{"id":"https://openalex.org/W4405786596","doi":"https://doi.org/10.1109/iros58592.2024.10802193","title":"A Non-Homogeneity Mapless Navigation Based on Hierarchical Safe Reinforcement Learning in Dynamic Complex Environments","display_name":"A Non-Homogeneity Mapless Navigation Based on Hierarchical Safe Reinforcement Learning in Dynamic Complex Environments","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786596","doi":"https://doi.org/10.1109/iros58592.2024.10802193"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802193","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802193","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":"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/A5101215655","display_name":"Jianmin Qin","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianmin Qin","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,China,230027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,China,230027","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054350814","display_name":"Qingchen Liu","orcid":"https://orcid.org/0000-0002-5892-3591"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingchen Liu","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,China,230027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,China,230027","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101997909","display_name":"Qichao Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qichao Ma","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,China,230027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,China,230027","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025805581","display_name":"Zipeng Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zipeng Wu","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,China,230027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,China,230027","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053071794","display_name":"Jiahu Qin","orcid":"https://orcid.org/0000-0001-7580-0836"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahu Qin","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,China,230027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,China,230027","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2187,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.54614879,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"10237","last_page":"10244"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"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":0.9983999729156494,"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9757000207901001,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9732000231742859,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8031021952629089},{"id":"https://openalex.org/keywords/homogeneity","display_name":"Homogeneity (statistics)","score":0.7363927960395813},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6787762641906738},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.42702147364616394},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3710436224937439},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.23235440254211426},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18099018931388855}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8031021952629089},{"id":"https://openalex.org/C142259097","wikidata":"https://www.wikidata.org/wiki/Q5891314","display_name":"Homogeneity (statistics)","level":2,"score":0.7363927960395813},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6787762641906738},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.42702147364616394},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3710436224937439},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.23235440254211426},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18099018931388855},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802193","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802193","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326935","display_name":"State Key Laboratory of Fire Science","ror":null},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W178419168","https://openalex.org/W192919555","https://openalex.org/W1971086298","https://openalex.org/W2524241275","https://openalex.org/W2530088678","https://openalex.org/W2963809389","https://openalex.org/W2964227312","https://openalex.org/W2999588391","https://openalex.org/W3031798691","https://openalex.org/W3168892396","https://openalex.org/W4286375451","https://openalex.org/W4295046628","https://openalex.org/W4308044468","https://openalex.org/W4312219157","https://openalex.org/W4362014203","https://openalex.org/W4383112908","https://openalex.org/W4386634158","https://openalex.org/W4388543834","https://openalex.org/W6734215269","https://openalex.org/W6747473740","https://openalex.org/W6759871227","https://openalex.org/W6767765287","https://openalex.org/W6849896277"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W1999392235","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255"],"abstract_inverted_index":{"Addressing":[0],"safe":[1,42],"and":[2,8],"efficient":[3],"navigation":[4,45,54,101,159,179,190],"in":[5,60],"dynamic,":[6],"realistic,":[7],"complex":[9,58,100],"environments":[10],"stands":[11],"as":[12],"a":[13,40,61,65,111,139],"pivotal":[14],"inquiry":[15],"within":[16],"the":[17,28,95,105,150,195],"realm":[18],"of":[19,30,67,86,97,108],"robotics.":[20],"Recently,":[21],"numerous":[22],"learning-based":[23],"methods":[24,180],"are":[25,89,199],"introduced":[26],"into":[27],"field":[29],"navigation,":[31],"yielding":[32],"notable":[33],"outcomes.":[34],"In":[35],"this":[36,87],"letter,":[37],"we":[38],"propose":[39],"hierarchical":[41,62,112,177],"reinforcement":[43,72],"learning":[44,73,78,119,132],"approach":[46,141],"(HSRLN)":[47],"for":[48,56,99,158],"mapless":[49,53],"navigation.":[50],"It":[51,92,137],"trains":[52],"policies":[55],"non-homogeneous":[57],"scenarios":[59],"manner":[63],"through":[64,110],"kind":[66],"three-stage":[68],"learning,":[69],"global":[70],"planning":[71],"(RL)":[74],"+":[75,80],"expert":[76,134],"imitation":[77,118],"(IL)":[79],"transfer":[81],"RL":[82,109,178],"(TRL).":[83],"The":[84],"innovations":[85],"work":[88],"fourfold:":[90],"a)":[91],"effectively":[93,103],"reduces":[94],"difficulty":[96],"training":[98],"by":[102,148,192],"narrowing":[104],"task":[106],"horizon":[107],"framework.":[113],"b)":[114],"We":[115],"designed":[116],"an":[117],"method":[120],"based":[121],"on":[122,131],"Relative":[123,185],"Driving":[124],"Safety":[125],"Index":[126],"(RDSI)":[127],"[1]":[128],"to":[129,142,186],"focus":[130],"critical":[133],"actions.":[135],"c)":[136],"employs":[138],"TRL":[140],"improve":[143],"generalization":[144],"under":[145,194],"non-homogeneity":[146,196],"assumptions":[147],"fine-tuning":[149],"policy.":[151],"d)":[152],"HSRLN":[153],"extracts":[154],"significant":[155],"features":[156],"important":[157],"decisions":[160],"from":[161],"raw":[162],"observations":[163],"via":[164],"velocity":[165],"obstacle":[166],"modeling.":[167],"Experiments":[168],"indicate":[169],"that":[170],"it":[171,188],"has":[172],"performs":[173],"better":[174],"than":[175],"existing":[176],"(HDRL":[181],"[2],":[182],"SRL-ORCA":[183],"[3]).":[184],"SRL-ORCA,":[187],"improves":[189],"success":[191],"12.1%":[193],"assumption.":[197],"Videos":[198],"available":[200],"at":[201],"https://youtu.be/24h9JmcIfMw.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}