"field":[89,106],"as":[91],"base":[93],"policy":[94,97,113,118],"with":[95,115,137],"residual":[96,117],"learning":[98],"enable":[100],"long-horizon":[101,135],"planning.":[102],"We":[103],"advance":[104],"by":[107],"introducing":[108],"fusion":[114],"directly":[119],"probability":[121],"space.":[122],"Extensive":[123],"experiments":[124],"twelve":[126],"simulated":[127],"racetracks":[128],"validate":[129],"capable":[133],"robust":[138],"collision":[139],"avoidance":[140],"during":[141],"demonstrates":[145],"superior":[146],"handling":[147],"over":[148],"existing":[149],"and":[152],"generalizes":[153],"unknown":[155],"racetracks,":[156],"affirming":[157],"its":[158],"broader":[161],"applications":[162],"robotics.":[164],"code":[166],"available":[168],"at":[169],"http://github.com/raphajaner/racemop.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
