{"id":"https://openalex.org/W4406094327","doi":"https://doi.org/10.1109/lra.2025.3526448","title":"Cooperative Motion Planning in Divided Environments via Congestion-Aware Deep Reinforcement Learning","display_name":"Cooperative Motion Planning in Divided Environments via Congestion-Aware Deep Reinforcement Learning","publication_year":2025,"publication_date":"2025-01-06","ids":{"openalex":"https://openalex.org/W4406094327","doi":"https://doi.org/10.1109/lra.2025.3526448"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3526448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3526448","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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":null,"display_name":"Yuanyuan Du","orcid":"https://orcid.org/0000-0001-8265-5366"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuanyuan Du","raw_affiliation_strings":["Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen), School of Science and Engineering (SSE), and Guangdong Provincial Key Laboratory of Future Networks of Intelligence, The Chinese University of Hong Kong at Shenzhen, Shenzhen, China","Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen), the School of Science and Engineering (SSE), and the Guangdong Provincial Key Laboratory of Future Networks of Intelligence, the Chinese University of Hong Kong, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-8265-5366","affiliations":[{"raw_affiliation_string":"Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen), School of Science and Engineering (SSE), and Guangdong Provincial Key Laboratory of Future Networks of Intelligence, The Chinese University of Hong Kong at Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Shenzhen Future Network of Intelligence Institute (FNii-Shenzhen), the School of Science and Engineering (SSE), and the Guangdong Provincial Key Laboratory of Future Networks of Intelligence, the Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100460591","display_name":"Jianan Zhang","orcid":"https://orcid.org/0000-0003-3318-2165"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianan Zhang","raw_affiliation_strings":["State Key Laboratory of Advanced Optical Communication Systems and Networks, School of Electronics, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3318-2165","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Advanced Optical Communication Systems and Networks, School of Electronics, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068110218","display_name":"Xiang Cheng","orcid":"https://orcid.org/0000-0002-5943-0326"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Cheng","raw_affiliation_strings":["State Key Laboratory of Advanced Optical Communication Systems and Networks, School of Electronics, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5943-0326","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Advanced Optical Communication Systems and Networks, School of Electronics, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009164482","display_name":"Shuguang Cui","orcid":"https://orcid.org/0000-0003-2608-775X"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuguang Cui","raw_affiliation_strings":["SSE, FNii-Shenzhen, and Guangdong Provincial Key Laboratory of Future Networks of Intelligence, The Chinese University of Hong Kong at Shenzhen, Shenzhen, China","Guangdong Provincial Key Laboratory of Future Networks of Intelligence, the Chinese University of Hong Kong, Shenzhen, China","SSE, FNii-Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-2608-775X","affiliations":[{"raw_affiliation_string":"SSE, FNii-Shenzhen, and Guangdong Provincial Key Laboratory of Future Networks of Intelligence, The Chinese University of Hong Kong at Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Future Networks of Intelligence, the Chinese University of Hong Kong, Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"SSE, FNii-Shenzhen, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210116924"],"apc_list":null,"apc_paid":null,"fwci":4.3465,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.92947009,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"10","issue":"3","first_page":"2295","last_page":"2302"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.7228000164031982,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.7228000164031982,"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":0.8239654302597046},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5649968385696411},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5467123985290527},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.5439290404319763},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4038430452346802},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.15074297785758972},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.06561046838760376}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8239654302597046},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5649968385696411},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5467123985290527},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.5439290404319763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4038430452346802},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.15074297785758972},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.06561046838760376}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3526448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3526448","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1848192676","display_name":null,"funder_award_id":"62301011","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5526751200","display_name":null,"funder_award_id":"62341101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6352250275","display_name":null,"funder_award_id":"62293482","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6623849681","display_name":null,"funder_award_id":"62125101","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":24,"referenced_works":["https://openalex.org/W52153049","https://openalex.org/W192919555","https://openalex.org/W1886379263","https://openalex.org/W2117211893","https://openalex.org/W2136752877","https://openalex.org/W2212786010","https://openalex.org/W2757968903","https://openalex.org/W2890001928","https://openalex.org/W2963809389","https://openalex.org/W2964319688","https://openalex.org/W3130631955","https://openalex.org/W3131482536","https://openalex.org/W3131623996","https://openalex.org/W3170735977","https://openalex.org/W3178520728","https://openalex.org/W3197198134","https://openalex.org/W3204524295","https://openalex.org/W3209562766","https://openalex.org/W4205985266","https://openalex.org/W4283795314","https://openalex.org/W4312863572","https://openalex.org/W4389667797","https://openalex.org/W6755226837","https://openalex.org/W6780087965"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255","https://openalex.org/W2106552856"],"abstract_inverted_index":{"In":[0,28,136],"motion":[1,35,72,111,145],"planning":[2,36,126,146],"with":[3,158],"partial":[4],"observability,":[5],"addressing":[6],"uncertainty":[7],"is":[8,56,89,101],"crucial":[9],"for":[10],"preventing":[11],"collisions":[12,46],"and":[13,47,128,142,151],"congestion,":[14],"especially":[15],"in":[16,121,133,148,155],"the":[17,76,79,93,119],"vicinity":[18],"of":[19,78,81,97],"constrained":[20,149],"narrow":[21],"areas":[22],"connecting":[23],"wider":[24],"spaces,":[25],"called":[26],"hallways.":[27,160],"this":[29],"work,":[30],"we":[31,138],"propose":[32],"a":[33,53,70,86,105],"cooperative":[34],"algorithm":[37,117],"that":[38,115],"leverages":[39],"congestion-aware":[40,106],"deep":[41],"reinforcement":[42],"learning":[43],"to":[44,58,108],"alleviate":[45],"congestion":[48],"caused":[49],"by":[50,91,104],"uncertainty.":[51],"Specifically,":[52],"relation":[54],"analyzer":[55],"employed":[57],"build":[59],"relational":[60],"embeddings":[61],"as":[62],"agent":[63],"representations,":[64],"which":[65,100],"are":[66],"then":[67,102],"fed":[68],"into":[69],"subsequent":[71],"generation":[73],"network,":[74],"enhancing":[75],"interpretation":[77],"movements":[80],"other":[82],"local":[83],"agents.":[84],"Additionally,":[85],"hallway":[87],"map":[88],"constructed":[90],"merging":[92],"temporal":[94],"arrival":[95],"intents":[96],"neighboring":[98],"agents,":[99],"used":[103],"scheme":[107],"inform":[109],"distributed":[110,144],"planning.":[112],"Simulations":[113],"indicate":[114],"our":[116],"outperforms":[118],"state-of-the-art":[120],"divided":[122,156],"environments,":[123],"producing":[124],"better":[125],"results":[127],"achieving":[129],"higher":[130],"success":[131],"rates":[132],"various":[134,159],"scenarios.":[135],"summary,":[137],"present":[139],"an":[140],"adaptive":[141],"non-myopic":[143],"method":[147],"scenarios":[150],"illustrate":[152],"its":[153],"performance":[154],"environments":[157]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
