{"id":"https://openalex.org/W4312208993","doi":"https://doi.org/10.1109/rose56499.2022.9977430","title":"Path Planning of Cleaning Robot with Reinforcement Learning","display_name":"Path Planning of Cleaning Robot with Reinforcement Learning","publication_year":2022,"publication_date":"2022-11-14","ids":{"openalex":"https://openalex.org/W4312208993","doi":"https://doi.org/10.1109/rose56499.2022.9977430"},"language":"en","primary_location":{"id":"doi:10.1109/rose56499.2022.9977430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rose56499.2022.9977430","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","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/A5008594496","display_name":"Woohyeon Moon","orcid":"https://orcid.org/0009-0009-8160-2014"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Woohyeon Moon","raw_affiliation_strings":["Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST),Daejeon,South Korea","Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST),Daejeon,South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090743567","display_name":"Bumgeun Park","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Bumgeun Park","raw_affiliation_strings":["Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST),Daejeon,South Korea","Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST),Daejeon,South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031850812","display_name":"Sarvar Hussain Nengroo","orcid":"https://orcid.org/0000-0002-9651-9282"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sarvar Hussain Nengroo","raw_affiliation_strings":["Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST),Daejeon,South Korea","Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST),Daejeon,South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100412362","display_name":"Taeyoung Kim","orcid":"https://orcid.org/0000-0002-1894-6596"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Taeyoung Kim","raw_affiliation_strings":["Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST),Daejeon,South Korea","Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST),Daejeon,South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005393869","display_name":"Dongsoo Har","orcid":"https://orcid.org/0000-0002-6949-1739"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongsoo Har","raw_affiliation_strings":["Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST),Daejeon,South Korea","Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST),Daejeon,South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Cho Chun Shik Graduate School of Mobility Korea Advanced Institute of Science and Technology (KAIST), Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.081,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.89044374,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9980000257492065,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9980000257492065,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9945999979972839,"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/T12546","display_name":"Smart Parking Systems Research","score":0.984000027179718,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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":0.8349493145942688},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7453974485397339},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6758061647415161},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6676825881004333},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6150293350219727},{"id":"https://openalex.org/keywords/zigzag","display_name":"Zigzag","score":0.5388616323471069},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.46759599447250366},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46479031443595886},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.42862433195114136},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3745250701904297},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33664363622665405},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11877760291099548}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8349493145942688},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7453974485397339},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6758061647415161},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6676825881004333},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6150293350219727},{"id":"https://openalex.org/C192271897","wikidata":"https://www.wikidata.org/wiki/Q198438","display_name":"Zigzag","level":2,"score":0.5388616323471069},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.46759599447250366},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46479031443595886},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.42862433195114136},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3745250701904297},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33664363622665405},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11877760291099548},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rose56499.2022.9977430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rose56499.2022.9977430","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.47999998927116394,"id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G5984494577","display_name":null,"funder_award_id":"20222020800190","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"}],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320335199","display_name":"Korea Institute of Energy Technology Evaluation and Planning","ror":"https://ror.org/02zq38y32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W158722652","https://openalex.org/W2043716454","https://openalex.org/W2070510243","https://openalex.org/W2097381042","https://openalex.org/W2145339207","https://openalex.org/W2186443504","https://openalex.org/W2201581102","https://openalex.org/W2235553398","https://openalex.org/W2257979135","https://openalex.org/W2395579298","https://openalex.org/W2735388677","https://openalex.org/W2736601468","https://openalex.org/W2766447205","https://openalex.org/W2793998795","https://openalex.org/W2969428710","https://openalex.org/W2995520662","https://openalex.org/W3026486560","https://openalex.org/W3095752837","https://openalex.org/W4200634697","https://openalex.org/W4235968347","https://openalex.org/W4298857966","https://openalex.org/W6605846256","https://openalex.org/W6637967152","https://openalex.org/W6638018090","https://openalex.org/W6674600207","https://openalex.org/W6687681856","https://openalex.org/W6741002519"],"related_works":["https://openalex.org/W2808029097","https://openalex.org/W2035708325","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W3154539612"],"abstract_inverted_index":{"Recently,":[0],"as":[1,161],"the":[2,23,55,63,78,90,98,104,112,170,182],"demand":[3],"for":[4,29,74,80],"cleaning":[5,30,75,87,92,105,129],"robots":[6],"has":[7,32,71],"steadily":[8],"increased,":[9],"therefore":[10],"household":[11],"electricity":[12,20],"consumption":[13,21],"is":[14,96,118,149,193],"also":[15,187],"increasing.":[16],"To":[17,108],"solve":[18,109],"this":[19,110,190],"issue,":[22],"problem":[24,95],"of":[25,43],"efficient":[26,122],"path":[27,51,57,123],"planning":[28,124],"robot":[31],"become":[33],"important":[34],"and":[35,141,155,163,177],"many":[36],"studies":[37],"have":[38,100],"been":[39,72],"conducted.":[40],"However,":[41,77],"most":[42],"them":[44],"are":[45],"about":[46,54],"moving":[47],"along":[48],"a":[49,85],"simple":[50],"segment,":[52],"not":[53,89],"whole":[56],"to":[58,101],"clean":[59],"all":[60],"places.":[61],"As":[62],"emerging":[64],"deep":[65],"learning":[66,69,133],"technique,":[67],"reinforcement":[68],"(RL)":[70],"adopted":[73],"robot.":[76],"models":[79,99],"RL":[81],"operate":[82],"only":[83],"in":[84,127],"specific":[86],"environment,":[88],"various":[91,128],"environment.":[93],"The":[94,146,165],"that":[97,125,169,189],"retrain":[102],"whenever":[103],"environment":[106],"changes.":[107],"problem,":[111],"proximal":[113],"policy":[114],"optimization":[115],"(PPO)":[116],"algorithm":[117],"combined":[119],"with":[120,151,157],"an":[121,152],"operates":[126],"environments,":[130],"using":[131],"transfer":[132],"(TL),":[134],"detection":[135],"nearest":[136],"cleaned":[137],"tile,":[138],"reward":[139],"shaping,":[140],"making":[142],"elite":[143],"set":[144],"methods.":[145],"proposed":[147,171,191],"method":[148,172,192],"validated":[150],"ablation":[153],"study":[154],"comparison":[156],"conventional":[158,197],"methods":[159,198],"such":[160],"random":[162],"zigzag.":[164],"experimental":[166],"results":[167],"demonstrate":[168],"achieves":[173],"improved":[174],"training":[175],"performance":[176,195],"increased":[178],"convergence":[179],"speed":[180],"over":[181],"original":[183],"PPO.":[184],"And":[185],"it":[186],"demonstrates":[188],"better":[194],"than":[196],"(random,":[199],"zigzag).":[200]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
