{"id":"https://openalex.org/W4399451670","doi":"https://doi.org/10.1109/lra.2024.3410159","title":"Limited Information Aggregation for Collaborative Driving in Multi-Agent Autonomous Vehicles","display_name":"Limited Information Aggregation for Collaborative Driving in Multi-Agent Autonomous Vehicles","publication_year":2024,"publication_date":"2024-06-05","ids":{"openalex":"https://openalex.org/W4399451670","doi":"https://doi.org/10.1109/lra.2024.3410159"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3410159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3410159","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/A5101246522","display_name":"Qingyi Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingyi Liang","raw_affiliation_strings":["Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0003-3823-6828","affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079510458","display_name":"Jia Liu","orcid":"https://orcid.org/0000-0003-2363-8798"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jia Liu","raw_affiliation_strings":["CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-2363-8798","affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005920411","display_name":"Zhengmin Jiang","orcid":"https://orcid.org/0000-0002-6498-0234"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengmin Jiang","raw_affiliation_strings":["CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-6498-0234","affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111261067","display_name":"Jianwen Yin","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianwen Yin","raw_affiliation_strings":["CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106480328","display_name":"Kun Xu","orcid":"https://orcid.org/0000-0003-1112-209X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Xu","raw_affiliation_strings":["CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-1112-209X","affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100614997","display_name":"Huiyun Li","orcid":"https://orcid.org/0000-0003-0157-1393"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huiyun Li","raw_affiliation_strings":["CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-0157-1393","affiliations":[{"raw_affiliation_string":"CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6737,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.82408323,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"7","first_page":"6624","last_page":"6631"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.9686999917030334,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9686999917030334,"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/T10524","display_name":"Traffic control and management","score":0.9517999887466431,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9395999908447266,"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/computer-science","display_name":"Computer science","score":0.5016779899597168}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5016779899597168}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3410159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3410159","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":31,"referenced_works":["https://openalex.org/W2085686732","https://openalex.org/W2194775991","https://openalex.org/W2617547828","https://openalex.org/W2963625099","https://openalex.org/W2963762747","https://openalex.org/W2969277962","https://openalex.org/W2982316857","https://openalex.org/W3003922374","https://openalex.org/W3099689767","https://openalex.org/W3203076355","https://openalex.org/W4286376804","https://openalex.org/W4385245566","https://openalex.org/W4386883480","https://openalex.org/W4390755345","https://openalex.org/W6684921986","https://openalex.org/W6712181171","https://openalex.org/W6713411898","https://openalex.org/W6738796088","https://openalex.org/W6746368081","https://openalex.org/W6752380930","https://openalex.org/W6754689381","https://openalex.org/W6762491519","https://openalex.org/W6766805167","https://openalex.org/W6767327128","https://openalex.org/W6767421805","https://openalex.org/W6790614080","https://openalex.org/W6802002411","https://openalex.org/W6803111106","https://openalex.org/W6803519892","https://openalex.org/W6803572779","https://openalex.org/W6840380725"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"Multi-agent":[0],"reinforcement":[1],"learning":[2,39,174],"(MARL)":[3],"methods":[4,23],"have":[5],"emerged":[6],"as":[7],"a":[8,111,132,141],"promising":[9],"solution":[10],"for":[11],"multi-agent":[12],"collaborative":[13],"driving":[14,36,83,177,188,204],"in":[15,140,186,221],"the":[16,32,35,77,81,87,92,102,125,146,152,156,163,168,173,192,215],"intersection":[17],"and":[18,38,97,128,155,179,218,231],"roundabout":[19],"scenarios.":[20],"However,":[21],"these":[22],"need":[24],"large":[25],"amounts":[26],"of":[27,80,105,167,176,194,223],"training":[28,151],"data":[29],"obtained":[30],"from":[31,40,68],"interaction":[33,42],"with":[34],"simulator,":[37],"limited":[41,66],"remains":[43],"significantly":[44],"underdeveloped.":[45],"In":[46],"this":[47,57,136],"letter,":[48],"we":[49,109,197],"propose":[50],"an":[51,120,201],"efficient":[52],"MARL":[53],"method":[54,60,213],"to":[55,64,75,123,144,171,183],"address":[56],"challenge.":[58],"Our":[59],"enables":[61],"each":[62,106,159],"vehicle":[63,160],"receive":[65],"messages":[67,127],"surrounding":[69],"vehicles,":[70],"which":[71],"are":[72],"then":[73],"used":[74,139],"augment":[76],"input":[78],"representation":[79,137,170],"local":[82,95,129],"policy.":[84],"By":[85,149],"predicting":[86],"next-step":[88,147],"state":[89,96],"based":[90],"on":[91],"current":[93],"augmented":[94],"action,":[98],"our":[99,195,211],"approach":[100],"enhances":[101],"decision-making":[103],"capability":[104],"vehicle.":[107],"Specifically,":[108],"design":[110],"Self-supervised":[112],"Message":[113],"Attention":[114],"Encoding":[115],"(SMAE)":[116],"module":[117,143,154],"that":[118,210],"utilizes":[119],"attention":[121],"mechanism":[122],"aggregate":[124],"received":[126],"observations,":[130],"generating":[131],"compact":[133],"representation.":[134],"Then,":[135],"is":[138],"self-supervised":[142],"predict":[145],"state.":[148],"jointly":[150],"encoder":[153],"prediction":[157],"module,":[158],"effectively":[161],"leverages":[162],"most":[164],"relevant":[165,233],"components":[166],"aggregated":[169],"improve":[172],"efficiency":[175],"policy":[178],"alleviate":[180],"issues":[181],"related":[182],"partial":[184],"observability":[185],"making":[187],"decisions.":[189],"To":[190],"validate":[191],"effectiveness":[193],"approach,":[196],"conduct":[198],"experiments":[199],"using":[200],"open-source":[202],"autonomous":[203],"simulator.":[205],"The":[206],"simulation":[207],"results":[208],"demonstrate":[209],"proposed":[212],"outperforms":[214],"IPPO,":[216],"MAPPO":[217],"CoPO":[219],"algorithms":[220],"terms":[222],"success":[224],"rate,":[225,228,230],"route":[226],"completion":[227],"crash":[229],"other":[232],"metrics.":[234]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
