{"id":"https://openalex.org/W4414693501","doi":"https://doi.org/10.1109/lra.2025.3616648","title":"Lifelong Multi-Agent Path Finding Based on Reinforcement Learning and GPU","display_name":"Lifelong Multi-Agent Path Finding Based on Reinforcement Learning and GPU","publication_year":2025,"publication_date":"2025-10-01","ids":{"openalex":"https://openalex.org/W4414693501","doi":"https://doi.org/10.1109/lra.2025.3616648"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3616648","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3616648","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/A5059454966","display_name":"Jinsheng Yang","orcid":"https://orcid.org/0000-0003-2267-4666"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"JinSheng Yang","raw_affiliation_strings":["School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-2267-4666","affiliations":[{"raw_affiliation_string":"School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhi Li","orcid":"https://orcid.org/0000-0003-2646-9897"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Li","raw_affiliation_strings":["School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-2646-9897","affiliations":[{"raw_affiliation_string":"School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":null,"display_name":"JunBo Wang","orcid":"https://orcid.org/0000-0002-2748-8953"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"JunBo Wang","raw_affiliation_strings":["School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-2748-8953","affiliations":[{"raw_affiliation_string":"School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5059454966"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25148925,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"12","first_page":"13201","last_page":"13208"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973000288009644,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.8149999976158142},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6187000274658203},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.567300021648407},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5482000112533569},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.5300999879837036},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5268999934196472},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5266000032424927},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.35010001063346863}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8217999935150146},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.8149999976158142},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6187000274658203},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.604200005531311},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.567300021648407},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5482000112533569},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.5300999879837036},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5268999934196472},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5266000032424927},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.35010001063346863},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3246000111103058},{"id":"https://openalex.org/C115874739","wikidata":"https://www.wikidata.org/wiki/Q825377","display_name":"Critical path method","level":2,"score":0.3109999895095825},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.3000999987125397},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.29409998655319214},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.2921999990940094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2851000130176544},{"id":"https://openalex.org/C113775141","wikidata":"https://www.wikidata.org/wiki/Q428691","display_name":"Computer engineering","level":1,"score":0.2808000147342682},{"id":"https://openalex.org/C2778119891","wikidata":"https://www.wikidata.org/wiki/Q477690","display_name":"CUDA","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C2778348673","wikidata":"https://www.wikidata.org/wiki/Q739302","display_name":"Production (economics)","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.26440000534057617},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.262800008058548}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3616648","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3616648","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":21,"referenced_works":["https://openalex.org/W1504291959","https://openalex.org/W2191404279","https://openalex.org/W2761873684","https://openalex.org/W2892258706","https://openalex.org/W2964997335","https://openalex.org/W2998671458","https://openalex.org/W3037164939","https://openalex.org/W3092786062","https://openalex.org/W3129616587","https://openalex.org/W3130631955","https://openalex.org/W3166401044","https://openalex.org/W3201099806","https://openalex.org/W4221155367","https://openalex.org/W4280627100","https://openalex.org/W4361298708","https://openalex.org/W4389689571","https://openalex.org/W4391621237","https://openalex.org/W4393147164","https://openalex.org/W4393160849","https://openalex.org/W4401024543","https://openalex.org/W4402352954"],"related_works":[],"abstract_inverted_index":{"Lifelong":[0],"Multi-Agent":[1],"Path":[2],"Finding":[3],"(LMAPF)":[4],"is":[5,96],"vital":[6],"for":[7,76,115],"logistics":[8],"and":[9,45,84],"production":[10],"as":[11],"automation":[12],"scales.":[13],"Existing":[14],"real-time":[15,53],"methods":[16],"rely":[17],"on":[18,25],"distributed,":[19],"learning-based":[20],"frameworks":[21],"but":[22],"often":[23],"depend":[24],"search-based":[26],"single-agent":[27],"planners,":[28],"creating":[29],"time":[30,46],"bottlenecks.":[31],"They":[32],"also":[33],"use":[34],"complex":[35],"communication":[36,93],"structures":[37],"fixed":[38],"to":[39,72,124],"agent":[40,99,117],"counts,":[41],"limiting":[42],"the":[43,61],"scalability":[44,114],"efficiency.":[47],"We":[48],"propose":[49],"RL-LMAPF,":[50],"a":[51,90],"scalable":[52],"framework":[54],"that":[55,95],"introduces":[56],"two":[57],"key":[58],"innovations.":[59],"First,":[60],"Multi-target":[62],"GPU-based":[63],"Breadth-First":[64],"Search":[65],"(MGBFS)":[66],"algorithm":[67],"extends":[68],"traditional":[69],"GPU-accelerated":[70],"BFS":[71],"compute":[73],"cost":[74],"maps":[75],"multiple":[77],"targets":[78],"simultaneously,":[79],"significantly":[80,103],"reducing":[81],"memory":[82],"consumption":[83],"computation":[85],"time.":[86],"Second,":[87],"we":[88],"introduce":[89],"computationally":[91],"efficient":[92],"module":[94],"independent":[97],"of":[98,126,128],"numbers.":[100],"Our":[101],"design":[102],"reduces":[104],"computational":[105],"overhead,":[106],"which":[107],"prioritizes":[108],"critical":[109],"inter-agent":[110],"interactions":[111],"while":[112],"ensuring":[113],"massive":[116],"counts.":[118],"Experiments":[119],"show":[120],"RL-LMAPF":[121],"handles":[122],"up":[123],"tens":[125],"thousands":[127],"agents":[129],"with":[130],"decision":[131],"times":[132],"around":[133],"1":[134],"second":[135],"per":[136],"step.":[137]},"counts_by_year":[],"updated_date":"2025-11-11T23:18:09.558992","created_date":"2025-10-10T00:00:00"}