{"id":"https://openalex.org/W4391974559","doi":"https://doi.org/10.1109/tcds.2024.3368055","title":"Deep Reinforcement Learning With Multicritic TD3 for Decentralized Multirobot Path Planning","display_name":"Deep Reinforcement Learning With Multicritic TD3 for Decentralized Multirobot Path Planning","publication_year":2024,"publication_date":"2024-02-20","ids":{"openalex":"https://openalex.org/W4391974559","doi":"https://doi.org/10.1109/tcds.2024.3368055"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2024.3368055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2024.3368055","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Cognitive and Developmental Systems","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/A5039902822","display_name":"Heqing Yin","orcid":"https://orcid.org/0009-0007-5455-2475"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Heqing Yin","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100371655","display_name":"Chang Wang","orcid":"https://orcid.org/0000-0003-0161-0591"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Wang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035598117","display_name":"Chao Yan","orcid":"https://orcid.org/0000-0002-9995-4239"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Yan","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027437343","display_name":"Xiaojia Xiang","orcid":"https://orcid.org/0000-0002-1525-6231"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaojia Xiang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008035847","display_name":"Boliang Cai","orcid":"https://orcid.org/0000-0003-4411-8935"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boliang Cai","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Hohai University, Changzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Hohai University, Changzhou, China","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066950886","display_name":"Changyun Wei","orcid":"https://orcid.org/0000-0002-5788-6573"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changyun Wei","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Hohai University, Changzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Hohai University, Changzhou, China","institution_ids":["https://openalex.org/I163340411"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5039902822"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":4.8816,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.9606207,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"16","issue":"4","first_page":"1233","last_page":"1247"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9973999857902527,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/computer-science","display_name":"Computer science","score":0.7940508127212524},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7719999551773071},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5275028944015503},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4888412356376648},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.43486788868904114},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3760460913181305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27458706498146057},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.2711576223373413},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17066681385040283},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08678990602493286}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7940508127212524},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7719999551773071},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5275028944015503},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4888412356376648},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.43486788868904114},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3760460913181305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27458706498146057},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2711576223373413},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17066681385040283},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08678990602493286},{"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/tcds.2024.3368055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2024.3368055","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Cognitive and Developmental Systems","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":40,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1424654272","https://openalex.org/W1489244333","https://openalex.org/W1658008008","https://openalex.org/W1989407213","https://openalex.org/W2013511016","https://openalex.org/W2072195747","https://openalex.org/W2136207702","https://openalex.org/W2153809277","https://openalex.org/W2201581102","https://openalex.org/W2227909145","https://openalex.org/W2241553860","https://openalex.org/W2305148090","https://openalex.org/W2777057360","https://openalex.org/W2892258706","https://openalex.org/W2905150423","https://openalex.org/W2963428623","https://openalex.org/W2963821308","https://openalex.org/W2964997335","https://openalex.org/W2971481292","https://openalex.org/W2998722501","https://openalex.org/W3022085077","https://openalex.org/W3031798691","https://openalex.org/W3103635569","https://openalex.org/W3130631955","https://openalex.org/W3171996075","https://openalex.org/W3175526935","https://openalex.org/W3183210514","https://openalex.org/W3196603038","https://openalex.org/W4308080104","https://openalex.org/W4312641903","https://openalex.org/W4313854668","https://openalex.org/W4319302657","https://openalex.org/W4319993446","https://openalex.org/W4321608219","https://openalex.org/W4388543834","https://openalex.org/W6600296044","https://openalex.org/W6636881020","https://openalex.org/W6687681856","https://openalex.org/W6748638692"],"related_works":["https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","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":{"Centralized":[0],"multi-robot":[1,42],"path":[2,43],"planning":[3,44],"is":[4],"a":[5,9,39,87,103],"prevalent":[6],"approach":[7,23,45,59,204],"involving":[8],"global":[10],"planner":[11],"computing":[12],"feasible":[13],"paths":[14],"for":[15,50],"each":[16,100,111,141,153],"robot":[17,112,154,216],"using":[18],"shared":[19],"information.":[20],"Nonetheless,":[21],"this":[22],"encounters":[24],"limitations":[25],"due":[26],"to":[27,113,138,151,155,195],"communication":[28],"constraints":[29],"and":[30,54,64,90,165,215],"computational":[31],"complexity.":[32],"To":[33],"address":[34],"these":[35],"challenges,":[36],"we":[37,147],"introduce":[38],"novel":[40],"decentralized":[41],"that":[46,201],"eliminates":[47],"the":[48,52,79,136],"need":[49],"sharing":[51],"states":[53],"intentions":[55],"of":[56,213],"robots.":[57,170],"Our":[58],"harnesses":[60],"deep":[61,71],"reinforcement":[62],"learning":[63],"features":[65],"an":[66,92,177,184],"asynchronous":[67,93],"multi-critic":[68,88],"twin":[69],"delayed":[70],"deterministic":[72],"policy":[73,109,180],"gradient":[74],"(AMC-TD3)":[75],"algorithm,":[76],"which":[77],"enhances":[78],"original":[80],"GRU-Attention":[81],"based":[82],"TD3":[83],"algorithm":[84],"by":[85],"incorporating":[86],"network":[89],"employing":[91],"training":[94,99],"mechanism.":[95],"<p":[96,171],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[97,172],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">By":[98],"critic":[101],"with":[102,121,168,210],"unique":[104],"reward":[105,129],"function,":[106,130],"our":[107,128,202],"learned":[108],"enables":[110],"navigate":[114],"towards":[115],"its":[116,157,162],"long-term":[117,158],"objective":[118],"without":[119,181],"colliding":[120],"other":[122,142,169],"robots":[123,137],"in":[124,132,143,207],"complex":[125],"environments.":[126,197],"Furthermore,":[127],"grounded":[131],"social":[133],"norms,":[134],"allows":[135],"naturally":[139],"avoid":[140],"congested":[144],"situations.":[145],"Specifically,":[146],"train":[148],"three":[149],"critics":[150],"encourage":[152],"achieve":[156],"navigation":[159,179],"goal,":[160],"maintain":[161],"moving":[163],"direction,":[164],"prevent":[166],"collisions":[167],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Our":[173],"model":[174],"can":[175],"learn":[176],"end-to-end":[178],"relying":[182],"on":[183],"accurate":[185],"map":[186],"or":[187],"any":[188],"localization":[189],"information,":[190],"rendering":[191],"it":[192],"highly":[193],"adaptable":[194],"various":[196],"Simulation":[198],"results":[199],"reveal":[200],"proposed":[203],"surpasses":[205],"baselines":[206],"several":[208],"environments":[209],"different":[211],"levels":[212],"complexity":[214],"populations.":[217]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-14T08:43:22.919905","created_date":"2025-10-10T00:00:00"}