{"id":"https://openalex.org/W4295046628","doi":"https://doi.org/10.1109/tie.2022.3203761","title":"Mapless Navigation With Safety-Enhanced Imitation Learning","display_name":"Mapless Navigation With Safety-Enhanced Imitation Learning","publication_year":2022,"publication_date":"2022-09-09","ids":{"openalex":"https://openalex.org/W4295046628","doi":"https://doi.org/10.1109/tie.2022.3203761"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2022.3203761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3203761","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5032616389","display_name":"Chengzhen Yan","orcid":"https://orcid.org/0000-0003-2061-1872"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengzhen Yan","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-2061-1872","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053071794","display_name":"Jiahu Qin","orcid":"https://orcid.org/0000-0001-7580-0836"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahu Qin","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China","Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-7580-0836","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054350814","display_name":"Qingchen Liu","orcid":"https://orcid.org/0000-0002-5892-3591"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingchen Liu","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-5892-3591","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101997909","display_name":"Qichao Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qichao Ma","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-4861-3565","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025987638","display_name":"Yu Kang","orcid":"https://orcid.org/0000-0002-8706-3252"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Kang","raw_affiliation_strings":["Department of Automation, Institute of Advanced Technology, University of Science and Technology of China, Hefei, China","Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-8706-3252","affiliations":[{"raw_affiliation_string":"Department of Automation, Institute of Advanced Technology, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.046,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.92804418,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"70","issue":"7","first_page":"7073","last_page":"7081"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9987000226974487,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7656413316726685},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6509170532226562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.625898003578186},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.573814868927002},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5484285950660706},{"id":"https://openalex.org/keywords/training","display_name":"Training (meteorology)","score":0.5445864200592041},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5271886587142944},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5145561099052429},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5125848650932312},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.4719599485397339},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4545643925666809},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4506412744522095},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.43074285984039307},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32076895236968994},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30831673741340637},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27201586961746216},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1253875494003296},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.11996263265609741},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08667975664138794}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7656413316726685},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6509170532226562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.625898003578186},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.573814868927002},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5484285950660706},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.5445864200592041},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5271886587142944},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5145561099052429},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5125848650932312},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.4719599485397339},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4545643925666809},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4506412744522095},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.43074285984039307},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32076895236968994},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30831673741340637},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27201586961746216},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1253875494003296},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.11996263265609741},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08667975664138794},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2022.3203761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2022.3203761","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4086287620","display_name":null,"funder_award_id":"61873252","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6110658884","display_name":null,"funder_award_id":"61725304","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8898690338","display_name":null,"funder_award_id":"61922076","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":36,"referenced_works":["https://openalex.org/W1931877416","https://openalex.org/W1969483458","https://openalex.org/W2127600839","https://openalex.org/W2130422193","https://openalex.org/W2296673577","https://openalex.org/W2524241275","https://openalex.org/W2604173613","https://openalex.org/W2774451424","https://openalex.org/W2884561390","https://openalex.org/W2954996726","https://openalex.org/W2962894046","https://openalex.org/W2963129648","https://openalex.org/W2963277051","https://openalex.org/W2966994213","https://openalex.org/W2967853831","https://openalex.org/W2984168904","https://openalex.org/W3003342008","https://openalex.org/W3008574431","https://openalex.org/W3013299216","https://openalex.org/W3029795912","https://openalex.org/W3090153548","https://openalex.org/W3090832832","https://openalex.org/W3094551248","https://openalex.org/W3095029720","https://openalex.org/W3099533866","https://openalex.org/W3120527049","https://openalex.org/W3131053238","https://openalex.org/W3132434741","https://openalex.org/W3161551690","https://openalex.org/W3206901743","https://openalex.org/W4206049592","https://openalex.org/W4298857966","https://openalex.org/W6637967152","https://openalex.org/W6640174482","https://openalex.org/W6679875354","https://openalex.org/W6718092244"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691"],"abstract_inverted_index":{"Mapless":[0],"navigation":[1,20,37,146,179],"is":[2],"a":[3,8,35,49,72,112,150],"popular":[4],"approach":[5],"for":[6,18,76,116],"guiding":[7],"robot":[9],"in":[10,134,173],"an":[11],"unknown":[12],"environment.":[13],"However,":[14],"current":[15],"learning-based":[16],"methods":[17],"mapless":[19,36],"cannot":[21],"guarantee":[22],"safe":[23],"exploration":[24,74],"during":[25,68],"training.":[26,118],"In":[27,63,80,98,137,161],"this":[28,81],"article,":[29],"we":[30,70,110,148],"aim":[31],"to":[32,65,94,100],"safely":[33],"train":[34],"policy":[38,90],"with":[39,59,183],"2-D":[40],"LiDAR":[41],"inputs":[42],"using":[43],"imitation":[44],"learning":[45],"(IL).":[46],"We":[47],"propose":[48,149],"novel":[50],"IL":[51],"training":[52,131,158,176],"scheme":[53],"based":[54],"on":[55,124],"the":[56,83,86,96,102,107,125,130,141,145,157,170],"dataset":[57],"aggregation":[58],"extra":[60],"safety":[61,177],"enhancement.":[62],"order":[64,99],"avoid":[66],"collisions":[67],"training,":[69],"design":[71,111],"controlled":[73],"strategy":[75],"demonstration":[77],"data":[78,152],"collection.":[79],"strategy,":[82],"output":[84],"of":[85,106,144,175],"novice":[87],"and":[88,164,178],"expert":[89],"are":[91],"fused":[92],"adaptively":[93],"control":[95],"robot.":[97],"improve":[101],"obstacle":[103,126],"avoidance":[104,127],"capability":[105],"trained":[108],"policy,":[109],"safety-enhanced":[113],"loss":[114,121],"function":[115,122],"network":[117],"This":[119],"proposed":[120],"focuses":[123],"by":[128,140],"prioritizing":[129],"samples":[132],"collected":[133],"different":[135],"states.":[136],"addition,":[138],"inspired":[139],"symmetrical":[142],"pattern":[143],"task,":[147],"new":[151],"augmentation":[153],"technique,":[154],"which":[155],"increases":[156],"speed":[159],"significantly.":[160],"both":[162],"simulation":[163],"real-world":[165],"experiments,":[166],"our":[167],"method":[168],"demonstrates":[169],"remarkable":[171],"performance":[172],"terms":[174],"success":[180],"rate":[181],"compared":[182],"other":[184],"IL-based":[185],"approaches.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":7}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
