{"id":"https://openalex.org/W2884878474","doi":"https://doi.org/10.1162/isal_a_00099","title":"Evolving Robust, Deliberate Motion Planning With a Shallow Convolutional Neural Network","display_name":"Evolving Robust, Deliberate Motion Planning With a Shallow Convolutional Neural Network","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2884878474","doi":"https://doi.org/10.1162/isal_a_00099","mag":"2884878474"},"language":"en","primary_location":{"id":"doi:10.1162/isal_a_00099","is_oa":true,"landing_page_url":"https://doi.org/10.1162/isal_a_00099","pdf_url":"http://www.mitpressjournals.org/doi/pdf/10.1162/isal_a_00099","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The 2018 Conference on Artificial Life","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"http://www.mitpressjournals.org/doi/pdf/10.1162/isal_a_00099","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025011105","display_name":"Ben Jolley","orcid":null},"institutions":[{"id":"https://openalex.org/I56007636","display_name":"Keele University","ror":"https://ror.org/00340yn33","country_code":"GB","type":"education","lineage":["https://openalex.org/I56007636"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Ben Jolley","raw_affiliation_strings":["School of Computing and Mathematics, Keele University, ST5 5BG, UK"],"affiliations":[{"raw_affiliation_string":"School of Computing and Mathematics, Keele University, ST5 5BG, UK","institution_ids":["https://openalex.org/I56007636"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000435630","display_name":"Alastair Channon","orcid":"https://orcid.org/0000-0001-9224-4931"},"institutions":[{"id":"https://openalex.org/I56007636","display_name":"Keele University","ror":"https://ror.org/00340yn33","country_code":"GB","type":"education","lineage":["https://openalex.org/I56007636"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alastair Channon","raw_affiliation_strings":["School of Computing and Mathematics, Keele University, ST5 5BG, UK"],"affiliations":[{"raw_affiliation_string":"School of Computing and Mathematics, Keele University, ST5 5BG, UK","institution_ids":["https://openalex.org/I56007636"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5025011105"],"corresponding_institution_ids":["https://openalex.org/I56007636"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08087728,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"536","last_page":"543"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12535","display_name":"Machine Learning and Data Classification","score":0.996399998664856,"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/T12535","display_name":"Machine Learning and Data Classification","score":0.996399998664856,"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"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9958000183105469,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9951000213623047,"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/computer-science","display_name":"Computer science","score":0.7062881588935852},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6949785351753235},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5209859013557434},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5196325182914734},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4698314368724823},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11782154440879822}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7062881588935852},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6949785351753235},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5209859013557434},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5196325182914734},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4698314368724823},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11782154440879822}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1162/isal_a_00099","is_oa":true,"landing_page_url":"https://doi.org/10.1162/isal_a_00099","pdf_url":"http://www.mitpressjournals.org/doi/pdf/10.1162/isal_a_00099","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The 2018 Conference on Artificial Life","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.keele.ac.uk:5258","is_oa":true,"landing_page_url":"https://eprints.keele.ac.uk/5258/1/alife2018.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306402149","display_name":"Keele Research Repository (Keele University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I56007636","host_organization_name":"Keele University","host_organization_lineage":["https://openalex.org/I56007636"],"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":"Article"}],"best_oa_location":{"id":"doi:10.1162/isal_a_00099","is_oa":true,"landing_page_url":"https://doi.org/10.1162/isal_a_00099","pdf_url":"http://www.mitpressjournals.org/doi/pdf/10.1162/isal_a_00099","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The 2018 Conference on Artificial Life","raw_type":"proceedings-article"},"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2884878474.pdf","grobid_xml":"https://content.openalex.org/works/W2884878474.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W1538131130","https://openalex.org/W1563795667","https://openalex.org/W2056695679","https://openalex.org/W2097117768","https://openalex.org/W2126979492","https://openalex.org/W2130553578","https://openalex.org/W2144354855","https://openalex.org/W2145339207","https://openalex.org/W2145926722","https://openalex.org/W2154579312","https://openalex.org/W2194775991","https://openalex.org/W2316067048","https://openalex.org/W2504108613","https://openalex.org/W2603787502","https://openalex.org/W2778749116","https://openalex.org/W2787685491","https://openalex.org/W2915577274","https://openalex.org/W2964043796","https://openalex.org/W3103780890"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4293226380","https://openalex.org/W2382290278","https://openalex.org/W2350741829","https://openalex.org/W2130043461","https://openalex.org/W2530322880"],"abstract_inverted_index":{"Deep":[0],"Convolutional":[1],"Neural":[2],"Networks":[3],"(ConvNets)":[4],"have":[5,17,32],"seen":[6],"great":[7],"success":[8],"on":[9],"machine":[10],"learning":[11],"tasks":[12,21,40],"in":[13,41,71,105,114,146],"recent":[14],"years":[15],"but":[16],"shown":[18],"difficulty":[19],"with":[20,90,126],"that":[22,122],"require":[23],"long-term":[24,64],"deliberative":[25,65,99],"planning.":[26,101,137],"Whereas,":[27],"purpose-built":[28,50],"hybrid":[29],"network":[30,51],"architectures":[31],"been":[33],"able":[34],"to":[35,54,83,95,153],"solve":[36],"increasingly":[37],"challenging":[38,149],"deliberate":[39,118,133],"two-dimensional":[42],"and":[43,52,98,134],"three-dimensional":[44],"artificial":[45],"worlds.":[46],"Starting":[47],"from":[48],"a":[49,55,59,78,88,91,123],"transitioning":[53],"general":[56],"architecture,":[57],"like":[58],"deep":[60],"ConvNet,":[61],"may":[62],"retain":[63],"planning":[66,145],"while":[67],"allowing":[68],"greater":[69],"flexibility":[70],"the":[72,85,115,139,147,154],"task":[73],"domain.":[74],"This":[75,102,120],"paper":[76],"employs":[77],"standard":[79],"genetic":[80],"algorithm":[81],"(GA)":[82],"train":[84],"weights":[86],"of":[87,108,131],"ConvNet":[89,125,141],"recurrent":[92,127],"3x3":[93],"filter":[94],"produce":[96],"robust":[97,135],"motion":[100,136,144],"technique":[103],"resulted":[104],"an":[106],"average":[107],"98.97%":[109],"completion":[110],"over":[111],"10,000":[112],"runs":[113],"most":[116,148],"difficult":[117],"task.":[119],"demonstrates":[121],"shallow":[124],"connections":[128],"is":[129],"capable":[130],"producing":[132],"Further,":[138],"evolved":[140],"exhibits":[142],"superior":[143],"environments,":[150],"when":[151],"compared":[152],"previous":[155],"taskspecific":[156],"motion-planning":[157],"network.":[158]},"counts_by_year":[],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
