{"id":"https://openalex.org/W3183216185","doi":"https://doi.org/10.1109/lra.2021.3098332","title":"Toward Observation Based Least Restrictive Collision Avoidance Using Deep Meta Reinforcement Learning","display_name":"Toward Observation Based Least Restrictive Collision Avoidance Using Deep Meta Reinforcement Learning","publication_year":2021,"publication_date":"2021-07-21","ids":{"openalex":"https://openalex.org/W3183216185","doi":"https://doi.org/10.1109/lra.2021.3098332","mag":"3183216185"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3098332","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3098332","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5031701210","display_name":"Salar Asayesh","orcid":"https://orcid.org/0000-0002-7986-5925"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Salar Asayesh","raw_affiliation_strings":["Faculty of Applied Science, Simon Fraser University, Burnaby, BC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-7986-5925","affiliations":[{"raw_affiliation_string":"Faculty of Applied Science, Simon Fraser University, Burnaby, BC, Canada","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100387244","display_name":"Mo Chen","orcid":"https://orcid.org/0000-0001-8506-3665"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mo Chen","raw_affiliation_strings":["Faculty of Applied Science, Simon Fraser University, Burnaby, BC, Canada"],"raw_orcid":"https://orcid.org/0000-0001-8506-3665","affiliations":[{"raw_affiliation_string":"Faculty of Applied Science, Simon Fraser University, Burnaby, BC, Canada","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026447228","display_name":"Mehran Mehrandezh","orcid":"https://orcid.org/0000-0003-0941-7139"},"institutions":[{"id":"https://openalex.org/I194028371","display_name":"University of Regina","ror":"https://ror.org/03dzc0485","country_code":"CA","type":"education","lineage":["https://openalex.org/I194028371"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mehran Mehrandezh","raw_affiliation_strings":["Faculty of Engineering and Applied Science, University of Regina, Regina, SK, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Applied Science, University of Regina, Regina, SK, Canada","institution_ids":["https://openalex.org/I194028371"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067371024","display_name":"Kamal Gupta","orcid":"https://orcid.org/0000-0002-4154-0615"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kamal Gupta","raw_affiliation_strings":["Faculty of Applied Science, Simon Fraser University, Burnaby, BC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-4154-0615","affiliations":[{"raw_affiliation_string":"Faculty of Applied Science, Simon Fraser University, Burnaby, BC, Canada","institution_ids":["https://openalex.org/I18014758"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4519,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.59535135,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"6","issue":"4","first_page":"7445","last_page":"7452"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9983999729156494,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9900000095367432,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8204617500305176},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7352848052978516},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6519335508346558},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5434269905090332},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5382241010665894},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5270871520042419},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.48638108372688293},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4416523277759552},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3439978361129761},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15332567691802979},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.15000012516975403}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8204617500305176},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7352848052978516},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6519335508346558},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5434269905090332},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5382241010665894},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5270871520042419},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.48638108372688293},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4416523277759552},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3439978361129761},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15332567691802979},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.15000012516975403},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3098332","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3098332","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1191599655","https://openalex.org/W1972022192","https://openalex.org/W1975236902","https://openalex.org/W1976517551","https://openalex.org/W2002440441","https://openalex.org/W2067461601","https://openalex.org/W2116364955","https://openalex.org/W2145339207","https://openalex.org/W2156553949","https://openalex.org/W2164775983","https://openalex.org/W2167340365","https://openalex.org/W2291985334","https://openalex.org/W2336416123","https://openalex.org/W2460696325","https://openalex.org/W2573311857","https://openalex.org/W2604763608","https://openalex.org/W2736601468","https://openalex.org/W2807455070","https://openalex.org/W2901136733","https://openalex.org/W2904063631","https://openalex.org/W2962888568","https://openalex.org/W2963809389","https://openalex.org/W2964319688","https://openalex.org/W2970377754","https://openalex.org/W3031798691","https://openalex.org/W3118505854","https://openalex.org/W3143034939","https://openalex.org/W3172545192","https://openalex.org/W4212781311","https://openalex.org/W4323274240","https://openalex.org/W6627932998","https://openalex.org/W6703161083","https://openalex.org/W6736057607","https://openalex.org/W6741002519","https://openalex.org/W6756486208","https://openalex.org/W6765008394","https://openalex.org/W6787722618","https://openalex.org/W6796641086"],"related_works":["https://openalex.org/W2136512912","https://openalex.org/W2127267268","https://openalex.org/W2156446763","https://openalex.org/W2067910792","https://openalex.org/W2150194458","https://openalex.org/W2075718555","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3042530408"],"abstract_inverted_index":{"This":[0,139],"letter":[1],"presents":[2],"the":[3,30,45,56,77,90,116,136,141,144,151,176,183,200,203],"Observation-based":[4],"Least-Restrictive":[5],"Collision":[6],"Avoidance":[7],"Module":[8],"(OLR-CAM)":[9],"that":[10,182],"can":[11],"be":[12],"added":[13],"to":[14,29,67,88,202],"any":[15,132,171],"autonomous":[16],"robot":[17],"working":[18],"in":[19,62,97,146,161,175],"a":[20,25,63,69,81,93,104,110,121,147,166,188],"shared":[21],"environment":[22,149],"and":[23,50,53,120,163,198],"provide":[24],"high-level":[26],"safety":[27,47,96,111],"layer":[28],"existing":[31],"policy":[32,58,79,91],"for":[33],"each":[34],"robot.":[35],"The":[36,125,155],"OLR-CAM":[37,78,184],"takes":[38],"raw":[39],"sensory":[40],"observations":[41],"as":[42],"input,":[43],"evaluates":[44],"agents'":[46],"against":[48],"dynamic":[49],"static":[51],"obstacles,":[52,101],"only":[54],"intervenes":[55],"default":[57],"when":[59],"needed":[60],"-":[61,66],"least-restrictive":[64],"fashion":[65],"avoid":[68],"potential":[70],"collision.":[71],"In":[72],"our":[73],"approach,":[74],"we":[75,102],"meta-train":[76],"within":[80],"\u201c2D":[82],"Navigation":[83],"Meta":[84],"World":[85],"System\u201d.":[86],"Furthermore,":[87],"endow":[89],"with":[92,100],"notion":[94],"of":[95,143],"multi-agent":[98,168],"environments":[99],"propose":[103],"novel":[105],"reward":[106,127],"function":[107,113,128],"based":[108],"on":[109,165,196],"value":[112],"derived":[114],"from":[115],"Hamilton-Jacobi":[117],"reachability":[118],"theory":[119],"local":[122],"cost":[123],"map.":[124,138],"proposed":[126,156],"does":[129],"not":[130],"need":[131],"additional":[133,172],"information":[134],"about":[135],"environment's":[137],"facilitates":[140],"adoption":[142],"algorithm":[145,157],"new":[148],"at":[150],"meta":[152],"test":[153],"stage.":[154],"is":[158],"fully":[159],"meta-trained":[160],"simulation":[162],"tested":[164],"real":[167,177],"system":[169],"without":[170],"training":[173],"conducted":[174],"setting.":[178],"Our":[179],"results":[180],"show":[181],"success":[185],"rate":[186],"outperforms":[187],"well-known":[189],"classical":[190],"baseline":[191],"approach":[192],"by":[193,206],"10":[194],"percent":[195],"average":[197],"reduces":[199],"interruptions/changes":[201],"preferred":[204],"velocity":[205],"15":[207],"percent.":[208]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}