{"id":"https://openalex.org/W4399990060","doi":"https://doi.org/10.1109/tits.2024.3411487","title":"A Flexible Cooperative MARL Method for Efficient Passage of an Emergency CAV in Mixed Traffic","display_name":"A Flexible Cooperative MARL Method for Efficient Passage of an Emergency CAV in Mixed Traffic","publication_year":2024,"publication_date":"2024-06-24","ids":{"openalex":"https://openalex.org/W4399990060","doi":"https://doi.org/10.1109/tits.2024.3411487"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3411487","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3411487","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/A5049072775","display_name":"Zhi Li","orcid":"https://orcid.org/0000-0003-2770-6364"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhi Li","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Intelligent Transportation Systems, Guangdong Provincial Key Laboratory of Fire Science and Intelligent Emergency Technology, School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-2646-9897","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Intelligent Transportation Systems, Guangdong Provincial Key Laboratory of Fire Science and Intelligent Emergency Technology, School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062965313","display_name":"Qichao Wang","orcid":"https://orcid.org/0000-0003-2482-6256"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qichao Wang","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026553438","display_name":"Junbo Wang","orcid":"https://orcid.org/0000-0002-2748-8953"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junbo Wang","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Intelligent Transportation Systems, Guangdong Provincial Key Laboratory of Fire Science and Intelligent Emergency Technology, School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-2748-8953","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Intelligent Transportation Systems, Guangdong Provincial Key Laboratory of Fire Science and Intelligent Emergency Technology, School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045070671","display_name":"Zhaocheng He","orcid":"https://orcid.org/0000-0002-9398-2327"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaocheng He","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Intelligent Transportation Systems, Guangdong Provincial Key Laboratory of Fire Science and Intelligent Emergency Technology, School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-9398-2327","affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Intelligent Transportation Systems, Guangdong Provincial Key Laboratory of Fire Science and Intelligent Emergency Technology, School of Intelligent Systems Engineering, Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5049072775"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":4.1018,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.94411576,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"25","issue":"8","first_page":"8898","last_page":"8912"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.930899977684021,"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":0.930899977684021,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9136999845504761,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/computer-science","display_name":"Computer science","score":0.47038236260414124},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.4537409543991089},{"id":"https://openalex.org/keywords/marl","display_name":"Marl","score":0.43191877007484436},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3937187194824219},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.15111342072486877}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47038236260414124},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.4537409543991089},{"id":"https://openalex.org/C92927620","wikidata":"https://www.wikidata.org/wiki/Q184053","display_name":"Marl","level":3,"score":0.43191877007484436},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3937187194824219},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.15111342072486877},{"id":"https://openalex.org/C109007969","wikidata":"https://www.wikidata.org/wiki/Q749565","display_name":"Structural basin","level":2,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3411487","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3411487","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/G2851562800","display_name":null,"funder_award_id":"62072485","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4785023306","display_name":null,"funder_award_id":"JCYJ20230807110802005","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":58,"referenced_works":["https://openalex.org/W1641379095","https://openalex.org/W1689711448","https://openalex.org/W1968719911","https://openalex.org/W2011931151","https://openalex.org/W2056877664","https://openalex.org/W2061437468","https://openalex.org/W2064675550","https://openalex.org/W2076290341","https://openalex.org/W2089080831","https://openalex.org/W2100426031","https://openalex.org/W2139989727","https://openalex.org/W2145339207","https://openalex.org/W2487175822","https://openalex.org/W2617547828","https://openalex.org/W2747213132","https://openalex.org/W2884595847","https://openalex.org/W2885067519","https://openalex.org/W2897837027","https://openalex.org/W2912471136","https://openalex.org/W2964145578","https://openalex.org/W2975703112","https://openalex.org/W2981038142","https://openalex.org/W3003285662","https://openalex.org/W3018779742","https://openalex.org/W3023373481","https://openalex.org/W3084363809","https://openalex.org/W3086706112","https://openalex.org/W3090027660","https://openalex.org/W3092280107","https://openalex.org/W3124225140","https://openalex.org/W3127009812","https://openalex.org/W3154378057","https://openalex.org/W3155306194","https://openalex.org/W4200355373","https://openalex.org/W4205159341","https://openalex.org/W4214573830","https://openalex.org/W4311247414","https://openalex.org/W4376851372","https://openalex.org/W6600981286","https://openalex.org/W6637967152","https://openalex.org/W6684921986","https://openalex.org/W6692846177","https://openalex.org/W6736714129","https://openalex.org/W6738796088","https://openalex.org/W6739516088","https://openalex.org/W6753670138","https://openalex.org/W6754689381","https://openalex.org/W6755069753","https://openalex.org/W6760279721","https://openalex.org/W6762721881","https://openalex.org/W6766805167","https://openalex.org/W6773620346","https://openalex.org/W6781750019","https://openalex.org/W6782167139","https://openalex.org/W6784778700","https://openalex.org/W6785207072","https://openalex.org/W6800189807","https://openalex.org/W6849621831"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2126019709","https://openalex.org/W1702901972","https://openalex.org/W4249798507","https://openalex.org/W2069775250","https://openalex.org/W2093541819","https://openalex.org/W2032294417","https://openalex.org/W2152754392","https://openalex.org/W1989172970"],"abstract_inverted_index":{"Connected":[0],"and":[1,20,54,93,145,156,163,168,200],"autonomous":[2],"vehicles":[3,38],"offer":[4],"the":[5,32,62,84,90,111,116,128,141,152,161,169,181,198,203,208],"possibility":[6],"to":[7,16,49,52,99,110,126],"carry":[8],"out":[9],"control":[10],"strategies,":[11],"thus":[12,58],"having":[13],"great":[14],"potential":[15],"improve":[17],"traffic":[18,56,85,212],"efficiency":[19],"road":[21],"safety.":[22],"The":[23],"efficient":[24],"passage":[25],"of":[26,137,160,183,202,210],"an":[27],"emergency":[28,117,162],"vehicle":[29],"calls":[30],"for":[31,104],"collaborative":[33],"driving":[34],"decision-making":[35],"among":[36],"multiple":[37],"in":[39,207],"a":[40,69,121],"dynamically":[41],"changing":[42,112],"local":[43,134],"area.":[44],"However,":[45],"existing":[46],"work":[47],"fails":[48],"efficiently":[50],"adapt":[51,109],"dynamic":[53],"complex":[55],"conditions,":[57],"cannot":[59],"well":[60],"solve":[61],"task.":[63],"For":[64],"better":[65],"solution,":[66],"we":[67,119],"propose":[68],"flexible":[70],"cooperative":[71,102],"multi-agent":[72],"reinforcement":[73],"learning":[74],"approach":[75],"based":[76],"on":[77,180],"value":[78,131,135],"function":[79,132,136],"factorization,":[80],"called":[81],"Q-LSTM.":[82],"Since":[83],"environment":[86],"is":[87,97],"partially":[88],"observable,":[89],"centralized":[91],"training":[92],"decentralized":[94],"execution":[95],"paradigm":[96],"adopted":[98],"learn":[100],"effective":[101],"strategies":[103],"individual":[105],"agents.":[106],"To":[107,150],"flexibly":[108],"neighborhood":[113],"condition":[114],"around":[115],"vehicle,":[118],"introduce":[120],"long":[122],"short-term":[123],"memory":[124],"network":[125],"decompose":[127],"learned":[129],"global":[130],"into":[133],"each":[138],"agent":[139],"within":[140],"neighborhood,":[142],"whose":[143],"quantity":[144],"entities":[146],"vary":[147],"over":[148],"time.":[149],"address":[151],"credit":[153],"assignment":[154],"problem":[155],"realize":[157],"different":[158],"roles":[159],"regular":[164],"vehicles,":[165],"reward":[166],"mechanism":[167],"way":[170],"agent-wise":[171],"Q-networks":[172],"update":[173],"are":[174,178,205],"well-designed.":[175],"Extensive":[176],"experiments":[177],"conducted":[179],"Simulation":[182],"Urban":[184],"MObility":[185],"platform.":[186],"Results":[187],"show":[188],"that":[189],"our":[190],"Q-LSTM":[191,204],"outperforms":[192],"state-of-the-art":[193],"value-based":[194],"MARL":[195],"methods.":[196],"Moreover,":[197],"robustness":[199],"adaptability":[201],"verified":[206],"cases":[209],"increased":[211],"density.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":10}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}