{"id":"https://openalex.org/W4387350592","doi":"https://doi.org/10.1109/lra.2023.3322085","title":"Learning-Based Near-Optimal Motion Planning for Intelligent Vehicles With Uncertain Dynamics","display_name":"Learning-Based Near-Optimal Motion Planning for Intelligent Vehicles With Uncertain Dynamics","publication_year":2023,"publication_date":"2023-10-04","ids":{"openalex":"https://openalex.org/W4387350592","doi":"https://doi.org/10.1109/lra.2023.3322085"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3322085","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3322085","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/A5102006100","display_name":"Yang Lu","orcid":"https://orcid.org/0000-0002-4023-3963"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Lu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","College of Intelligence Science and Technology, National University of Defense Technology, China"],"raw_orcid":"https://orcid.org/0000-0002-4023-3963","affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101668802","display_name":"Xinglong Zhang","orcid":"https://orcid.org/0000-0002-0587-2487"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinglong Zhang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","College of Intelligence Science and Technology, National University of Defense Technology, China"],"raw_orcid":"https://orcid.org/0000-0002-0587-2487","affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053112608","display_name":"Xin Xu","orcid":"https://orcid.org/0000-0003-3238-745X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Xu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","College of Intelligence Science and Technology, National University of Defense Technology, China"],"raw_orcid":"https://orcid.org/0000-0003-3238-745X","affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041756875","display_name":"Weijia Yao","orcid":"https://orcid.org/0000-0003-0361-6620"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weijia Yao","raw_affiliation_strings":["School of Robotics, Hunan University, Changsha, China","School of Robotics, Hunan University, China"],"raw_orcid":"https://orcid.org/0000-0003-0361-6620","affiliations":[{"raw_affiliation_string":"School of Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]},{"raw_affiliation_string":"School of Robotics, Hunan University, China","institution_ids":["https://openalex.org/I16609230"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4858,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.62591161,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"9","issue":"2","first_page":"1532","last_page":"1539"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9958999752998352,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9958999752998352,"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"}},{"id":"https://openalex.org/T12095","display_name":"Vehicle emissions and performance","score":0.9944999814033508,"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"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9753000140190125,"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":0.7555753588676453},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6521957516670227},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6492301225662231},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5960074663162231},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5486496686935425},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.5410794615745544},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.49674421548843384},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4910030663013458},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.48525571823120117},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.46788495779037476},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4508969783782959},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41263023018836975},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4100354015827179},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.38161176443099976},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.36049962043762207},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23054856061935425},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12585443258285522},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.12236875295639038}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7555753588676453},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6521957516670227},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6492301225662231},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5960074663162231},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5486496686935425},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.5410794615745544},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.49674421548843384},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4910030663013458},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.48525571823120117},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.46788495779037476},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4508969783782959},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41263023018836975},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4100354015827179},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.38161176443099976},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.36049962043762207},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23054856061935425},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12585443258285522},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.12236875295639038},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3322085","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3322085","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":[{"id":"https://metadata.un.org/sdg/11","score":0.6100000143051147,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G5196624177","display_name":null,"funder_award_id":"61825305","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8354495100","display_name":null,"funder_award_id":"U21A20518","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1502922572","https://openalex.org/W1571870753","https://openalex.org/W1986199889","https://openalex.org/W2000359213","https://openalex.org/W2048687352","https://openalex.org/W2054585537","https://openalex.org/W2096215872","https://openalex.org/W2118556122","https://openalex.org/W2153290280","https://openalex.org/W2619551236","https://openalex.org/W2769646558","https://openalex.org/W2883221329","https://openalex.org/W2954115742","https://openalex.org/W2962872206","https://openalex.org/W2963105220","https://openalex.org/W2963214840","https://openalex.org/W2963781688","https://openalex.org/W2997933098","https://openalex.org/W3004840042","https://openalex.org/W3091880708","https://openalex.org/W3184253385","https://openalex.org/W3186317065","https://openalex.org/W4226264792","https://openalex.org/W4387350592","https://openalex.org/W6674989108","https://openalex.org/W6680657880","https://openalex.org/W6740033195","https://openalex.org/W6756486208","https://openalex.org/W6761392374","https://openalex.org/W6777757172","https://openalex.org/W6850185454"],"related_works":["https://openalex.org/W1968523686","https://openalex.org/W566010457","https://openalex.org/W2600092203","https://openalex.org/W4300066510","https://openalex.org/W2056958800","https://openalex.org/W2803685231","https://openalex.org/W4293503520","https://openalex.org/W3134152097","https://openalex.org/W4311388919","https://openalex.org/W2966696655"],"abstract_inverted_index":{"Motion":[0],"planning":[1,26,60,100,150,166,196],"has":[2,152],"been":[3,153],"an":[4,67,90],"important":[5],"research":[6],"topic":[7],"in":[8,27,168],"achieving":[9],"safe":[10,144],"and":[11,24,57,145,148,176],"flexible":[12],"maneuvers":[13],"for":[14],"intelligent":[15],"vehicles.":[16],"However,":[17],"it":[18],"remains":[19],"challenging":[20],"to":[21,53,73,96,105],"realize":[22],"efficient":[23,68],"optimal":[25],"the":[28,75,80,98,103,118,139,149],"presence":[29],"of":[30,170],"uncertain":[31,76],"model":[32],"dynamics.":[33,77,121],"In":[34,62,180],"this":[35,63],"paper,":[36],"a":[37,83,133,137,184,194],"sparse":[38,69,84],"kernel-based":[39,85],"reinforcement":[40],"learning":[41],"(RL)":[42],"algorithm":[43,88],"with":[44,89,102,112],"Gaussian":[45],"Process":[46],"(GP)":[47],"Regression":[48],"(called":[49],"GP-SKRL)":[50],"is":[51,94],"proposed":[52],"achieve":[54],"online":[55,113],"adaption":[56,114],"near-optimal":[58,99],"motion":[59,165],"performance.":[61],"algorithm,":[64],"we":[65],"design":[66],"GP":[70],"regression":[71],"method":[72],"learn":[74,97],"Based":[78],"on":[79,129,183],"updated":[81],"model,":[82],"policy":[86],"iteration":[87],"exponential":[91],"barrier":[92],"function":[93],"designed":[95],"policies":[101,125],"capability":[104,115],"avoid":[106],"dynamic":[107],"obstacles.":[108],"Thereby,":[109],"batch-mode":[110],"GP-SKRL":[111,161,192],"can":[116],"estimate":[117],"changing":[119],"system":[120],"The":[122],"converged":[123],"RL":[124],"are":[126,143],"then":[127],"deployed":[128],"vehicles":[130],"efficiently":[131],"under":[132],"safety-aware":[134],"module.":[135],"As":[136],"result,":[138],"produced":[140],"driving":[141],"actions":[142],"less":[146],"conservative,":[147],"performance":[151],"noticeably":[154],"improved.":[155],"Extensive":[156],"simulation":[157],"results":[158],"show":[159],"that":[160,190],"outperforms":[162],"several":[163],"advanced":[164],"methods":[167],"terms":[169],"average":[171],"cumulative":[172],"cost,":[173],"trajectory":[174],"length,":[175],"task":[177],"completion":[178],"time.":[179],"particular,":[181],"experiments":[182],"Hongqi":[185],"E-HS3":[186],"electric":[187],"vehicle":[188],"demonstrate":[189],"superior":[191],"provides":[193],"practical":[195],"solution.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
