{"id":"https://openalex.org/W4389987589","doi":"https://doi.org/10.1109/tits.2023.3336670","title":"A Multi-Agent Reinforcement Learning Approach for Safe and Efficient Behavior Planning of Connected Autonomous Vehicles","display_name":"A Multi-Agent Reinforcement Learning Approach for Safe and Efficient Behavior Planning of Connected Autonomous Vehicles","publication_year":2023,"publication_date":"2023-12-20","ids":{"openalex":"https://openalex.org/W4389987589","doi":"https://doi.org/10.1109/tits.2023.3336670"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2023.3336670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3336670","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/A5026925915","display_name":"Songyang Han","orcid":"https://orcid.org/0000-0001-8314-4832"},"institutions":[{"id":"https://openalex.org/I140172145","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97","country_code":"US","type":"education","lineage":["https://openalex.org/I140172145"]},{"id":"https://openalex.org/I2800278093","display_name":"Sony Corporation (United States)","ror":"https://ror.org/05k91zb11","country_code":"US","type":"company","lineage":["https://openalex.org/I2800278093"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Songyang Han","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Connecticut, Storrs, Mansfield, CT, USA","Sony AI, New York, NY, USA"],"raw_orcid":"https://orcid.org/0000-0001-8314-4832","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Connecticut, Storrs, Mansfield, CT, USA","institution_ids":["https://openalex.org/I140172145"]},{"raw_affiliation_string":"Sony AI, New York, NY, USA","institution_ids":["https://openalex.org/I2800278093"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070625162","display_name":"Shanglin Zhou","orcid":"https://orcid.org/0000-0002-6409-7716"},"institutions":[{"id":"https://openalex.org/I140172145","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97","country_code":"US","type":"education","lineage":["https://openalex.org/I140172145"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shanglin Zhou","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Connecticut, Storrs, Mansfield, CT, USA"],"raw_orcid":"https://orcid.org/0000-0002-6409-7716","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Connecticut, Storrs, Mansfield, CT, USA","institution_ids":["https://openalex.org/I140172145"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101462161","display_name":"Jiangwei Wang","orcid":"https://orcid.org/0000-0002-0172-5922"},"institutions":[{"id":"https://openalex.org/I140172145","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97","country_code":"US","type":"education","lineage":["https://openalex.org/I140172145"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiangwei Wang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Connecticut, Storrs, Mansfield, CT, USA"],"raw_orcid":"https://orcid.org/0000-0002-0172-5922","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Connecticut, Storrs, Mansfield, CT, USA","institution_ids":["https://openalex.org/I140172145"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041120549","display_name":"Lynn Pepin","orcid":"https://orcid.org/0000-0001-8862-9628"},"institutions":[{"id":"https://openalex.org/I140172145","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97","country_code":"US","type":"education","lineage":["https://openalex.org/I140172145"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lynn Pepin","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Connecticut, Storrs, Mansfield, CT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Connecticut, Storrs, Mansfield, CT, USA","institution_ids":["https://openalex.org/I140172145"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030060072","display_name":"Caiwen Ding","orcid":"https://orcid.org/0000-0003-0891-1231"},"institutions":[{"id":"https://openalex.org/I140172145","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97","country_code":"US","type":"education","lineage":["https://openalex.org/I140172145"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Caiwen Ding","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Connecticut, Storrs, Mansfield, CT, USA"],"raw_orcid":"https://orcid.org/0000-0003-0891-1231","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Connecticut, Storrs, Mansfield, CT, USA","institution_ids":["https://openalex.org/I140172145"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100723531","display_name":"Jie Fu","orcid":"https://orcid.org/0000-0003-3147-6805"},"institutions":[{"id":"https://openalex.org/I33213144","display_name":"University of Florida","ror":"https://ror.org/02y3ad647","country_code":"US","type":"education","lineage":["https://openalex.org/I33213144"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jie Fu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Florida, Gainesville, FL, USA"],"raw_orcid":"https://orcid.org/0000-0003-3147-6805","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Florida, Gainesville, FL, USA","institution_ids":["https://openalex.org/I33213144"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004660487","display_name":"Fei Miao","orcid":"https://orcid.org/0000-0003-0066-4379"},"institutions":[{"id":"https://openalex.org/I140172145","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97","country_code":"US","type":"education","lineage":["https://openalex.org/I140172145"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fei Miao","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Connecticut, Storrs, Mansfield, CT, USA"],"raw_orcid":"https://orcid.org/0000-0003-0066-4379","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Connecticut, Storrs, Mansfield, CT, USA","institution_ids":["https://openalex.org/I140172145"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.4976,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.93160813,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"25","issue":"5","first_page":"3654","last_page":"3670"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9994999766349792,"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/T10524","display_name":"Traffic control and management","score":0.9979000091552734,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9818000197410583,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8643252849578857},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5419590473175049},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45048898458480835},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41482800245285034},{"id":"https://openalex.org/keywords/autonomous-agent","display_name":"Autonomous agent","score":0.4136899411678314},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3293513059616089},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19245454668998718}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8643252849578857},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5419590473175049},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45048898458480835},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41482800245285034},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.4136899411678314},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3293513059616089},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19245454668998718}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2023.3336670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3336670","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":[{"id":"https://openalex.org/G1809060309","display_name":"SCC-IRG Track 1: Socially Informed Services Conflict Governance through Specification, Detection, Resolution and Prevention","funder_award_id":"1952096","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G35862307","display_name":"CAREER: Distributionally Robust Learning, Control, and Benefits Analysis of Information Sharing for Connected and Autonomous Vehicles","funder_award_id":"2047354","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4113710749","display_name":"CAREER:Formal Synthesis of Provably Correct Cyber-Physical Defense with Asymmetric Information","funder_award_id":"2144113","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7359047676","display_name":"S&AS: FND: COLLAB: Adaptable Vehicular Sensing and Control for Fleet-Oriented Systems in Smart Cities","funder_award_id":"1849246","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":82,"referenced_works":["https://openalex.org/W1544016679","https://openalex.org/W1686810756","https://openalex.org/W1972299090","https://openalex.org/W2023835067","https://openalex.org/W2097117768","https://openalex.org/W2194775991","https://openalex.org/W2342840547","https://openalex.org/W2493168586","https://openalex.org/W2509583637","https://openalex.org/W2549139847","https://openalex.org/W2560609797","https://openalex.org/W2735010720","https://openalex.org/W2736502650","https://openalex.org/W2793611744","https://openalex.org/W2798170643","https://openalex.org/W2897650612","https://openalex.org/W2904466241","https://openalex.org/W2912471136","https://openalex.org/W2963105220","https://openalex.org/W2963727135","https://openalex.org/W2964233199","https://openalex.org/W2966735560","https://openalex.org/W2968296999","https://openalex.org/W2968945909","https://openalex.org/W2968983352","https://openalex.org/W2970963308","https://openalex.org/W2976036462","https://openalex.org/W2979844514","https://openalex.org/W2982041656","https://openalex.org/W2982316857","https://openalex.org/W2991046523","https://openalex.org/W2996012538","https://openalex.org/W3000377464","https://openalex.org/W3040752473","https://openalex.org/W3090027660","https://openalex.org/W3090460481","https://openalex.org/W3091076907","https://openalex.org/W3091691175","https://openalex.org/W3092297010","https://openalex.org/W3100191104","https://openalex.org/W3104263540","https://openalex.org/W3109790059","https://openalex.org/W3112288498","https://openalex.org/W3116298378","https://openalex.org/W3126789558","https://openalex.org/W3127561923","https://openalex.org/W3128395826","https://openalex.org/W3136325136","https://openalex.org/W3173294282","https://openalex.org/W3183652554","https://openalex.org/W3192025957","https://openalex.org/W3194149012","https://openalex.org/W3203418317","https://openalex.org/W3203981070","https://openalex.org/W3205790810","https://openalex.org/W3208909666","https://openalex.org/W3214805815","https://openalex.org/W3216082670","https://openalex.org/W3217694967","https://openalex.org/W4210444794","https://openalex.org/W4210607981","https://openalex.org/W4214717370","https://openalex.org/W4283021706","https://openalex.org/W4295719664","https://openalex.org/W4301501993","https://openalex.org/W4319997953","https://openalex.org/W4388297583","https://openalex.org/W6637373629","https://openalex.org/W6684191040","https://openalex.org/W6704559304","https://openalex.org/W6728155968","https://openalex.org/W6738796088","https://openalex.org/W6745935785","https://openalex.org/W6749304979","https://openalex.org/W6751437432","https://openalex.org/W6752380930","https://openalex.org/W6755069753","https://openalex.org/W6769598862","https://openalex.org/W6784046417","https://openalex.org/W6784152626","https://openalex.org/W6803800456","https://openalex.org/W6947681574"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2031695474","https://openalex.org/W4206233823","https://openalex.org/W2494202692"],"abstract_inverted_index":{"The":[0,51,74,144,241],"recent":[1],"advancements":[2],"in":[3,110,180],"wireless":[4],"technology":[5],"enable":[6],"connected":[7],"autonomous":[8],"vehicles":[9],"(CAVs)":[10],"to":[11,35,45,221,230,237],"gather":[12],"information":[13,41,86],"about":[14],"their":[15],"environment":[16],"by":[17],"vehicle-to-vehicle":[18],"(V2V)":[19],"communication.":[20],"In":[21],"this":[22],"work,":[23],"we":[24,55,170],"design":[25],"an":[26,218],"information-sharing-based":[27],"multi-agent":[28],"reinforcement":[29],"learning":[30],"(MARL)":[31],"framework":[32],"for":[33,113,153,168],"CAVs,":[34],"take":[36,235],"advantage":[37],"of":[38,98,122,182,204],"the":[39,61,84,92,99,120,123,127,155,165,176,202,224],"extra":[40],"when":[42],"making":[43],"decisions":[44],"improve":[46],"traffic":[47,193,239],"efficiency":[48,179],"and":[49,70,95,135,157,185,191,207,234],"safety.":[50],"safe":[52,71,145,211],"actor-critic":[53],"algorithm":[54,112],"propose":[56],"has":[57],"two":[58],"new":[59],"techniques:":[60],"truncated":[62,75],"<inline-formula":[63,76,100,129,137],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[64,77,101,130,138],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[65,78,102,131,139],"<tex-math":[66,79,103,132,140],"notation=\"LaTeX\">$\\mathcal{Q}$</tex-math>":[67,80,104,133],"</inline-formula>":[68,81,105,134,142],"-function":[69,82,106],"action":[72,96,146,236],"mapping.":[73],"utilizes":[83],"shared":[85,225],"from":[87,213],"neighboring":[88],"CAVs":[89,229],"such":[90],"that":[91,172,198,223],"joint":[93],"state":[94],"spaces":[97],"do":[107],"not":[108],"grow":[109],"our":[111,173,199],"a":[114,149,210],"large-scale":[115],"CAV":[116,177,189],"system.":[117],"We":[118,195,216],"prove":[119],"bound":[121],"approximation":[124],"error":[125],"between":[126],"truncated-":[128],"global":[136],"notation=\"LaTeX\">$Q$</tex-math>":[141],"-functions.":[143],"mapping":[147],"provides":[148],"provable":[150],"safety":[151],"guarantee":[152],"both":[154],"training":[156],"execution":[158,203],"based":[159],"on":[160,245],"control":[161],"barrier":[162],"functions.":[163],"Using":[164],"CARLA":[166],"simulator":[167],"experiments,":[169],"show":[171,197,222],"approach":[174,200],"improves":[175],"system\u2019s":[178],"terms":[181],"average":[183],"velocity":[184],"comfort":[186],"under":[187],"different":[188,192],"ratios":[190],"densities.":[194],"also":[196],"avoids":[201],"unsafe":[205],"actions":[206],"always":[208],"maintains":[209],"distance":[212],"other":[214],"vehicles.":[215],"construct":[217],"obstacle-at-corner":[219],"scenario":[220],"vision":[226],"can":[227],"help":[228],"observe":[231],"obstacles":[232],"earlier":[233],"avoid":[238],"jams.":[240],"experiment":[242],"video":[243],"is":[244],"https://songyanghan.github.io/cavmarl/.":[246]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
