{"id":"https://openalex.org/W4381733136","doi":"https://doi.org/10.1109/tits.2023.3285442","title":"Deep Multi-Agent Reinforcement Learning for Highway On-Ramp Merging in Mixed Traffic","display_name":"Deep Multi-Agent Reinforcement Learning for Highway On-Ramp Merging in Mixed Traffic","publication_year":2023,"publication_date":"2023-06-24","ids":{"openalex":"https://openalex.org/W4381733136","doi":"https://doi.org/10.1109/tits.2023.3285442"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2023.3285442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3285442","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation 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/A5100319453","display_name":"Dong Chen","orcid":"https://orcid.org/0000-0002-0551-5084"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dong Chen","raw_affiliation_strings":["Department of Mechanical Engineering, Michigan State University, Lansing, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-0551-5084","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Michigan State University, Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072296337","display_name":"Mohammad R. Hajidavalloo","orcid":"https://orcid.org/0000-0001-8880-9098"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohammad R. Hajidavalloo","raw_affiliation_strings":["Department of Mechanical Engineering, Michigan State University, Lansing, MI, USA"],"raw_orcid":"https://orcid.org/0000-0001-8880-9098","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Michigan State University, Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037274043","display_name":"Zhaojian Li","orcid":"https://orcid.org/0000-0002-0189-8719"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhaojian Li","raw_affiliation_strings":["Department of Mechanical Engineering, Michigan State University, Lansing, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-0189-8719","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Michigan State University, Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025712671","display_name":"Kaian Chen","orcid":"https://orcid.org/0000-0002-3405-1389"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kaian Chen","raw_affiliation_strings":["Department of Mechanical Engineering, Michigan State University, Lansing, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-3405-1389","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Michigan State University, Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100339989","display_name":"Yongqiang Wang","orcid":"https://orcid.org/0000-0002-8600-0276"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yongqiang Wang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA","Department of Mechanical Engineering, Clemson University, Clemson, SC, USA"],"raw_orcid":"https://orcid.org/0000-0002-8600-0276","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053974840","display_name":"Longsheng Jiang","orcid":"https://orcid.org/0000-0002-6458-6886"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Longsheng Jiang","raw_affiliation_strings":["Department of Mechanical Engineering, Clemson University, Clemson, SC, USA"],"raw_orcid":"https://orcid.org/0000-0002-6458-6886","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100372089","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0003-0146-7262"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA","Department of Mechanical Engineering, Clemson University, Clemson, SC, USA"],"raw_orcid":"https://orcid.org/0000-0003-0146-7262","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":33.2786,"has_fulltext":false,"cited_by_count":208,"citation_normalized_percentile":{"value":0.99931406,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"24","issue":"11","first_page":"11623","last_page":"11638"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.9811000227928162,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8410199284553528},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7211270332336426},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6894734501838684},{"id":"https://openalex.org/keywords/supervisor","display_name":"Supervisor","score":0.5151313543319702},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5124388337135315},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4951378405094147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3737568259239197},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.10285589098930359}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8410199284553528},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7211270332336426},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6894734501838684},{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.5151313543319702},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5124388337135315},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4951378405094147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3737568259239197},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.10285589098930359},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2023.3285442","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3285442","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":85,"referenced_works":["https://openalex.org/W110575624","https://openalex.org/W1191599655","https://openalex.org/W1641379095","https://openalex.org/W1845972764","https://openalex.org/W1847191588","https://openalex.org/W1965455100","https://openalex.org/W1984611390","https://openalex.org/W1995814506","https://openalex.org/W2054788017","https://openalex.org/W2056877664","https://openalex.org/W2077051712","https://openalex.org/W2095651081","https://openalex.org/W2105929397","https://openalex.org/W2109014690","https://openalex.org/W2119717200","https://openalex.org/W2121092017","https://openalex.org/W2139316239","https://openalex.org/W2139728973","https://openalex.org/W2140722533","https://openalex.org/W2145989380","https://openalex.org/W2504001346","https://openalex.org/W2509583637","https://openalex.org/W2563313883","https://openalex.org/W2616635592","https://openalex.org/W2736601468","https://openalex.org/W2749928749","https://openalex.org/W2755893646","https://openalex.org/W2768542523","https://openalex.org/W2896066033","https://openalex.org/W2900477380","https://openalex.org/W2912471136","https://openalex.org/W2915117209","https://openalex.org/W2962764167","https://openalex.org/W2963575966","https://openalex.org/W2963864421","https://openalex.org/W2972122474","https://openalex.org/W2973183361","https://openalex.org/W2981402159","https://openalex.org/W2989964169","https://openalex.org/W2996037775","https://openalex.org/W2996995088","https://openalex.org/W3005761304","https://openalex.org/W3021603984","https://openalex.org/W3037164854","https://openalex.org/W3045517780","https://openalex.org/W3088310808","https://openalex.org/W3091492359","https://openalex.org/W3091516903","https://openalex.org/W3092064461","https://openalex.org/W3092534200","https://openalex.org/W3100605398","https://openalex.org/W3102824929","https://openalex.org/W3117280628","https://openalex.org/W3120778962","https://openalex.org/W3121012756","https://openalex.org/W3123490258","https://openalex.org/W3123582921","https://openalex.org/W3137177377","https://openalex.org/W3186067722","https://openalex.org/W3189694631","https://openalex.org/W3203418317","https://openalex.org/W3208191353","https://openalex.org/W4214717370","https://openalex.org/W4252655056","https://openalex.org/W4286748781","https://openalex.org/W4287643035","https://openalex.org/W4287774906","https://openalex.org/W4298857966","https://openalex.org/W6627932998","https://openalex.org/W6637967152","https://openalex.org/W6639175102","https://openalex.org/W6677939520","https://openalex.org/W6679809218","https://openalex.org/W6684921986","https://openalex.org/W6692846177","https://openalex.org/W6738796088","https://openalex.org/W6741002519","https://openalex.org/W6743802245","https://openalex.org/W6756559057","https://openalex.org/W6772005887","https://openalex.org/W6784156366","https://openalex.org/W6785173017","https://openalex.org/W6785799234","https://openalex.org/W6789259823","https://openalex.org/W6791684085"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W4387731985","https://openalex.org/W2755149878","https://openalex.org/W1982914007","https://openalex.org/W2159583675","https://openalex.org/W1824242903","https://openalex.org/W1493858311","https://openalex.org/W2155470929","https://openalex.org/W2111125783","https://openalex.org/W2394465510"],"abstract_inverted_index":{"On-ramp":[0],"merging":[1,30],"is":[2,103,124,141],"a":[3,33,51,119],"challenging":[4],"task":[5],"for":[6],"autonomous":[7],"vehicles":[8,19],"(AVs),":[9],"especially":[10],"in":[11,74],"mixed":[12],"traffic":[13,60,76,150],"where":[14,39,77],"AVs":[15,41],"coexist":[16],"with":[17,145],"human-driven":[18],"(HDVs).":[20],"In":[21,117],"this":[22],"paper,":[23],"we":[24],"formulate":[25],"the":[26,40,59,78,134,171],"mixed-traffic":[27],"highway":[28],"on-ramp":[29],"problem":[31],"as":[32],"multi-agent":[34],"reinforcement":[35],"learning":[36,107,155],"(MARL)":[37],"problem,":[38],"(on":[42],"both":[43],"merge":[44],"lane":[45],"and":[46,66,86,131,143],"through":[47],"lane)":[48],"collaboratively":[49],"learn":[50,158],"policy":[52],"to":[53,55,57,91,105,126,156],"adapt":[54],"HDVs":[56],"maximize":[58],"throughput.":[61],"We":[62,152],"develop":[63],"an":[64],"efficient":[65],"scalable":[67],"MARL":[68,173],"framework":[69,174],"that":[70],"can":[71],"be":[72,82],"used":[73],"dynamic":[75],"communication":[79],"topology":[80],"could":[81],"time-varying.":[83],"Parameter":[84],"sharing":[85],"local":[87],"rewards":[88],"are":[89],"exploited":[90],"foster":[92],"inter-agent":[93],"cooperation":[94],"while":[95],"achieving":[96],"great":[97],"scalability.":[98],"An":[99],"action":[100],"masking":[101],"scheme":[102],"employed":[104],"improve":[106],"efficiency":[108],"by":[109],"filtering":[110],"out":[111],"invalid/unsafe":[112],"actions":[113],"at":[114],"each":[115],"step.":[116],"addition,":[118],"novel":[120],"priority-based":[121],"safety":[122],"supervisor":[123],"developed":[125,142],"significantly":[127],"reduce":[128],"collision":[129],"rate":[130],"greatly":[132],"expedite":[133],"training":[135],"process.":[136],"A":[137],"gym-like":[138],"simulation":[139],"environment":[140],"open-sourced":[144],"three":[146],"different":[147],"levels":[148],"of":[149],"densities.":[151],"exploit":[153],"curriculum":[154],"efficiently":[157],"harder":[159],"tasks":[160],"from":[161],"trained":[162],"models":[163],"under":[164],"simpler":[165],"settings.":[166],"Comprehensive":[167],"experimental":[168],"results":[169],"show":[170],"proposed":[172],"consistently":[175],"outperforms":[176],"several":[177],"state-of-the-art":[178],"benchmarks.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":35},{"year":2025,"cited_by_count":89},{"year":2024,"cited_by_count":64},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":6}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}