{"id":"https://openalex.org/W4402916033","doi":"https://doi.org/10.1109/lra.2024.3469789","title":"Motion Planning for 2-DOF Transformable Wheel Robots Using Reinforcement Learning","display_name":"Motion Planning for 2-DOF Transformable Wheel Robots Using Reinforcement Learning","publication_year":2024,"publication_date":"2024-09-27","ids":{"openalex":"https://openalex.org/W4402916033","doi":"https://doi.org/10.1109/lra.2024.3469789"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3469789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3469789","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/A5039300538","display_name":"Inha Park","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Inha Park","raw_affiliation_strings":["Department of Convergence Mechanical Engineering, Hanyang University, Seoul, South Korea","Department of Convergence Mechanical Engineering, Hanyang University, Seoul, Rep. of Korea"],"raw_orcid":"https://orcid.org/0000-0001-7212-7906","affiliations":[{"raw_affiliation_string":"Department of Convergence Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Department of Convergence Mechanical Engineering, Hanyang University, Seoul, Rep. of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069546796","display_name":"Sijun Ryu","orcid":"https://orcid.org/0000-0003-1110-5046"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sijun Ryu","raw_affiliation_strings":["Department of Convergence Mechanical Engineering, Hanyang University, Seoul, South Korea","Department of Convergence Mechanical Engineering, Hanyang University, Seoul, Rep. of Korea"],"raw_orcid":"https://orcid.org/0000-0003-1110-5046","affiliations":[{"raw_affiliation_string":"Department of Convergence Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Department of Convergence Mechanical Engineering, Hanyang University, Seoul, Rep. of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061117385","display_name":"Jeeho Won","orcid":"https://orcid.org/0000-0003-2255-3311"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeeho Won","raw_affiliation_strings":["Department of Convergence Mechanical Engineering, Hanyang University, Seoul, South Korea","Department of Convergence Mechanical Engineering, Hanyang University, Seoul, Rep. of Korea"],"raw_orcid":"https://orcid.org/0000-0003-2255-3311","affiliations":[{"raw_affiliation_string":"Department of Convergence Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Department of Convergence Mechanical Engineering, Hanyang University, Seoul, Rep. of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102602102","display_name":"Hyeungyu Yoon","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyeungyu Yoon","raw_affiliation_strings":["Department of Convergence Mechanical Engineering, Hanyang University, Seoul, South Korea","Department of Convergence Mechanical Engineering, Hanyang University, Seoul, Rep. of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Convergence Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Department of Convergence Mechanical Engineering, Hanyang University, Seoul, Rep. of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006260768","display_name":"Sanggyun Kim","orcid":"https://orcid.org/0000-0002-0620-3090"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"SangGyun Kim","raw_affiliation_strings":["Department of Convergence Mechanical Engineering, Hanyang University, Seoul, South Korea","Department of Convergence Mechanical Engineering, Hanyang University, Seoul, Rep. of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Convergence Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Department of Convergence Mechanical Engineering, Hanyang University, Seoul, Rep. of Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038452773","display_name":"Hwa Soo Kim","orcid":"https://orcid.org/0000-0001-7116-7367"},"institutions":[{"id":"https://openalex.org/I28615091","display_name":"Kyonggi University","ror":"https://ror.org/032xf8h46","country_code":"KR","type":"education","lineage":["https://openalex.org/I28615091"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hwa Soo Kim","raw_affiliation_strings":["Department of Mechanical System Engineering, Kyonggi University, Gyeonggi-do, South Korea","Department of Mechanical System Engineering, Kyonggi University, Gyeonggi-do, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-7116-7367","affiliations":[{"raw_affiliation_string":"Department of Mechanical System Engineering, Kyonggi University, Gyeonggi-do, South Korea","institution_ids":["https://openalex.org/I28615091"]},{"raw_affiliation_string":"Department of Mechanical System Engineering, Kyonggi University, Gyeonggi-do, Republic of Korea","institution_ids":["https://openalex.org/I28615091"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000423233","display_name":"TaeWon Seo","orcid":"https://orcid.org/0000-0001-9447-7675"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"TaeWon Seo","raw_affiliation_strings":["Department of Convergence Mechanical Engineering, Hanyang University, Seoul, South Korea","Department of Convergence Mechanical Engineering, Hanyang University, Seoul, Rep. of Korea"],"raw_orcid":"https://orcid.org/0000-0001-9447-7675","affiliations":[{"raw_affiliation_string":"Department of Convergence Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Department of Convergence Mechanical Engineering, Hanyang University, Seoul, Rep. of Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1864,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.46535159,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"9","issue":"11","first_page":"10193","last_page":"10200"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9419999718666077,"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":0.9419999718666077,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7888317108154297},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6354207992553711},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5996044278144836},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5406794548034668},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5175908803939819},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5012388229370117},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.43780916929244995},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37275445461273193},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2615649700164795},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.052448928356170654}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7888317108154297},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6354207992553711},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5996044278144836},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5406794548034668},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5175908803939819},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5012388229370117},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.43780916929244995},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37275445461273193},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2615649700164795},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.052448928356170654}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3469789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3469789","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":[],"awards":[{"id":"https://openalex.org/G5260259075","display_name":null,"funder_award_id":"NRF-2022R1A2C1007077","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1991089195","https://openalex.org/W2014724424","https://openalex.org/W2037069310","https://openalex.org/W2046816758","https://openalex.org/W2049410986","https://openalex.org/W2064736763","https://openalex.org/W2158782408","https://openalex.org/W2171025682","https://openalex.org/W2199318894","https://openalex.org/W2294389641","https://openalex.org/W2907492528","https://openalex.org/W2973229164","https://openalex.org/W3023173947","https://openalex.org/W3023586494","https://openalex.org/W3152893301","https://openalex.org/W4213202416","https://openalex.org/W4236251699","https://openalex.org/W4285273130","https://openalex.org/W4303457417","https://openalex.org/W4311628420","https://openalex.org/W4315853406","https://openalex.org/W4387414974","https://openalex.org/W6726873649","https://openalex.org/W6739879593","https://openalex.org/W6741002519"],"related_works":["https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255","https://openalex.org/W2106552856","https://openalex.org/W2145821588","https://openalex.org/W2086122291","https://openalex.org/W1987513656"],"abstract_inverted_index":{"Transformable":[0],"robots":[1],"have":[2],"been":[3],"developed":[4],"to":[5,71,145],"perform":[6],"various":[7],"tasks":[8],"using":[9,90],"flexible":[10],"methods.":[11],"However,":[12],"the":[13,25,56,60,77,81,102,105,109,141,157],"transformation":[14,88,131,158],"properties":[15],"present":[16],"challenges":[17],"in":[18],"controlling":[19],"and":[20,59,149],"planning":[21,39],"motion":[22,61,85],"strategies,":[23],"as":[24],"system":[26],"model":[27],"changes":[28],"when":[29],"transformations":[30],"occur.":[31],"To":[32],"address":[33],"this":[34],"issue,":[35],"we":[36],"propose":[37],"a":[38,115],"framework":[40],"based":[41,75],"on":[42,76],"artificial":[43],"intelligence,":[44],"called":[45,119],"Geometric":[46],"Manipulability":[47],"Reinforcement":[48],"Learning":[49],"(GM-RL).":[50],"GM-RL":[51,121],"consists":[52],"of":[53,80,104,139],"two":[54,110],"components:":[55],"manipulability":[57,64,79,137,148],"estimator":[58,65],"planner.":[62],"The":[63,84,94],"employs":[66],"graph":[67],"neural":[68],"networks":[69],"(GNN)":[70],"provide":[72],"action":[73],"guidelines":[74],"dynamic":[78,136,147],"transformable":[82,117],"robots.":[83],"planner":[86],"generates":[87],"plans":[89],"reinforcement":[91,150],"learning":[92],"(RL).":[93],"activation":[95],"ratio":[96,103],"<inline-formula":[97,123],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[98,124],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[99,125],"notation=\"LaTeX\">$\\alpha$</tex-math></inline-formula>":[100],"adjusts":[101],"guideline":[106],"accepted":[107],"between":[108],"components.":[111],"In":[112],"experiments":[113],"utilizing":[114],"2-DoF":[116],"wheel":[118],"STEP,":[120],"with":[122,133],"notation=\"LaTeX\">$\\alpha":[126],"=0.5$</tex-math></inline-formula>":[127],"generated":[128],"an":[129,134],"optimal":[130],"plan":[132,159],"average":[135],"measure":[138,143],"0.0424,":[140],"highest":[142],"compared":[144],"pure":[146],"learning.":[151],"A":[152],"real-world":[153],"experiment":[154],"demonstrated":[155],"that":[156],"is":[160],"efficient":[161],"for":[162],"overcoming":[163],"stairs.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}