{"id":"https://openalex.org/W4226383439","doi":"https://doi.org/10.1109/robio54168.2021.9739251","title":"A Deep Safe Reinforcement Learning Approach for Mapless Navigation","display_name":"A Deep Safe Reinforcement Learning Approach for Mapless Navigation","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4226383439","doi":"https://doi.org/10.1109/robio54168.2021.9739251"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739251","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5008719239","display_name":"Shaohua Lv","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I158809036","display_name":"Shenzhen Institute of Information Technology","ror":"https://ror.org/03wrf9427","country_code":"CN","type":"education","lineage":["https://openalex.org/I158809036"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shaohua Lv","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen),Department of Control Science and Engineering,Shenzhen,China","Department of Control Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen),Department of Control Science and Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I158809036","https://openalex.org/I204983213"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100677178","display_name":"Yanjie Li","orcid":"https://orcid.org/0000-0001-7890-9677"},"institutions":[{"id":"https://openalex.org/I158809036","display_name":"Shenzhen Institute of Information Technology","ror":"https://ror.org/03wrf9427","country_code":"CN","type":"education","lineage":["https://openalex.org/I158809036"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjie Li","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen),Department of Control Science and Engineering,Shenzhen,China","Department of Control Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen),Department of Control Science and Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I158809036","https://openalex.org/I204983213"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100453159","display_name":"Qi Liu","orcid":"https://orcid.org/0000-0001-7485-6344"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I158809036","display_name":"Shenzhen Institute of Information Technology","ror":"https://ror.org/03wrf9427","country_code":"CN","type":"education","lineage":["https://openalex.org/I158809036"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Liu","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen),Department of Control Science and Engineering,Shenzhen,China","Department of Control Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen),Department of Control Science and Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I158809036","https://openalex.org/I204983213"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054634605","display_name":"Jianqi Gao","orcid":"https://orcid.org/0000-0003-4486-3740"},"institutions":[{"id":"https://openalex.org/I158809036","display_name":"Shenzhen Institute of Information Technology","ror":"https://ror.org/03wrf9427","country_code":"CN","type":"education","lineage":["https://openalex.org/I158809036"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqi Gao","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen),Department of Control Science and Engineering,Shenzhen,China","Department of Control Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen),Department of Control Science and Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I158809036","https://openalex.org/I204983213"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047707212","display_name":"Xizheng Pang","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I158809036","display_name":"Shenzhen Institute of Information Technology","ror":"https://ror.org/03wrf9427","country_code":"CN","type":"education","lineage":["https://openalex.org/I158809036"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xizheng Pang","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen),Department of Control Science and Engineering,Shenzhen,China","Department of Control Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen),Department of Control Science and Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I158809036","https://openalex.org/I204983213"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100748367","display_name":"Meiling Chen","orcid":"https://orcid.org/0000-0003-2803-6446"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I158809036","display_name":"Shenzhen Institute of Information Technology","ror":"https://ror.org/03wrf9427","country_code":"CN","type":"education","lineage":["https://openalex.org/I158809036"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meiling Chen","raw_affiliation_strings":["Harbin Institute of Technology (Shenzhen),Department of Control Science and Engineering,Shenzhen,China","Department of Control Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology (Shenzhen),Department of Control Science and Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I158809036","https://openalex.org/I204983213"]},{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5008719239"],"corresponding_institution_ids":["https://openalex.org/I158809036","https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.2628,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.67005439,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1520","last_page":"1525"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9886999726295471,"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/T12158","display_name":"Guidance and Control Systems","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.8539703488349915},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7024451494216919},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5299395322799683},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.41625869274139404},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33714258670806885},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17462530732154846}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8539703488349915},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7024451494216919},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5299395322799683},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.41625869274139404},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33714258670806885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17462530732154846},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739251","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1424654272","https://openalex.org/W1771410628","https://openalex.org/W1845972764","https://openalex.org/W1997872704","https://openalex.org/W2038396847","https://openalex.org/W2098412395","https://openalex.org/W2167052694","https://openalex.org/W2296073425","https://openalex.org/W2462906003","https://openalex.org/W2524241275","https://openalex.org/W2736601468","https://openalex.org/W2756698629","https://openalex.org/W2770898551","https://openalex.org/W2781726626","https://openalex.org/W2796447411","https://openalex.org/W2910054127","https://openalex.org/W2962887844","https://openalex.org/W2963428623","https://openalex.org/W2969897047","https://openalex.org/W2972879745","https://openalex.org/W3018036994","https://openalex.org/W3035644784","https://openalex.org/W3040127368","https://openalex.org/W3091937952","https://openalex.org/W3098970982","https://openalex.org/W3099533866","https://openalex.org/W3105787366","https://openalex.org/W3127561923","https://openalex.org/W3129322645","https://openalex.org/W3133715761","https://openalex.org/W4293545785","https://openalex.org/W4294225490","https://openalex.org/W6638018090","https://openalex.org/W6718836005","https://openalex.org/W6737893269","https://openalex.org/W6741002519","https://openalex.org/W6744643855","https://openalex.org/W6747473740","https://openalex.org/W6748848655","https://openalex.org/W6750185400","https://openalex.org/W6768078743","https://openalex.org/W6771598146","https://openalex.org/W6785337047"],"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":{"Reinforcement":[0],"learning":[1,32],"(RL)":[2],"is":[3,16,106,111,136],"used":[4],"more":[5,7],"and":[6,52,95,150],"in":[8,24,80,104,133],"robot":[9],"navigation,":[10],"however":[11],"the":[12,22,25,54,63,75,86,92,97,102,130],"safety":[13,23,103],"of":[14,125],"RL":[15,39,45],"usually":[17],"not":[18],"guaranteed.":[19],"To":[20],"improve":[21],"end-to-end":[26],"mapless":[27],"navigation":[28,105],"using":[29],"deep":[30,37],"reinforcement":[31],"(DRL),":[33],"we":[34],"propose":[35],"a":[36,43,123],"safe":[38,44],"approach":[40,88],"which":[41,100,119],"uses":[42],"algorithm":[46],"called":[47],"Constrained":[48],"Policy":[49],"Optimization":[50],"(CPO)":[51],"design":[53],"Actor-Critic-Safety":[55],"(ACS)":[56],"architecture":[57],"to":[58,73,121,138,140],"apply":[59],"CPO.":[60],"We":[61],"use":[62],"Social":[64],"Force":[65],"Pedestrian":[66],"Simulator":[67],"based":[68],"on":[69],"social":[70],"force":[71],"model":[72,131],"simulate":[74],"dynamic":[76,142],"environment":[77,126,135,143],"with":[78,144],"pedestrians":[79,145],"Gazebo.":[81],"Experiment":[82],"results":[83],"show":[84],"that":[85],"proposed":[87],"can":[89],"obviously":[90],"increase":[91],"success":[93],"rate":[94],"reduce":[96],"collision":[98],"rate,":[99],"means":[101],"improved.":[107],"The":[108],"planned":[109],"path":[110],"almost":[112],"as":[113,115],"good":[114],"by":[116],"ROS":[117],"move_base":[118],"needs":[120],"build":[122],"map":[124],"first.":[127],"What\u2019s":[128],"more,":[129],"trained":[132],"static":[134],"able":[137],"generalize":[139],"unseen":[141],"without":[146],"any":[147],"fine":[148],"tuning":[149],"behaves":[151],"well.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-04-07T14:57:38.498316","created_date":"2025-10-10T00:00:00"}