{"id":"https://openalex.org/W3095315965","doi":"https://doi.org/10.1109/tvt.2020.3034800","title":"Voronoi-Based Multi-Robot Autonomous Exploration in Unknown Environments via Deep Reinforcement Learning","display_name":"Voronoi-Based Multi-Robot Autonomous Exploration in Unknown Environments via Deep Reinforcement Learning","publication_year":2020,"publication_date":"2020-10-29","ids":{"openalex":"https://openalex.org/W3095315965","doi":"https://doi.org/10.1109/tvt.2020.3034800","mag":"3095315965"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2020.3034800","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tvt.2020.3034800","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/tvt.2020.3034800","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073851395","display_name":"Junyan Hu","orcid":"https://orcid.org/0000-0001-7409-3885"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Junyan Hu","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, The University of Manchester, Manchester, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7409-3885","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, The University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010068577","display_name":"Hanlin Niu","orcid":"https://orcid.org/0000-0003-0457-0871"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hanlin Niu","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, The University of Manchester, Manchester, U.K"],"raw_orcid":"https://orcid.org/0000-0003-0457-0871","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, The University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024320684","display_name":"Joaqu\u00edn Carrasco","orcid":"https://orcid.org/0000-0002-7499-6408"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Joaquin Carrasco","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, The University of Manchester, Manchester, U.K"],"raw_orcid":"https://orcid.org/0000-0002-7499-6408","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, The University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011590665","display_name":"Barry Lennox","orcid":"https://orcid.org/0000-0003-0905-8324"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Barry Lennox","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, The University of Manchester, Manchester, U.K"],"raw_orcid":"https://orcid.org/0000-0003-0905-8324","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, The University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005614248","display_name":"Farshad Arvin","orcid":"https://orcid.org/0000-0001-7950-3193"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Farshad Arvin","raw_affiliation_strings":["Department of Electrical and Electronic Engineering, The University of Manchester, Manchester, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7950-3193","affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, The University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5073851395"],"corresponding_institution_ids":["https://openalex.org/I28407311"],"apc_list":null,"apc_paid":null,"fwci":35.1581,"has_fulltext":true,"cited_by_count":413,"citation_normalized_percentile":{"value":0.99904233,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"69","issue":"12","first_page":"14413","last_page":"14423"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.8554024696350098},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6847778558731079},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6471285820007324},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5932731032371521},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5912070274353027},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5635752081871033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5446590185165405},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.539585292339325},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.5144346356391907},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.45470744371414185},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.4180845022201538},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.39120787382125854},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3343425393104553},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3124595284461975},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.26606202125549316}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8554024696350098},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6847778558731079},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6471285820007324},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5932731032371521},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5912070274353027},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5635752081871033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5446590185165405},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.539585292339325},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.5144346356391907},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.45470744371414185},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.4180845022201538},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.39120787382125854},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3343425393104553},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3124595284461975},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.26606202125549316},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tvt.2020.3034800","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tvt.2020.3034800","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/a70005c5-9beb-430e-a0b7-7278b2568a15","is_oa":true,"landing_page_url":"https://research.manchester.ac.uk/en/publications/a70005c5-9beb-430e-a0b7-7278b2568a15","pdf_url":"https://pure.manchester.ac.uk/ws/files/191737243/09244647.pdf","source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Hu, J, Niu, H, Carrasco, J, Lennox, B & Arvin, F 2020, 'Voronoi-Based Multi-Robot Autonomous Exploration in Unknown Environments via Deep Reinforcement Learning', IEEE Transactions on Vehicular Technology, vol. 69, no. 12, 9244647, pp. 14413-14423. https://doi.org/10.1109/TVT.2020.3034800","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.atira.dk:publications/a70005c5-9beb-430e-a0b7-7278b2568a15","is_oa":true,"landing_page_url":null,"pdf_url":"https://www.research.manchester.ac.uk/portal/en/publications/voronoibased-multirobot-autonomous-exploration-in-unknown-environments-via-deep-reinforcement-learning(a70005c5-9beb-430e-a0b7-7278b2568a15).html","source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:durham-repository.worktribe.com:1204132","is_oa":true,"landing_page_url":"https://durham-repository.worktribe.com/output/1204132","pdf_url":null,"source":{"id":"https://openalex.org/S4306400188","display_name":"Durham Research Online (Durham University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I190082696","host_organization_name":"Durham University","host_organization_lineage":["https://openalex.org/I190082696"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":{"id":"doi:10.1109/tvt.2020.3034800","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tvt.2020.3034800","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Vehicular Technology","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2518717205","display_name":null,"funder_award_id":"EP/P01366X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G2898516364","display_name":null,"funder_award_id":"EP/R026084","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G3721459681","display_name":null,"funder_award_id":"CiET1819_13","funder_id":"https://openalex.org/F4320320005","funder_display_name":"Royal Academy of Engineering"},{"id":"https://openalex.org/G5045220161","display_name":null,"funder_award_id":"H2020","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5391253235","display_name":null,"funder_award_id":"EP/S03286X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G5564952769","display_name":"Digital twin-based Bilateral Teleautonomous System for Nuclear Remote Operation","funder_award_id":"EP/S03286X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6465377262","display_name":"Robotics and Artificial Intelligence for Nuclear (RAIN)","funder_award_id":"EP/R026084/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7409862974","display_name":null,"funder_award_id":"899520","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G8621297432","display_name":"Robotics for Nuclear Environments","funder_award_id":"EP/P01366X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320320005","display_name":"Royal Academy of Engineering","ror":"https://ror.org/0526snb40"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1998347989","https://openalex.org/W2098656877","https://openalex.org/W2128453677","https://openalex.org/W2142924305","https://openalex.org/W2167340365","https://openalex.org/W2173248099","https://openalex.org/W2485926893","https://openalex.org/W2530312297","https://openalex.org/W2573758756","https://openalex.org/W2752463559","https://openalex.org/W2804011984","https://openalex.org/W2888788183","https://openalex.org/W2891234582","https://openalex.org/W2907172124","https://openalex.org/W2909069242","https://openalex.org/W2910054127","https://openalex.org/W2911283711","https://openalex.org/W2911679274","https://openalex.org/W2912361519","https://openalex.org/W2912372166","https://openalex.org/W2915903202","https://openalex.org/W2940830480","https://openalex.org/W2943212458","https://openalex.org/W2946061591","https://openalex.org/W2952736579","https://openalex.org/W2963019567","https://openalex.org/W2963428623","https://openalex.org/W2963821308","https://openalex.org/W2963864421","https://openalex.org/W2967686773","https://openalex.org/W2967847744","https://openalex.org/W2982172847","https://openalex.org/W2997995952","https://openalex.org/W2999934039","https://openalex.org/W3006463925","https://openalex.org/W3024850575","https://openalex.org/W3038253450","https://openalex.org/W3060083038","https://openalex.org/W6684921986","https://openalex.org/W7055814506"],"related_works":["https://openalex.org/W3020555194","https://openalex.org/W2793256277","https://openalex.org/W4360958759","https://openalex.org/W2348235448","https://openalex.org/W2116218375","https://openalex.org/W2389906634","https://openalex.org/W176898926","https://openalex.org/W288156810","https://openalex.org/W1562406979","https://openalex.org/W2742483371"],"abstract_inverted_index":{"Autonomous":[0],"exploration":[1,52,106,117],"is":[2,54,88,108,145],"an":[3,19,136],"important":[4],"application":[5],"of":[6,12,178],"multi-vehicle":[7],"systems,":[8],"where":[9],"a":[10,49,84,92,98],"team":[11],"networked":[13,78],"robots":[14,79],"are":[15,172],"coordinated":[16],"to":[17,31,71,124,153,174],"explore":[18],"unknown":[20,134],"environment":[21],"collaboratively.":[22],"This":[23],"technique":[24],"has":[25],"earned":[26],"significant":[27],"research":[28],"interest":[29],"due":[30],"its":[32],"usefulness":[33],"in":[34,132],"search":[35],"and":[36,40,43,67,97,159,165,169],"rescue,":[37],"fault":[38],"detection":[39],"monitoring,":[41],"localization":[42],"mapping,":[44],"etc.":[45],"In":[46],"this":[47],"paper,":[48],"novel":[50],"cooperative":[51,105],"strategy":[53],"proposed":[55,104,180],"for":[56],"multiple":[57],"mobile":[58],"robots,":[59],"which":[60,90,114,148],"reduces":[61],"the":[62,77,81,133,150,162,176,179],"overall":[63],"task":[64],"completion":[65],"time":[66],"energy":[68],"costs":[69],"compared":[70],"conventional":[72],"methods.":[73],"To":[74,127],"efficiently":[75],"navigate":[76],"during":[80],"collaborative":[82],"tasks,":[83],"hierarchical":[85],"control":[86,151],"architecture":[87],"designed":[89],"contains":[91],"high-level":[93],"decision":[94],"making":[95],"layer":[96],"low-level":[99],"target":[100,122],"tracking":[101],"layer.":[102],"The":[103],"approach":[107],"developed":[109],"using":[110],"dynamic":[111],"Voronoi":[112],"partitions,":[113],"minimizes":[115],"duplicated":[116],"areas":[118],"by":[119],"assigning":[120],"different":[121],"locations":[123],"individual":[125],"robots.":[126],"deal":[128],"with":[129],"sudden":[130],"obstacles":[131],"environment,":[135],"integrated":[137],"deep":[138],"reinforcement":[139],"learning":[140,163],"based":[141],"collision":[142],"avoidance":[143],"algorithm":[144],"then":[146],"proposed,":[147],"enables":[149],"policy":[152],"learn":[154],"from":[155],"human":[156],"demonstration":[157],"data":[158],"thus":[160],"improve":[161],"speed":[164],"performance.":[166],"Finally,":[167],"simulation":[168],"experimental":[170],"results":[171],"provided":[173],"demonstrate":[175],"effectiveness":[177],"scheme.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":18},{"year":2025,"cited_by_count":87},{"year":2024,"cited_by_count":91},{"year":2023,"cited_by_count":86},{"year":2022,"cited_by_count":82},{"year":2021,"cited_by_count":49}],"updated_date":"2026-06-03T09:05:47.796612","created_date":"2025-10-10T00:00:00"}
