{"id":"https://openalex.org/W4404688099","doi":"https://doi.org/10.1109/lra.2024.3506281","title":"HDPlanner: Advancing Autonomous Deployments in Unknown Environments Through Hierarchical Decision Networks","display_name":"HDPlanner: Advancing Autonomous Deployments in Unknown Environments Through Hierarchical Decision Networks","publication_year":2024,"publication_date":"2024-11-25","ids":{"openalex":"https://openalex.org/W4404688099","doi":"https://doi.org/10.1109/lra.2024.3506281"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3506281","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3506281","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/A5108118396","display_name":"Jingsong Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jingsong Liang","raw_affiliation_strings":["Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0009-0006-9094-6431","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035779662","display_name":"Yuhong Cao","orcid":"https://orcid.org/0000-0001-8099-0689"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yuhong Cao","raw_affiliation_strings":["Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-8099-0689","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yixiao Ma","orcid":"https://orcid.org/0009-0005-5398-4984"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yixiao Ma","raw_affiliation_strings":["Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0009-0005-5398-4984","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hanqi Zhao","orcid":"https://orcid.org/0009-0003-2151-3745"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hanqi Zhao","raw_affiliation_strings":["Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0009-0003-2151-3745","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069667034","display_name":"Guillaume Sartoretti","orcid":"https://orcid.org/0000-0002-7579-9916"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Guillaume Sartoretti","raw_affiliation_strings":["Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-7579-9916","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, College of Design and Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":1.2601,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.81373564,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"10","issue":"1","first_page":"256","last_page":"263"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.8363999724388123,"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/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.8363999724388123,"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/T13382","display_name":"Robotics and Automated Systems","score":0.8356999754905701,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.8147000074386597,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48696598410606384}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48696598410606384}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3506281","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3506281","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":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1814533834","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1982809790","https://openalex.org/W2076518796","https://openalex.org/W2113256452","https://openalex.org/W2133844819","https://openalex.org/W2141664020","https://openalex.org/W2296228853","https://openalex.org/W2296693980","https://openalex.org/W2409009991","https://openalex.org/W2524241275","https://openalex.org/W2573758756","https://openalex.org/W2769990600","https://openalex.org/W2784154204","https://openalex.org/W2891234582","https://openalex.org/W2908729504","https://openalex.org/W2963390429","https://openalex.org/W2963428623","https://openalex.org/W2966477753","https://openalex.org/W2984168904","https://openalex.org/W3016754278","https://openalex.org/W3090360675","https://openalex.org/W3104753760","https://openalex.org/W3125164440","https://openalex.org/W3176634028","https://openalex.org/W3202969251","https://openalex.org/W3209352332","https://openalex.org/W4200079766","https://openalex.org/W4226300900","https://openalex.org/W4235735721","https://openalex.org/W4252279978","https://openalex.org/W4313150919","https://openalex.org/W4383109033","https://openalex.org/W4385245566","https://openalex.org/W4388579644","https://openalex.org/W6608150121","https://openalex.org/W6725207838","https://openalex.org/W6747473740","https://openalex.org/W6769218391"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,161],"introduce":[4],"HDPlanner,":[5],"a":[6,90],"deep":[7],"reinforcement":[8],"learning":[9],"(DRL)":[10],"based":[11],"framework":[12],"designed":[13],"to":[14,36,55,59,95,140,146,152],"tackle":[15],"two":[16],"core":[17],"and":[18,26,68,83,110,124,149,176],"challenging":[19],"tasks":[20],"for":[21],"mobile":[22],"robots:":[23],"autonomous":[24],"exploration":[25,147],"navigation,":[27],"where":[28,72,167],"the":[29,38,57,97],"robot":[30,58],"must":[31],"optimize":[32],"its":[33,62,180],"trajectory":[34],"adaptively":[35],"achieve":[37],"task":[39,81],"objective":[40],"through":[41],"continuous":[42],"interactions":[43],"in":[44,173],"unknown":[45],"environments.":[46,128],"Specifically,":[47],"HDPlanner":[48,105,130],"relies":[49],"on":[50,113,165],"novel":[51],"hierarchical":[52],"attention":[53],"networks":[54,74],"empower":[56],"reason":[60],"about":[61],"belief":[63],"across":[64],"multiple":[65],"spatial":[66],"scales":[67],"sequence":[69],"collaborative":[70],"decisions,":[71],"our":[73,163],"decompose":[75],"long-term":[76],"objectives":[77],"into":[78],"short-term":[79],"informative":[80,84],"assignments":[82],"path":[85],"plannings.":[86],"We":[87,101],"further":[88],"propose":[89],"contrastive":[91],"learning-based":[92,111],"joint":[93],"optimization":[94],"enhance":[96],"robustness":[98],"of":[99,117,121],"HDPlanner.":[100],"empirically":[102],"demonstrate":[103],"that":[104],"significantly":[106],"outperforms":[107],"state-of-the-art":[108],"conventional":[109],"baselines":[112],"an":[114],"extensive":[115],"set":[116],"simulations,":[118],"including":[119],"hundreds":[120],"test":[122],"maps":[123],"large-scale,":[125],"complex":[126],"Gazebo":[127],"Notably,":[129],"achieves":[131],"real-time":[132],"planning":[133],"with":[134],"travel":[135],"distances":[136],"reduced":[137],"by":[138,150],"up":[139,151],"<inline-formula":[141,153],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[142,154],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[143,155],"notation=\"LaTeX\">${35.7}{\\%}$</tex-math></inline-formula>":[144],"compared":[145],"benchmarks":[148],"notation=\"LaTeX\">${16.5}{\\%}$</tex-math></inline-formula>":[156],"than":[157],"navigation":[158],"benchmarks.":[159],"Furthermore,":[160],"validate":[162],"approach":[164],"hardware,":[166],"it":[168],"generates":[169],"high-quality,":[170],"adaptive":[171],"trajectories":[172],"both":[174],"indoor":[175],"outdoor":[177],"environments,":[178],"highlighting":[179],"real-world":[181],"applicability":[182],"without":[183],"additional":[184],"training.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-01T08:55:40.977307","created_date":"2025-10-10T00:00:00"}