{"id":"https://openalex.org/W4412719126","doi":"https://doi.org/10.1109/tai.2025.3592648","title":"Learn Once Plan Arbitrarily (LOPA): Dynamic Observation-Based Deep Reinforcement Learning Method for Global Path Planning in Mountainous Terrain Environment","display_name":"Learn Once Plan Arbitrarily (LOPA): Dynamic Observation-Based Deep Reinforcement Learning Method for Global Path Planning in Mountainous Terrain Environment","publication_year":2025,"publication_date":"2025-07-25","ids":{"openalex":"https://openalex.org/W4412719126","doi":"https://doi.org/10.1109/tai.2025.3592648"},"language":"en","primary_location":{"id":"doi:10.1109/tai.2025.3592648","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tai.2025.3592648","pdf_url":null,"source":{"id":"https://openalex.org/S4210169448","display_name":"IEEE Transactions on Artificial Intelligence","issn_l":"2691-4581","issn":["2691-4581"],"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 Transactions on Artificial Intelligence","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/A5015673008","display_name":"Shuqiao Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I5343935","display_name":"Guilin University of Electronic Technology","ror":"https://ror.org/05arjae42","country_code":"CN","type":"education","lineage":["https://openalex.org/I5343935"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shuqiao Huang","raw_affiliation_strings":["School of Electronic Engineering and Automation, Guilin University of Electronic Technology, and Guangxi Key Laboratory of Automatic Detecting Technology and Instruments (Guilin University of Electronic Technology), Guilin, China"],"raw_orcid":"https://orcid.org/0009-0009-0048-5670","affiliations":[{"raw_affiliation_string":"School of Electronic Engineering and Automation, Guilin University of Electronic Technology, and Guangxi Key Laboratory of Automatic Detecting Technology and Instruments (Guilin University of Electronic Technology), Guilin, China","institution_ids":["https://openalex.org/I5343935"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mingxin Hou","orcid":"https://orcid.org/0009-0008-1155-8698"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingxin Hou","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0009-0008-1155-8698","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075069444","display_name":"Xiaofang Yuan","orcid":"https://orcid.org/0000-0001-7280-7207"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaofang Yuan","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0001-7280-7207","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039631380","display_name":"Xiru Wu","orcid":"https://orcid.org/0000-0001-5560-0028"},"institutions":[{"id":"https://openalex.org/I5343935","display_name":"Guilin University of Electronic Technology","ror":"https://ror.org/05arjae42","country_code":"CN","type":"education","lineage":["https://openalex.org/I5343935"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiru Wu","raw_affiliation_strings":["School of Electronic Engineering and Automation, Guilin University of Electronic Technology, and Guangxi Key Laboratory of Automatic Detecting Technology and Instruments (Guilin University of Electronic Technology), Guilin, China"],"raw_orcid":"https://orcid.org/0000-0001-5560-0028","affiliations":[{"raw_affiliation_string":"School of Electronic Engineering and Automation, Guilin University of Electronic Technology, and Guangxi Key Laboratory of Automatic Detecting Technology and Instruments (Guilin University of Electronic Technology), Guilin, China","institution_ids":["https://openalex.org/I5343935"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025640070","display_name":"Yaonan Wang","orcid":"https://orcid.org/0000-0002-0519-6458"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaonan Wang","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-0519-6458","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048230174","display_name":"Guoming Huang","orcid":"https://orcid.org/0000-0003-1378-2892"},"institutions":[{"id":"https://openalex.org/I5343935","display_name":"Guilin University of Electronic Technology","ror":"https://ror.org/05arjae42","country_code":"CN","type":"education","lineage":["https://openalex.org/I5343935"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoming Huang","raw_affiliation_strings":["School of Electronic Engineering and Automation, Guilin University of Electronic Technology, and Guangxi Key Laboratory of Automatic Detecting Technology and Instruments (Guilin University of Electronic Technology), Guilin, China"],"raw_orcid":"https://orcid.org/0000-0003-1378-2892","affiliations":[{"raw_affiliation_string":"School of Electronic Engineering and Automation, Guilin University of Electronic Technology, and Guangxi Key Laboratory of Automatic Detecting Technology and Instruments (Guilin University of Electronic Technology), Guilin, China","institution_ids":["https://openalex.org/I5343935"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5015673008"],"corresponding_institution_ids":["https://openalex.org/I5343935"],"apc_list":null,"apc_paid":null,"fwci":1.1148,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.80099849,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"7","issue":"2","first_page":"1168","last_page":"1184"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9724000096321106,"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":0.9724000096321106,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.963699996471405,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/terrain","display_name":"Terrain","score":0.800640344619751},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7021620273590088},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.666761040687561},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.569831371307373},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5591743588447571},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.5076371431350708},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49214571714401245},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39333289861679077},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34205862879753113},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2565487027168274},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1430608034133911},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11937683820724487},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.11204713582992554},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.061623603105545044},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.04461854696273804}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.800640344619751},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7021620273590088},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.666761040687561},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.569831371307373},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5591743588447571},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.5076371431350708},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49214571714401245},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39333289861679077},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34205862879753113},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2565487027168274},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1430608034133911},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11937683820724487},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.11204713582992554},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.061623603105545044},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.04461854696273804},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tai.2025.3592648","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tai.2025.3592648","pdf_url":null,"source":{"id":"https://openalex.org/S4210169448","display_name":"IEEE Transactions on Artificial Intelligence","issn_l":"2691-4581","issn":["2691-4581"],"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 Transactions on Artificial Intelligence","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G6875898876","display_name":null,"funder_award_id":"62473140","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8037143860","display_name":null,"funder_award_id":"62263005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2099081113","https://openalex.org/W2897475330","https://openalex.org/W2907916537","https://openalex.org/W2978949425","https://openalex.org/W2999840070","https://openalex.org/W3003648623","https://openalex.org/W3016164434","https://openalex.org/W3034726893","https://openalex.org/W3036557346","https://openalex.org/W3043381552","https://openalex.org/W3088314378","https://openalex.org/W3095315965","https://openalex.org/W3107113899","https://openalex.org/W3127085325","https://openalex.org/W3155606146","https://openalex.org/W3166401044","https://openalex.org/W3196603038","https://openalex.org/W3199628534","https://openalex.org/W3210448484","https://openalex.org/W4229056652","https://openalex.org/W4229066299","https://openalex.org/W4285818829","https://openalex.org/W4320015828","https://openalex.org/W4321599785","https://openalex.org/W4328008210","https://openalex.org/W4386132062","https://openalex.org/W4386269701","https://openalex.org/W4386607776","https://openalex.org/W4386824909","https://openalex.org/W4388776341","https://openalex.org/W4390422049","https://openalex.org/W4403277676","https://openalex.org/W4403598542"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W4310083477","https://openalex.org/W4285089922","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"],"abstract_inverted_index":{"Deep":[0],"reinforcement":[1],"learning":[2],"(DRL)":[3],"methods":[4,26],"have":[5],"recently":[6],"shown":[7],"promise":[8],"in":[9,20,126],"path":[10,65,74,225],"planning":[11,18,66,226,250],"tasks.":[12],"However,":[13],"when":[14],"dealing":[15],"with":[16],"global":[17,224],"tasks":[19],"mountainous":[21,69],"terrain":[22,70],"(2.5D)":[23],"environment,":[24],"these":[25,183],"face":[27],"serious":[28],"challenges":[29],"such":[30],"as":[31,246,248],"poor":[32],"convergence":[33,85,242],"and":[34,76,86,159,186,232,243],"generalization.":[35],"To":[36],"this":[37],"end,":[38],"we":[39,80,110,200],"propose":[40],"LOPA":[41,113,164,219,239],"(Learn":[42],"Once":[43],"Plan":[44],"Arbitrarily),":[45],"an":[46,123,191],"enhanced":[47],"DRL":[48,101],"method":[49],"that":[50,96,238],"learns":[51],"on":[52,128,167,214,229],"a":[53,116,135,143,176,210],"single":[54],"map":[55,107],"yet":[56],"generalizes":[57],"to":[58,102,121,149,165,181,189],"topographically":[59],"similar":[60],"terrains.":[61],"Consequently,":[62],"it":[63],"enables":[64],"across":[67],"multiple":[68],"maps":[71],"while":[72],"balancing":[73],"distance":[75],"energy":[77],"consumption.":[78],"Firstly,":[79],"analyze":[81],"the":[82,90,97,112,132,151,163,168,172,215],"reasons":[83],"of":[84,92,131,171],"generalization":[87,207,216,244],"problems":[88],"from":[89],"perspective":[91],"DRL\u2019s":[93,152],"observation,":[94],"revealing":[95],"conventional":[98],"design":[99],"causes":[100],"be":[103],"interfered":[104],"by":[105,139],"irrelevant":[106],"information.":[108],"Secondly,":[109],"develop":[111],"which":[114],"utilizes":[115],"novel":[117],"dynamic":[118,144,156],"observation":[119,145,153],"mechanism":[120,136],"attain":[122,190],"improved":[124,192,206,241],"capability":[125],"focusing":[127],"key":[129,169],"information":[130,170],"observation.":[133],"Such":[134],"is":[137,147,179,220],"realized":[138],"two":[140,155,184],"steps:":[141],"(1)":[142],"model":[146],"built":[148],"transform":[150],"into":[154],"views:":[157],"local":[158],"global,":[160],"significantly":[161],"guiding":[162],"focus":[166],"given":[173],"maps;":[174],"(2)":[175],"dual-channel":[177],"network":[178],"constructed":[180],"process":[182],"views":[185],"integrate":[187],"them":[188],"reasoning":[193],"capability.":[194],"Meanwhile,":[195],"through":[196,222],"Rademacher":[197],"Complexity":[198],"analysis,":[199],"provide":[201],"theoretical":[202],"justification":[203],"for":[204],"LOPA\u2019s":[205],"capability,":[208],"demonstrating":[209],"lower":[211],"upper":[212],"bound":[213],"error.":[217],"The":[218,235],"validated":[221],"multi-objective":[223],"experiments":[227],"conducted":[228],"both":[230],"simulated":[231],"real":[233],"maps.":[234],"results":[236],"suggest":[237],"has":[240],"performance,":[245],"well":[247],"great":[249],"efficiency.":[251]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-29T09:16:38.111599","created_date":"2025-10-10T00:00:00"}
