{"id":"https://openalex.org/W4417169491","doi":"https://doi.org/10.1109/tie.2025.3632505","title":"Object Recognition and Obstacle Avoidance for Multimobile Robots via Swin Transformer and Deep Reinforcement Learning","display_name":"Object Recognition and Obstacle Avoidance for Multimobile Robots via Swin Transformer and Deep Reinforcement Learning","publication_year":2025,"publication_date":"2025-12-09","ids":{"openalex":"https://openalex.org/W4417169491","doi":"https://doi.org/10.1109/tie.2025.3632505"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2025.3632505","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3632505","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/A5084821990","display_name":"Yu-Kai Fu","orcid":"https://orcid.org/0000-0003-1094-9335"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I3017770710","display_name":"China North Industries Group Corporation (China)","ror":"https://ror.org/00cwdhv97","country_code":"CN","type":"company","lineage":["https://openalex.org/I3017770710"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yu-Kai Fu","raw_affiliation_strings":["Institute of Al for Industries, Nanjing, China","Institute of Al for Industries, Nanjing 211135, China, and also with the State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0003-1094-9335","affiliations":[{"raw_affiliation_string":"Institute of Al for Industries, Nanjing, China","institution_ids":["https://openalex.org/I3017770710"]},{"raw_affiliation_string":"Institute of Al for Industries, Nanjing 211135, China, and also with the State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yiyang Liu","orcid":"https://orcid.org/0000-0002-7839-050X"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I3017770710","display_name":"China North Industries Group Corporation (China)","ror":"https://ror.org/00cwdhv97","country_code":"CN","type":"company","lineage":["https://openalex.org/I3017770710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiyang Liu","raw_affiliation_strings":["Institute of Al for Industries, Nanjing, China","Institute of Al for Industries, Nanjing 211135, China, and also with the State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-7839-050X","affiliations":[{"raw_affiliation_string":"Institute of Al for Industries, Nanjing, China","institution_ids":["https://openalex.org/I3017770710"]},{"raw_affiliation_string":"Institute of Al for Industries, Nanjing 211135, China, and also with the State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073564596","display_name":"Chao Deng","orcid":"https://orcid.org/0000-0002-6148-1034"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Deng","raw_affiliation_strings":["Institute of Advanced Technology, Nanjing University of Posts and Telecommunications, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-6148-1034","affiliations":[{"raw_affiliation_string":"Institute of Advanced Technology, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5084821990"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I3017770710"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38502149,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":"4","first_page":"6211","last_page":"6219"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.3319999873638153,"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":0.3319999873638153,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.23360000550746918,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.11620000004768372,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8901000022888184},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6868000030517578},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6444000005722046},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5608999729156494},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.555400013923645},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5358999967575073},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5026999711990356},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.48809999227523804}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8901000022888184},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7188000082969666},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6868000030517578},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6444000005722046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6352999806404114},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5688999891281128},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5608999729156494},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.555400013923645},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5358999967575073},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5026999711990356},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.48809999227523804},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4562999904155731},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.4456999897956848},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.43540000915527344},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.38519999384880066},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3450999855995178},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.328000009059906},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28700000047683716},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2766999900341034},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2700999975204468},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2671999931335449},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26489999890327454},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2646999955177307},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.263700008392334}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3632505","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3632505","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/G6767769032","display_name":null,"funder_award_id":"92267201","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":28,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W2048848526","https://openalex.org/W2115990616","https://openalex.org/W2194775991","https://openalex.org/W2291649624","https://openalex.org/W2522427587","https://openalex.org/W2809036841","https://openalex.org/W2889785749","https://openalex.org/W2928165649","https://openalex.org/W2982220924","https://openalex.org/W3034429256","https://openalex.org/W3138516171","https://openalex.org/W3196603038","https://openalex.org/W4285120811","https://openalex.org/W4366310718","https://openalex.org/W4382998732","https://openalex.org/W4392174005","https://openalex.org/W4392543777","https://openalex.org/W4398757509","https://openalex.org/W4399345501","https://openalex.org/W4400073691","https://openalex.org/W4400726501","https://openalex.org/W4403598524","https://openalex.org/W4404238717","https://openalex.org/W4406344395","https://openalex.org/W4407361581","https://openalex.org/W4408071467","https://openalex.org/W4409883152"],"related_works":[],"abstract_inverted_index":{"In":[0],"the":[1,50,89,93,98,101,105,131,145,148],"field":[2],"of":[3,100,147],"multimobile":[4],"robots":[5],"(MMRs),":[6],"object":[7,37,52,81],"recognition":[8,38,53,82],"and":[9,19,26,39,54,70,95,108,129,138],"obstacle":[10,40,55,72,127],"avoidance":[11,41,56,73,128],"are":[12,141],"fundamental":[13],"capabilities":[14],"to":[15,65,87,119,143],"ensure":[16],"autonomous":[17],"navigation":[18],"safe":[20],"task":[21],"execution,":[22],"particularly":[23],"in":[24,74,92],"complex":[25],"unknown":[27,46,75],"environments.":[28,47,76],"Motivated":[29],"by":[30],"this":[31,34],"critical":[32],"need,":[33],"article":[35],"investigates":[36],"problems":[42],"for":[43],"MMRs":[44],"under":[45],"Compared":[48],"with":[49],"traditional":[51],"method,":[57],"a":[58,78,110,121,135],"novel":[59],"hierarchical":[60,150],"design":[61],"framework":[62],"is":[63,84,117],"proposed":[64,118,149],"obtain":[66],"accurate":[67],"target":[68],"detection":[69],"achieve":[71],"Specifically,":[77],"Swin":[79],"transformer-based":[80],"method":[83],"first":[85],"introduced":[86],"identify":[88],"specified":[90],"targets":[91,107],"environment":[94],"simultaneously":[96],"provide":[97],"coordinates":[99],"target.":[102,133],"Based":[103],"on":[104],"identified":[106],"coordinates,":[109],"deep":[111],"reinforcement":[112],"learning-based":[113],"trajectory":[114,123],"generation":[115],"algorithm":[116],"generate":[120],"reference":[122],"that":[124],"achieves":[125],"both":[126],"reaches":[130],"prespecified":[132],"Finally,":[134],"numerical":[136],"simulation":[137],"an":[139],"experiment":[140],"conducted":[142],"verify":[144],"effectiveness":[146],"control":[151],"method.":[152]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-12-09T00:00:00"}