{"id":"https://openalex.org/W4417282616","doi":"https://doi.org/10.1109/pimrc62392.2025.11275325","title":"Communication-Aware Visual Navigation for Multi-AMR Systems via Federated Deep Reinforcement Learning","display_name":"Communication-Aware Visual Navigation for Multi-AMR Systems via Federated Deep Reinforcement Learning","publication_year":2025,"publication_date":"2025-09-01","ids":{"openalex":"https://openalex.org/W4417282616","doi":"https://doi.org/10.1109/pimrc62392.2025.11275325"},"language":null,"primary_location":{"id":"doi:10.1109/pimrc62392.2025.11275325","is_oa":false,"landing_page_url":"https://doi.org/10.1109/pimrc62392.2025.11275325","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 36th International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)","raw_type":"proceedings-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/A5090330677","display_name":"Ai Jian","orcid":null},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]},{"id":"https://openalex.org/I4392021250","display_name":"State Key Laboratory of Networking and Switching Technology","ror":"https://ror.org/00qtv5q45","country_code":null,"type":"facility","lineage":["https://openalex.org/I139759216","https://openalex.org/I4392021250"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ai Jian","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,State Key Laboratory of Networking and Switching Technology,Beijing,China,100876"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,State Key Laboratory of Networking and Switching Technology,Beijing,China,100876","institution_ids":["https://openalex.org/I139759216","https://openalex.org/I4392021250"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026608908","display_name":"Hui Tian","orcid":"https://orcid.org/0000-0001-8876-1389"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]},{"id":"https://openalex.org/I4392021250","display_name":"State Key Laboratory of Networking and Switching Technology","ror":"https://ror.org/00qtv5q45","country_code":null,"type":"facility","lineage":["https://openalex.org/I139759216","https://openalex.org/I4392021250"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Tian","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,State Key Laboratory of Networking and Switching Technology,Beijing,China,100876"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,State Key Laboratory of Networking and Switching Technology,Beijing,China,100876","institution_ids":["https://openalex.org/I139759216","https://openalex.org/I4392021250"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073601755","display_name":"Ruyu Luo","orcid":"https://orcid.org/0000-0001-8291-281X"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]},{"id":"https://openalex.org/I4392021250","display_name":"State Key Laboratory of Networking and Switching Technology","ror":"https://ror.org/00qtv5q45","country_code":null,"type":"facility","lineage":["https://openalex.org/I139759216","https://openalex.org/I4392021250"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruyu Luo","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,State Key Laboratory of Networking and Switching Technology,Beijing,China,100876"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,State Key Laboratory of Networking and Switching Technology,Beijing,China,100876","institution_ids":["https://openalex.org/I139759216","https://openalex.org/I4392021250"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103455079","display_name":"Jiawei Wang","orcid":"https://orcid.org/0009-0008-2323-4009"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]},{"id":"https://openalex.org/I4392021250","display_name":"State Key Laboratory of Networking and Switching Technology","ror":"https://ror.org/00qtv5q45","country_code":null,"type":"facility","lineage":["https://openalex.org/I139759216","https://openalex.org/I4392021250"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiawei Wang","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,State Key Laboratory of Networking and Switching Technology,Beijing,China,100876"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,State Key Laboratory of Networking and Switching Technology,Beijing,China,100876","institution_ids":["https://openalex.org/I139759216","https://openalex.org/I4392021250"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101999289","display_name":"Hao Luo","orcid":"https://orcid.org/0000-0001-7849-3341"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]},{"id":"https://openalex.org/I4392021250","display_name":"State Key Laboratory of Networking and Switching Technology","ror":"https://ror.org/00qtv5q45","country_code":null,"type":"facility","lineage":["https://openalex.org/I139759216","https://openalex.org/I4392021250"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Luo","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,State Key Laboratory of Networking and Switching Technology,Beijing,China,100876"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,State Key Laboratory of Networking and Switching Technology,Beijing,China,100876","institution_ids":["https://openalex.org/I139759216","https://openalex.org/I4392021250"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.45716501,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5774999856948853,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5774999856948853,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.08500000089406967,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.08259999752044678,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.7319999933242798},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5418000221252441},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.519599974155426},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4722999930381775},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.4449999928474426},{"id":"https://openalex.org/keywords/fading","display_name":"Fading","score":0.38989999890327454},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38510000705718994},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.3772999942302704},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.3644999861717224},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.36070001125335693}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7745000123977661},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7319999933242798},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5486999750137329},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5418000221252441},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.519599974155426},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4722999930381775},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.4449999928474426},{"id":"https://openalex.org/C81978471","wikidata":"https://www.wikidata.org/wiki/Q1196572","display_name":"Fading","level":3,"score":0.38989999890327454},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38510000705718994},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3772999942302704},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.37450000643730164},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3644999861717224},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.36070001125335693},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3456999957561493},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3456000089645386},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3359000086784363},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.3343999981880188},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.33000001311302185},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3181000053882599},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3154999911785126},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.31150001287460327},{"id":"https://openalex.org/C193611912","wikidata":"https://www.wikidata.org/wiki/Q4677596","display_name":"Active vision","level":2,"score":0.30469998717308044},{"id":"https://openalex.org/C95491727","wikidata":"https://www.wikidata.org/wiki/Q992968","display_name":"Mobile telephony","level":3,"score":0.3010999858379364},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.2924000024795532},{"id":"https://openalex.org/C158156997","wikidata":"https://www.wikidata.org/wiki/Q1416645","display_name":"Models of communication","level":2,"score":0.2773999869823456},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.2734000086784363},{"id":"https://openalex.org/C157657479","wikidata":"https://www.wikidata.org/wiki/Q2367247","display_name":"Closed captioning","level":3,"score":0.27250000834465027},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.27000001072883606},{"id":"https://openalex.org/C111370547","wikidata":"https://www.wikidata.org/wiki/Q7451120","display_name":"Sensory cue","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.26499998569488525},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2635999917984009},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.2563000023365021},{"id":"https://openalex.org/C101765175","wikidata":"https://www.wikidata.org/wiki/Q577764","display_name":"Communications system","level":2,"score":0.25029999017715454}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/pimrc62392.2025.11275325","is_oa":false,"landing_page_url":"https://doi.org/10.1109/pimrc62392.2025.11275325","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 36th International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334977","display_name":"Beijing Municipal Natural Science Foundation","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2194775991","https://openalex.org/W3034201026","https://openalex.org/W3090027660","https://openalex.org/W3190079665","https://openalex.org/W4210439023","https://openalex.org/W4285184341","https://openalex.org/W4285189244","https://openalex.org/W4312749753","https://openalex.org/W4324291014","https://openalex.org/W4375928838","https://openalex.org/W4383220183","https://openalex.org/W4391164317","https://openalex.org/W4396886553","https://openalex.org/W4402809420"],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"mobile":[1],"robot":[2],"(AMR)":[3],"systems":[4],"in":[5,10,107,126,154],"indoor":[6],"environments":[7,128],"face":[8],"challenges":[9],"jointly":[11],"optimizing":[12],"visual":[13,113],"navigation":[14,147],"and":[15,53,81,88,117,148,151],"communication":[16,25,149],"efficiency.":[17],"Existing":[18],"methods":[19],"often":[20],"decouple":[21],"path":[22],"planning":[23,75],"from":[24],"allocation":[26],"or":[27],"rely":[28],"on":[29,134],"simplified":[30],"2D":[31],"models,":[32],"limiting":[33],"adaptability":[34],"to":[35,49,66],"3D":[36,127],"environments..":[37],"To":[38,84],"address":[39],"these":[40],"limitations,":[41],"we":[42,91],"introduce":[43],"the":[44,68,135],"non-orthogonal":[45],"multiple":[46],"access":[47],"technology":[48],"enhance":[50],"spectral":[51],"efficiency":[52],"ensure":[54],"real-time":[55],"control":[56],"during":[57],"AMR":[58,77],"movement.":[59],"We":[60],"formulate":[61],"a":[62,93],"joint":[63],"optimization":[64],"problem":[65],"maximize":[67],"long-term":[69],"average":[70],"data":[71],"rate":[72],"via":[73],"coordinated":[74],"of":[76],"trajectories,":[78],"transmit":[79],"power,":[80],"precoding":[82],"matrix.":[83],"handle":[85],"wireless":[86],"fading":[87],"localization":[89],"inaccuracy,":[90],"propose":[92],"vision-enhanced":[94],"federated":[95],"deep":[96],"reinforcement":[97],"learning":[98],"framework,":[99],"where":[100],"AMRs":[101],"independently":[102],"learn":[103],"policies":[104],"while":[105],"engaging":[106],"privacy-preserving":[108],"model":[109],"aggregation.":[110],"Leveraging":[111],"RGB-D":[112],"features,":[114],"object":[115],"detection,":[116],"egocentric":[118],"pose":[119],"estimation,":[120],"our":[121,140],"approach":[122],"enables":[123],"robust":[124],"decision-making":[125],"under":[129],"imprecise":[130],"localization.":[131],"Extensive":[132],"experiments":[133],"RoboThor":[136],"simulator":[137],"demonstrate":[138],"that":[139],"proposed":[141],"framework":[142],"accelerates":[143],"training":[144],"convergence,":[145],"improves":[146],"efficiency,":[150],"outperforms":[152],"baselines":[153],"reward":[155],"accumulation.":[156]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-12-12T00:00:00"}