{"id":"https://openalex.org/W4367555570","doi":"https://doi.org/10.1587/transinf.2022dlp0057","title":"SPSD: Semantics and Deep Reinforcement Learning Based Motion Planning for Supermarket Robot","display_name":"SPSD: Semantics and Deep Reinforcement Learning Based Motion Planning for Supermarket Robot","publication_year":2023,"publication_date":"2023-04-30","ids":{"openalex":"https://openalex.org/W4367555570","doi":"https://doi.org/10.1587/transinf.2022dlp0057"},"language":"en","primary_location":{"id":"doi:10.1587/transinf.2022dlp0057","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1587/transinf.2022dlp0057","pdf_url":"https://www.jstage.jst.go.jp/article/transinf/E106.D/5/E106.D_2022DLP0057/_pdf","source":{"id":"https://openalex.org/S2486202937","display_name":"IEICE Transactions on Information and Systems","issn_l":"0916-8532","issn":["0916-8532","1745-1361"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4320800604","host_organization_name":"Institute of Electronics, Information and Communication Engineers","host_organization_lineage":["https://openalex.org/P4320800604"],"host_organization_lineage_names":["Institute of Electronics, Information and Communication Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEICE Transactions on Information and Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://www.jstage.jst.go.jp/article/transinf/E106.D/5/E106.D_2022DLP0057/_pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021698019","display_name":"Jialun Cai","orcid":"https://orcid.org/0000-0002-4040-4443"},"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":true,"raw_author_name":"Jialun CAI","raw_affiliation_strings":["School of Electronic and Computer Engineering (SECE), Peking University"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Computer Engineering (SECE), Peking University","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036081371","display_name":"Weibo Huang","orcid":"https://orcid.org/0000-0002-9583-1944"},"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":"Weibo HUANG","raw_affiliation_strings":["School of Electronic and Computer Engineering (SECE), Peking University"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Computer Engineering (SECE), Peking University","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060374320","display_name":"Yingxuan You","orcid":"https://orcid.org/0000-0002-0154-4590"},"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":"Yingxuan YOU","raw_affiliation_strings":["School of Electronic and Computer Engineering (SECE), Peking University"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Computer Engineering (SECE), Peking University","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066774685","display_name":"Zhan CHEN","orcid":null},"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":"Zhan CHEN","raw_affiliation_strings":["School of Electronic and Computer Engineering (SECE), Peking University"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Computer Engineering (SECE), Peking University","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039372748","display_name":"Bin Ren","orcid":"https://orcid.org/0000-0001-9563-7175"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Bin REN","raw_affiliation_strings":["Department of Information Engineering and Computer Science (DISI), University of Trento"],"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science (DISI), University of Trento","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100410352","display_name":"Hong Liu","orcid":"https://orcid.org/0000-0003-1640-9620"},"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":"Hong LIU","raw_affiliation_strings":["School of Electronic and Computer Engineering (SECE), Peking University"],"affiliations":[{"raw_affiliation_string":"School of Electronic and Computer Engineering (SECE), Peking University","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5021698019"],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":0.3582,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.57658175,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"E106.D","issue":"5","first_page":"765","last_page":"772"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.994700014591217,"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":0.8557990193367004},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8225027322769165},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6713899970054626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6044025421142578},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5194368362426758},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.47574353218078613},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4555068016052246},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4240739941596985},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4198630452156067},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4157855808734894},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3810371458530426},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23990559577941895}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8557990193367004},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8225027322769165},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6713899970054626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6044025421142578},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5194368362426758},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.47574353218078613},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4555068016052246},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4240739941596985},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4198630452156067},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4157855808734894},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3810371458530426},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23990559577941895},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1587/transinf.2022dlp0057","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1587/transinf.2022dlp0057","pdf_url":"https://www.jstage.jst.go.jp/article/transinf/E106.D/5/E106.D_2022DLP0057/_pdf","source":{"id":"https://openalex.org/S2486202937","display_name":"IEICE Transactions on Information and Systems","issn_l":"0916-8532","issn":["0916-8532","1745-1361"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4320800604","host_organization_name":"Institute of Electronics, Information and Communication Engineers","host_organization_lineage":["https://openalex.org/P4320800604"],"host_organization_lineage_names":["Institute of Electronics, Information and Communication Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEICE Transactions on Information and Systems","raw_type":"journal-article"},{"id":"pmh:oai:arpi.unipi.it:11568/1324968","is_oa":false,"landing_page_url":"https://hdl.handle.net/11568/1324968","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1587/transinf.2022dlp0057","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1587/transinf.2022dlp0057","pdf_url":"https://www.jstage.jst.go.jp/article/transinf/E106.D/5/E106.D_2022DLP0057/_pdf","source":{"id":"https://openalex.org/S2486202937","display_name":"IEICE Transactions on Information and Systems","issn_l":"0916-8532","issn":["0916-8532","1745-1361"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4320800604","host_organization_name":"Institute of Electronics, Information and Communication Engineers","host_organization_lineage":["https://openalex.org/P4320800604"],"host_organization_lineage_names":["Institute of Electronics, Information and Communication Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEICE Transactions on Information and Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7300000190734863,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2682340759","display_name":null,"funder_award_id":"62073004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2981938667","display_name":null,"funder_award_id":"Shenzhen","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3757194791","display_name":null,"funder_award_id":"JCYJ20","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5939423041","display_name":null,"funder_award_id":"Technology","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6356886488","display_name":null,"funder_award_id":"JCYJ20190808182209321","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8502651790","display_name":null,"funder_award_id":"No.62073004","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":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4367555570.pdf"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1605929701","https://openalex.org/W1757796397","https://openalex.org/W1859266720","https://openalex.org/W1969483458","https://openalex.org/W2000359213","https://openalex.org/W2018738607","https://openalex.org/W2056904140","https://openalex.org/W2103120971","https://openalex.org/W2112271657","https://openalex.org/W2123037532","https://openalex.org/W2128990851","https://openalex.org/W2142156433","https://openalex.org/W2177274602","https://openalex.org/W2547345216","https://openalex.org/W2563670399","https://openalex.org/W2746553466","https://openalex.org/W2760863500","https://openalex.org/W2767050701","https://openalex.org/W2804042855","https://openalex.org/W2891816981","https://openalex.org/W2898035736","https://openalex.org/W2918608282","https://openalex.org/W2962887844","https://openalex.org/W2964319688","https://openalex.org/W2981319334","https://openalex.org/W3005243570","https://openalex.org/W3038610377","https://openalex.org/W3090254537","https://openalex.org/W3090952442","https://openalex.org/W3101442004","https://openalex.org/W3195604129"],"related_works":["https://openalex.org/W2050548713","https://openalex.org/W4380590094","https://openalex.org/W3119736302","https://openalex.org/W4377293004","https://openalex.org/W3200041777","https://openalex.org/W4366439405","https://openalex.org/W4386464271","https://openalex.org/W2015961810","https://openalex.org/W2956606787","https://openalex.org/W3036618925"],"abstract_inverted_index":{"Robot":[0],"motion":[1,14,90],"planning":[2,15,45,163,182],"is":[3,129,150,174,184],"an":[4,40],"important":[5],"part":[6],"of":[7,13,22,28,33,64,72,103,136,156,172,194,214,226,229],"the":[8,20,23,26,31,34,49,60,70,97,101,104,107,133,137,140,147,153,169,180,191,212,215,224,227,230],"unmanned":[9],"supermarket.":[10],"The":[11,142,205],"challenges":[12],"in":[16,19,93,106,139,152,218],"supermarkets":[17],"lie":[18],"diversity":[21],"supermarket":[24,65,77],"environment,":[25],"complexity":[27],"obstacle":[29],"movement,":[30],"vastness":[32],"search":[35],"space.":[36],"This":[37],"paper":[38],"proposes":[39],"adaptive":[41],"Search":[42],"and":[43,52,88,117,161,190,203],"Path":[44],"method":[46,217],"based":[47,68],"on":[48,69],"Semantic":[50],"information":[51,81],"Deep":[53],"reinforcement":[54,74,109],"learning":[55,75],"(SPSD),":[56],"which":[57],"effectively":[58],"improves":[59],"autonomous":[61],"decision-making":[62],"ability":[63],"robots.":[66],"Firstly,":[67],"backbone":[71],"deep":[73,108],"(DRL),":[76],"robots":[78],"process":[79],"real-time":[80],"from":[82],"multi-modality":[83],"sensors":[84],"to":[85,95,122,131,199,210,232],"realize":[86],"high-speed":[87],"collision-free":[89],"planning.":[91],"Meanwhile,":[92],"order":[94],"solve":[96],"problem":[98],"caused":[99],"by":[100,176,186],"uncertainty":[102],"reward":[105,124],"learning,":[110],"common":[111],"spatial":[112],"semantic":[113],"relationships":[114],"between":[115],"landmarks":[116],"target":[118],"objects":[119],"are":[120,207],"exploited":[121],"define":[123],"function.":[125],"Finally,":[126],"dynamics":[127],"randomization":[128],"introduced":[130],"improve":[132],"generalization":[134,157],"performance":[135],"algorithm":[138,149],"training.":[141],"experimental":[143],"results":[144,206,228],"show":[145],"that":[146],"SPSD":[148,173,195],"excellent":[151],"three":[154],"indicators":[155],"performance,":[158],"training":[159,170],"time":[160,171],"path":[162,181],"length.":[164],"Compared":[165],"with":[166],"other":[167],"methods,":[168],"reduced":[175,185],"27.42%":[177],"at":[178,188],"most,":[179,189],"length":[183],"21.08%":[187],"trained":[192],"network":[193],"can":[196],"be":[197],"applied":[198],"unfamiliar":[200],"scenes":[201],"safely":[202],"efficiently.":[204],"motivating":[208],"enough":[209],"consider":[211],"application":[213],"proposed":[216],"practical":[219],"scenes.":[220],"We":[221],"have":[222],"uploaded":[223],"video":[225],"experiment":[231],"https://www.youtube.com/watch?v=h1wLpm42NZk.":[233]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
