{"id":"https://openalex.org/W4313496308","doi":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995823","title":"A DRL Approach for Object Transportation in Complex Environments","display_name":"A DRL Approach for Object Transportation in Complex Environments","publication_year":2022,"publication_date":"2022-10-18","ids":{"openalex":"https://openalex.org/W4313496308","doi":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995823"},"language":"en","primary_location":{"id":"doi:10.1109/lars/sbr/wre56824.2022.9995823","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lars/sbr/wre56824.2022.9995823","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE)","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/A5008616656","display_name":"Alysson Ribeiro da Silva","orcid":null},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Alysson Ribeiro da Silva","raw_affiliation_strings":["Universidade Federal de Minas Gerais,Computer Science Graduate Program,Belo Horizonte,Brazil","Computer Science Graduate Program, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade Federal de Minas Gerais,Computer Science Graduate Program,Belo Horizonte,Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Computer Science Graduate Program, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016049450","display_name":"Paulo Rezeck","orcid":"https://orcid.org/0000-0002-3448-5486"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Paulo Alfredo Frota Rezeck","raw_affiliation_strings":["Universidade Federal de Minas Gerais,Computer Science Graduate Program,Belo Horizonte,Brazil","Computer Science Graduate Program, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade Federal de Minas Gerais,Computer Science Graduate Program,Belo Horizonte,Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Computer Science Graduate Program, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003042440","display_name":"Gabriel S. Luz","orcid":null},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Gabriel Santos Luz","raw_affiliation_strings":["Universidade Federal de Minas Gerais,Computer Science Graduate Program,Belo Horizonte,Brazil","Computer Science Graduate Program, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade Federal de Minas Gerais,Computer Science Graduate Program,Belo Horizonte,Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Computer Science Graduate Program, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019256822","display_name":"Tiago Rezende Alves","orcid":null},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Tiago Rezende Alves","raw_affiliation_strings":["Universidade Federal de Minas Gerais,Computer Science Graduate Program,Belo Horizonte,Brazil","Computer Science Graduate Program, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade Federal de Minas Gerais,Computer Science Graduate Program,Belo Horizonte,Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Computer Science Graduate Program, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074933369","display_name":"Douglas G. Macharet","orcid":"https://orcid.org/0000-0002-1781-7186"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Douglas G. Macharet","raw_affiliation_strings":["Universidade Federal de Minas Gerais,Computer Science Graduate Program,Belo Horizonte,Brazil","Computer Science Graduate Program, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade Federal de Minas Gerais,Computer Science Graduate Program,Belo Horizonte,Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Computer Science Graduate Program, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073879771","display_name":"Luiz Chaimowicz","orcid":"https://orcid.org/0000-0001-8156-9941"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Luiz Chaimowicz","raw_affiliation_strings":["Universidade Federal de Minas Gerais,Computer Science Graduate Program,Belo Horizonte,Brazil","Computer Science Graduate Program, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade Federal de Minas Gerais,Computer Science Graduate Program,Belo Horizonte,Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Computer Science Graduate Program, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil","institution_ids":["https://openalex.org/I110200422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I110200422"],"apc_list":null,"apc_paid":null,"fwci":0.7727,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73185404,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"14","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9987999796867371,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9889000058174133,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8046581745147705},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6908956170082092},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6442950367927551},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5937896370887756},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5931674838066101},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5918764472007751},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5819224715232849},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.43494078516960144},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40496742725372314},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.2560139298439026},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19935151934623718}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8046581745147705},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6908956170082092},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6442950367927551},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5937896370887756},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5931674838066101},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5918764472007751},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5819224715232849},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.43494078516960144},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40496742725372314},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.2560139298439026},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19935151934623718},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lars/sbr/wre56824.2022.9995823","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/lars/sbr/wre56824.2022.9995823","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 Latin American Robotics Symposium (LARS), 2022 Brazilian Symposium on Robotics (SBR), and 2022 Workshop on Robotics in Education (WRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W32403112","https://openalex.org/W1482949338","https://openalex.org/W1981667747","https://openalex.org/W1987864653","https://openalex.org/W2013090077","https://openalex.org/W2046178935","https://openalex.org/W2145339207","https://openalex.org/W2155540178","https://openalex.org/W2159465607","https://openalex.org/W2415175524","https://openalex.org/W2736601468","https://openalex.org/W2751276040","https://openalex.org/W2775084240","https://openalex.org/W2805031923","https://openalex.org/W2890495115","https://openalex.org/W2977730262","https://openalex.org/W2989970498","https://openalex.org/W3008967682","https://openalex.org/W3026684968","https://openalex.org/W3088310808","https://openalex.org/W3115959388","https://openalex.org/W3120778962","https://openalex.org/W3146487107","https://openalex.org/W3197203826","https://openalex.org/W3203417057","https://openalex.org/W4298857966","https://openalex.org/W4300799055","https://openalex.org/W6637967152","https://openalex.org/W6692846177"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W2031695474","https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W2732813147","https://openalex.org/W2143460112","https://openalex.org/W2042906257"],"abstract_inverted_index":{"Robots":[0],"capable":[1],"of":[2,42,76],"transporting":[3],"objects":[4],"are":[5],"suitable":[6],"for":[7,90],"many":[8],"applications":[9],"with":[10,84],"societal":[11],"and":[12,20,46,66,104,119],"economic":[13],"impact,":[14],"such":[15],"as":[16],"waste":[17],"retrieval,":[18],"disposal,":[19],"object":[21,91],"manipulation":[22],"in":[23,55,60,100],"space":[24,45],"or":[25],"the":[26,40,43,47,52,74,120],"deep":[27],"sea.":[28],"However,":[29],"formulating":[30],"a":[31,85,101,107],"coherent":[32],"action":[33],"plan":[34],"is":[35],"not":[36],"trivial":[37],"due":[38],"to":[39,72,124],"size":[41],"search":[44],"object's":[48],"physical":[49],"properties.":[50],"With":[51],"recent":[53],"advances":[54],"Deep":[56,69],"Reinforcement":[57,70],"Learning":[58],"(DRL),":[59],"this":[61],"work,":[62],"we":[63],"propose,":[64],"implement,":[65],"deploy":[67],"value-based":[68],"Methods":[71],"tackle":[73],"determination":[75],"high-level":[77],"actions":[78],"that":[79,113],"form":[80],"robust":[81],"strategies":[82,117],"combined":[83],"Probabilistic":[86],"Roadmap":[87],"(PRM)":[88],"method":[89],"transportation":[92],"through":[93],"complex":[94],"environments.":[95],"The":[96],"solution":[97],"was":[98,122],"evaluated":[99],"simulation":[102],"environment":[103],"deployed":[105],"into":[106],"real":[108],"robot.":[109],"Our":[110],"results":[111],"show":[112],"DRL":[114],"can":[115],"learn":[116],"effectively,":[118],"robot":[121],"able":[123],"accomplish":[125],"its":[126],"task.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
