{"id":"https://openalex.org/W4406521308","doi":"https://doi.org/10.1109/lra.2025.3531146","title":"IntNet: A Communication-Driven Multi-Agent Reinforcement Learning Framework for Cooperative Autonomous Driving","display_name":"IntNet: A Communication-Driven Multi-Agent Reinforcement Learning Framework for Cooperative Autonomous Driving","publication_year":2025,"publication_date":"2025-01-17","ids":{"openalex":"https://openalex.org/W4406521308","doi":"https://doi.org/10.1109/lra.2025.3531146"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3531146","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3531146","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/A5073749950","display_name":"Leandro Parada","orcid":"https://orcid.org/0000-0003-0571-0178"},"institutions":[{"id":"https://openalex.org/I2799890334","display_name":"Transport for London","ror":"https://ror.org/03vnshb93","country_code":"GB","type":"government","lineage":["https://openalex.org/I2799730521","https://openalex.org/I2799890334"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Leandro Parada","raw_affiliation_strings":["Centre for Transport Engineering and Modelling, Department of Civil and Environmental Engineering, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0003-0571-0178","affiliations":[{"raw_affiliation_string":"Centre for Transport Engineering and Modelling, Department of Civil and Environmental Engineering, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I2799890334"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116319455","display_name":"Kevin Yu","orcid":"https://orcid.org/0009-0007-4515-3296"},"institutions":[{"id":"https://openalex.org/I2799890334","display_name":"Transport for London","ror":"https://ror.org/03vnshb93","country_code":"GB","type":"government","lineage":["https://openalex.org/I2799730521","https://openalex.org/I2799890334"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kevin Yu","raw_affiliation_strings":["Centre for Transport Engineering and Modelling, Department of Civil and Environmental Engineering, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0009-0007-4515-3296","affiliations":[{"raw_affiliation_string":"Centre for Transport Engineering and Modelling, Department of Civil and Environmental Engineering, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I2799890334"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037312929","display_name":"Panagiotis Angeloudis","orcid":"https://orcid.org/0000-0002-6778-8264"},"institutions":[{"id":"https://openalex.org/I2799890334","display_name":"Transport for London","ror":"https://ror.org/03vnshb93","country_code":"GB","type":"government","lineage":["https://openalex.org/I2799730521","https://openalex.org/I2799890334"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Panagiotis Angeloudis","raw_affiliation_strings":["Centre for Transport Engineering and Modelling, Department of Civil and Environmental Engineering, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-6778-8264","affiliations":[{"raw_affiliation_string":"Centre for Transport Engineering and Modelling, Department of Civil and Environmental Engineering, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I2799890334"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5073749950"],"corresponding_institution_ids":["https://openalex.org/I2799890334"],"apc_list":null,"apc_paid":null,"fwci":3.2997,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.90286366,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"10","issue":"3","first_page":"2478","last_page":"2485"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9990000128746033,"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":0.998199999332428,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9898999929428101,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.6966032981872559},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.5388100147247314},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4226456582546234},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27342280745506287},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.2594448924064636},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.09737235307693481}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6966032981872559},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.5388100147247314},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4226456582546234},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27342280745506287},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.2594448924064636},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.09737235307693481}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3531146","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3531146","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":33,"referenced_works":["https://openalex.org/W2056877664","https://openalex.org/W2168359464","https://openalex.org/W2962872206","https://openalex.org/W2998367975","https://openalex.org/W3030840723","https://openalex.org/W3092064461","https://openalex.org/W3133129631","https://openalex.org/W3212907084","https://openalex.org/W4289100326","https://openalex.org/W4301501993","https://openalex.org/W4309349085","https://openalex.org/W4312403563","https://openalex.org/W4313304705","https://openalex.org/W4362519817","https://openalex.org/W4365810257","https://openalex.org/W4381420200","https://openalex.org/W4381733136","https://openalex.org/W4385877647","https://openalex.org/W4391770068","https://openalex.org/W4392883051","https://openalex.org/W6712181171","https://openalex.org/W6713411898","https://openalex.org/W6728155968","https://openalex.org/W6751139674","https://openalex.org/W6755542948","https://openalex.org/W6757784512","https://openalex.org/W6770332567","https://openalex.org/W6771514159","https://openalex.org/W6780081884","https://openalex.org/W6784156366","https://openalex.org/W6790614080","https://openalex.org/W6796861069","https://openalex.org/W6797043315"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","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"],"abstract_inverted_index":{"Achieving":[0],"safety":[1,66],"in":[2,50,150],"autonomous":[3,156],"driving":[4],"through":[5],"Multi-Agent":[6],"Reinforcement":[7],"Learning":[8],"(MARL)":[9],"is":[10,95],"a":[11,60,79,114,121,130],"critical":[12],"yet":[13],"challenging":[14],"task":[15],"due":[16],"to":[17,36,92,103,125,133,172],"non-stationarity,":[18],"partial":[19],"observability,":[20],"and":[21,74,129,157,166,184,190],"the":[22,69,136,179,185],"need":[23],"for":[24,88,139,193],"effective":[25],"coordination":[26,38],"among":[27],"agents.":[28],"Although":[29],"earlier":[30],"cooperative":[31],"MARL":[32,62,148],"methods":[33,149],"have":[34],"aimed":[35],"improve":[37],"by":[39,67,170],"sharing":[40,189],"encoded":[41],"state":[42],"observations,":[43],"we":[44,57,177],"find":[45],"these":[46],"strategies":[47],"are":[48],"insufficient":[49],"safety-critical":[51],"scenarios.":[52],"To":[53],"address":[54],"this":[55],"gap,":[56],"present":[58],"IntNet,":[59],"novel":[61],"framework":[63],"that":[64,100],"enhances":[65],"incorporating":[68],"transmission":[70],"of":[71],"vehicle":[72],"intent":[73],"adaptive":[75],"communication":[76,137,168],"scheduling":[77],"into":[78],"unified":[80],"end-to-end":[81],"learning":[82,181],"paradigm,":[83],"jointly":[84],"optimising":[85],"all":[86],"components":[87],"safe":[89],"coordination.":[90],"Central":[91],"our":[93],"approach":[94],"an":[96],"observation":[97],"prediction":[98],"module":[99],"enables":[101],"agents":[102],"forecast":[104],"subsequent":[105],"policy":[106],"outputs,":[107],"which":[108],"they":[109],"can":[110],"then":[111],"share":[112],"across":[113],"vehicle-to-vehicle":[115],"network.":[116],"Our":[117],"model-free":[118],"architecture":[119],"employs":[120],"Graph":[122],"Attention":[123],"Network":[124],"process":[126],"incoming":[127],"messages":[128],"scheduler":[131],"component":[132],"dynamically":[134],"optimise":[135],"graph":[138],"bandwidth":[140,191],"efficiency.":[141],"We":[142],"compare":[143],"IntNet":[144],"against":[145],"state-of-the-art":[146],"communicative":[147],"complex":[151],"urban":[152],"environments":[153],"with":[154],"both":[155],"human-operated":[158],"vehicles,":[159],"achieving":[160],"improved":[161],"coordination,":[162],"lower":[163],"collision":[164],"rates,":[165],"reducing":[167],"efforts":[169],"up":[171],"60%.":[173],"Through":[174],"extensive":[175],"experiments,":[176],"assess":[178],"framework's":[180],"efficiency,":[182],"scalability,":[183],"balance":[186],"between":[187],"information":[188],"usage":[192],"collision-free":[194],"trajectories.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
