{"id":"https://openalex.org/W4413847202","doi":"https://doi.org/10.1109/tii.2025.3598512","title":"Empowering Multirobot Flocking in Complex Environments via Effective Communication: A Deep Reinforcement Learning Approach","display_name":"Empowering Multirobot Flocking in Complex Environments via Effective Communication: A Deep Reinforcement Learning Approach","publication_year":2025,"publication_date":"2025-08-29","ids":{"openalex":"https://openalex.org/W4413847202","doi":"https://doi.org/10.1109/tii.2025.3598512"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2025.3598512","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2025.3598512","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","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/A5002615112","display_name":"Yunjie Jia","orcid":"https://orcid.org/0000-0001-5967-2125"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunjie Jia","raw_affiliation_strings":["School of Mechanical, Electrical and Information Engineering, Shandong University, Weihai, China"],"raw_orcid":"https://orcid.org/0000-0001-5967-2125","affiliations":[{"raw_affiliation_string":"School of Mechanical, Electrical and Information Engineering, Shandong University, Weihai, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100651809","display_name":"Yong Song","orcid":"https://orcid.org/0000-0003-2505-2766"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Song","raw_affiliation_strings":["School of Mechanical, Electrical and Information Engineering, Shandong University, Weihai, China"],"raw_orcid":"https://orcid.org/0000-0003-2505-2766","affiliations":[{"raw_affiliation_string":"School of Mechanical, Electrical and Information Engineering, Shandong University, Weihai, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015250843","display_name":"Jiyu Cheng","orcid":"https://orcid.org/0000-0002-8063-2547"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiyu Cheng","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-8063-2547","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010814386","display_name":"Hengshan Zhang","orcid":"https://orcid.org/0009-0001-7910-1343"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Heteng Zhang","raw_affiliation_strings":["School of Mechanical, Electrical and Information Engineering, Shandong University, Weihai, China"],"raw_orcid":"https://orcid.org/0009-0001-7910-1343","affiliations":[{"raw_affiliation_string":"School of Mechanical, Electrical and Information Engineering, Shandong University, Weihai, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100756634","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-4960-3190"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-4960-3190","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101645277","display_name":"Rui Song","orcid":"https://orcid.org/0000-0002-4119-4433"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Song","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-4119-4433","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029827598","display_name":"Simon X. Yang","orcid":"https://orcid.org/0000-0002-6888-7993"},"institutions":[{"id":"https://openalex.org/I79817857","display_name":"University of Guelph","ror":"https://ror.org/01r7awg59","country_code":"CA","type":"education","lineage":["https://openalex.org/I79817857"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Simon X. Yang","raw_affiliation_strings":["Advanced Robotics and Intelligent Systems Laboratory, University of Guelph, Guelph, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-6888-7993","affiliations":[{"raw_affiliation_string":"Advanced Robotics and Intelligent Systems Laboratory, University of Guelph, Guelph, ON, Canada","institution_ids":["https://openalex.org/I79817857"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008386708","display_name":"Sam Kwong","orcid":"https://orcid.org/0000-0001-7484-7261"},"institutions":[{"id":"https://openalex.org/I165488957","display_name":"Lingnan University","ror":"https://ror.org/0563pg902","country_code":"HK","type":"education","lineage":["https://openalex.org/I165488957"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Sam Kwong","raw_affiliation_strings":["School of Data Science, Lingnan University, SAR, Hong Kong, China"],"raw_orcid":"https://orcid.org/0000-0001-7484-7261","affiliations":[{"raw_affiliation_string":"School of Data Science, Lingnan University, SAR, Hong Kong, China","institution_ids":["https://openalex.org/I165488957"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9389,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.79346914,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"21","issue":"12","first_page":"9562","last_page":"9573"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9175000190734863,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9175000190734863,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9010999798774719,"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/flocking","display_name":"Flocking (texture)","score":0.9244042634963989},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7980313897132874},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6228715777397156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4627108573913574},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.4164353013038635},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.41313838958740234},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3206983208656311},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28506654500961304}],"concepts":[{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.9244042634963989},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7980313897132874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6228715777397156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4627108573913574},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.4164353013038635},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41313838958740234},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3206983208656311},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28506654500961304},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2025.3598512","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2025.3598512","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5316204917","display_name":null,"funder_award_id":"62373225","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7347770610","display_name":null,"funder_award_id":"62203266","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":27,"referenced_works":["https://openalex.org/W1987128502","https://openalex.org/W2001281158","https://openalex.org/W2117211893","https://openalex.org/W2150312211","https://openalex.org/W2345097924","https://openalex.org/W2511789913","https://openalex.org/W2951360122","https://openalex.org/W2997940961","https://openalex.org/W2998367975","https://openalex.org/W3000043683","https://openalex.org/W3005654113","https://openalex.org/W3166401044","https://openalex.org/W3183210514","https://openalex.org/W4226146702","https://openalex.org/W4283789768","https://openalex.org/W4285119242","https://openalex.org/W4320015828","https://openalex.org/W4320015948","https://openalex.org/W4321608219","https://openalex.org/W4323644326","https://openalex.org/W4367663420","https://openalex.org/W4390492394","https://openalex.org/W4391791320","https://openalex.org/W4392729277","https://openalex.org/W4393371737","https://openalex.org/W4396523522","https://openalex.org/W4406755395"],"related_works":["https://openalex.org/W3196562632","https://openalex.org/W1989157904","https://openalex.org/W2530977643","https://openalex.org/W4318822799","https://openalex.org/W1481047111","https://openalex.org/W3048440450","https://openalex.org/W2357545018","https://openalex.org/W3099149755","https://openalex.org/W2021478294","https://openalex.org/W2139131532"],"abstract_inverted_index":{"Multirobot":[0],"flocking":[1,24,64],"is":[2,32,86,112],"crucial":[3],"for":[4,36,88,105],"safe":[5],"and":[6,16,45,142],"cooperative":[7],"navigation,":[8],"with":[9,81,139],"wide":[10],"applications":[11],"in":[12,62],"logistics,":[13],"service":[14],"delivery,":[15],"mobile":[17],"surveillance.":[18],"Despite":[19],"significant":[20],"progress,":[21],"developing":[22],"effective":[23],"strategies":[25],"under":[26],"complex":[27],"conditions":[28],"remains":[29],"challenging.":[30],"Communication":[31],"a":[33,51,73,108],"vital":[34],"technique":[35],"multirobot":[37,90],"coordination.":[38],"In":[39],"this":[40],"article,":[41],"we":[42],"propose":[43],"refinement":[44],"enhancement":[46],"of":[47,148],"communication":[48,60,80],"information":[49,71,75,102,106,110,116,130],"(REIN),":[50],"novel":[52],"deep":[53],"reinforcement":[54],"learning-based":[55],"framework":[56],"designed":[57,113],"to":[58,128,156],"improve":[59],"effectiveness":[61],"leader\u2013follower":[63],"systems":[65],"through":[66],"the":[67,146],"REIN.":[68],"First,":[69],"regarding":[70],"refinement,":[72],"graph-based":[74],"refiner,":[76],"integrating":[77],"directed":[78],"graph-structured":[79],"an":[82],"innovative":[83],"edge":[84],"filter,":[85],"developed":[87],"selective":[89],"interaction.":[91],"It":[92,122],"helps":[93],"robots":[94],"adaptively":[95],"focus":[96],"on":[97],"relevant":[98],"neighbors,":[99],"considerably":[100],"alleviating":[101],"overload.":[103],"Second,":[104],"enhancement,":[107],"cognition-aligned":[109],"enhancer":[111],"that":[114],"boosts":[115],"expressiveness":[117],"by":[118],"encouraging":[119],"team":[120],"consensus.":[121],"utilizes":[123],"two":[124],"cascaded":[125],"leader-related":[126],"objectives":[127],"optimize":[129],"towards":[131],"cognitive":[132],"alignment":[133],"among":[134],"decentralized":[135],"followers.":[136],"Extensive":[137],"comparisons":[138],"state-of-the-art":[140],"approaches":[141],"ablation":[143],"versions":[144],"demonstrate":[145],"superiority":[147],"our":[149],"framework.":[150],"Physical":[151],"experiments":[152],"are":[153],"also":[154],"conducted":[155],"validate":[157],"its":[158],"practicality.":[159]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T23:17:08.748858","created_date":"2025-10-10T00:00:00"}