{"id":"https://openalex.org/W4210356871","doi":"https://doi.org/10.1109/lra.2022.3146912","title":"H2GNN: Hierarchical-Hops Graph Neural Networks for Multi-Robot Exploration in Unknown Environments","display_name":"H2GNN: Hierarchical-Hops Graph Neural Networks for Multi-Robot Exploration in Unknown Environments","publication_year":2022,"publication_date":"2022-01-31","ids":{"openalex":"https://openalex.org/W4210356871","doi":"https://doi.org/10.1109/lra.2022.3146912"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3146912","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3146912","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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/A5100779651","display_name":"Hao Zhang","orcid":"https://orcid.org/0000-0003-1393-3670"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hao Zhang","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015250843","display_name":"Jiyu Cheng","orcid":"https://orcid.org/0000-0002-8063-2547"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiyu Cheng","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003408565","display_name":"Lin Zhang","orcid":"https://orcid.org/0000-0002-4327-8964"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Zhang","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100724411","display_name":"Yibin Li","orcid":"https://orcid.org/0000-0002-5906-5074"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Li","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100756634","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-4960-3190"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100779651"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":null,"apc_paid":null,"fwci":6.3846,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.96964752,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"3435","last_page":"3442"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9990000128746033,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9977999925613403,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7813941836357117},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7403181195259094},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5952120423316956},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5654615759849548},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5243064165115356},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5071110725402832},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.476787805557251},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.445709764957428},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4139478802680969},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.337302029132843},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.20941394567489624},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06646454334259033}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7813941836357117},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7403181195259094},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5952120423316956},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5654615759849548},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5243064165115356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5071110725402832},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.476787805557251},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.445709764957428},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4139478802680969},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.337302029132843},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.20941394567489624},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06646454334259033}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3146912","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3146912","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":[{"display_name":"Reduced inequalities","score":0.550000011920929,"id":"https://metadata.un.org/sdg/10"},{"display_name":"Peace, Justice and strong institutions","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G1031521155","display_name":null,"funder_award_id":"U1913204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5314049722","display_name":null,"funder_award_id":"ZR2020JQ29","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G5593383844","display_name":null,"funder_award_id":"61991411","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6596008383","display_name":null,"funder_award_id":"62103236","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1580721220","https://openalex.org/W1966213627","https://openalex.org/W2082219174","https://openalex.org/W2116341502","https://openalex.org/W2121272499","https://openalex.org/W2166533447","https://openalex.org/W2168966637","https://openalex.org/W2470673105","https://openalex.org/W2495871221","https://openalex.org/W2768629321","https://openalex.org/W2805516822","https://openalex.org/W2903253065","https://openalex.org/W2981615600","https://openalex.org/W2994707981","https://openalex.org/W2998496395","https://openalex.org/W3028801376","https://openalex.org/W3035869396","https://openalex.org/W3047315308","https://openalex.org/W3109907338","https://openalex.org/W3130513806","https://openalex.org/W3130631955","https://openalex.org/W3132069826","https://openalex.org/W3133136962","https://openalex.org/W3133988851","https://openalex.org/W3134226813","https://openalex.org/W3134938521","https://openalex.org/W3135642434","https://openalex.org/W3166401044","https://openalex.org/W3205996514","https://openalex.org/W3207906202","https://openalex.org/W4213266403","https://openalex.org/W4295598622","https://openalex.org/W4299802797","https://openalex.org/W4385245566","https://openalex.org/W6738796088","https://openalex.org/W6739901393","https://openalex.org/W6749304979","https://openalex.org/W6751796012","https://openalex.org/W6760725535","https://openalex.org/W6780559895","https://openalex.org/W6781642121","https://openalex.org/W6791533262","https://openalex.org/W6809315833"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W3049728571"],"abstract_inverted_index":{"Multi-robot":[0],"coarse-to-fine":[1],"exploration":[2,126],"in":[3,9,80,110,128],"unknown":[4,129],"environments":[5],"makes":[6],"great":[7],"sense":[8],"many":[10],"application":[11],"fields":[12],"like":[13],"search":[14],"and":[15,114],"rescue.":[16],"For":[17],"different":[18,69],"stages":[19],"of":[20,58,66,86],"the":[21,29,43,55,59,64,75,84,115,120,124],"task,":[22],"robots":[23,51,72,96],"need":[24],"to":[25,49,52,82,94,97,105],"extract":[26],"information":[27,57,67],"from":[28,68],"environment":[30],"discriminately,":[31],"which":[32,62],"can":[33],"improve":[34,83],"their":[35],"decision-making":[36],"capability.":[37],"To":[38],"this":[39],"end,":[40],"we":[41,88],"present":[42],"Hierarchical-Hops":[44],"Graph":[45],"Neural":[46],"Networks":[47],"(H2GNN)":[48],"enable":[50],"targetedly":[53],"integrate":[54],"key":[56],"graph-represented":[60],"environment,":[61,113],"distinguishes":[63],"importance":[65],"hops":[70],"around":[71],"based":[73],"on":[74],"multi-head":[76],"attention":[77],"mechanism.":[78],"And":[79],"order":[81],"efficiency":[85],"cooperation,":[87],"utilize":[89],"multi-agent":[90],"reinforcement":[91],"learning":[92],"(MARL)":[93],"help":[95],"learn":[98],"collaborative":[99],"strategies":[100],"implicitly.":[101],"We":[102],"conduct":[103],"experiments":[104],"verify":[106],"our":[107],"proposed":[108],"method":[109],"a":[111],"simulation":[112],"experimental":[116],"results":[117],"demonstrate":[118],"that":[119],"H2GNN":[121],"significantly":[122],"improves":[123],"multi-robot":[125],"performance":[127],"environments.":[130]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":5}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}