{"id":"https://openalex.org/W4390541777","doi":"https://doi.org/10.3389/frobt.2023.1255696","title":"Reactive optimal motion planning for a class of holonomic planar agents using reinforcement learning with provable guarantees","display_name":"Reactive optimal motion planning for a class of holonomic planar agents using reinforcement learning with provable guarantees","publication_year":2024,"publication_date":"2024-01-03","ids":{"openalex":"https://openalex.org/W4390541777","doi":"https://doi.org/10.3389/frobt.2023.1255696","pmid":"https://pubmed.ncbi.nlm.nih.gov/38234864"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2023.1255696","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1255696","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1255696/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1255696/pdf?isPublishedV2=False","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001781861","display_name":"Panagiotis Rousseas","orcid":"https://orcid.org/0000-0003-4669-3204"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":true,"raw_author_name":"Panagiotis Rousseas","raw_affiliation_strings":["Control Systems Laboratory, School of Mechanical Engineering, National Technical University of Athens, Athens, Greece","Control Systems Laboratory, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Systems Laboratory, School of Mechanical Engineering, National Technical University of Athens, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"Control Systems Laboratory, Greece","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020695725","display_name":"Charalampos P. Bechlioulis","orcid":"https://orcid.org/0000-0001-9850-2540"},"institutions":[{"id":"https://openalex.org/I174878644","display_name":"University of Patras","ror":"https://ror.org/017wvtq80","country_code":"GR","type":"education","lineage":["https://openalex.org/I174878644"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Charalampos Bechlioulis","raw_affiliation_strings":["Division of Systems and Control, Department of Electrical and Computer Engineering, University of Patras, Patras, Greece","Division of Systems and Control, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Systems and Control, Department of Electrical and Computer Engineering, University of Patras, Patras, Greece","institution_ids":["https://openalex.org/I174878644"]},{"raw_affiliation_string":"Division of Systems and Control, Greece","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012966309","display_name":"Kostas J. Kyriakopoulos","orcid":"https://orcid.org/0000-0002-1229-3029"},"institutions":[{"id":"https://openalex.org/I120250893","display_name":"New York University Abu Dhabi","ror":"https://ror.org/00e5k0821","country_code":"AE","type":"education","lineage":["https://openalex.org/I120250893","https://openalex.org/I57206974"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Kostas Kyriakopoulos","raw_affiliation_strings":["Center of AI & Robotics (CAIR), New York University, Abu Dhabi, United Arab Emirates","Center of AI & Robotics (CAIR), New York University, United Arab Emirates"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of AI & Robotics (CAIR), New York University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I120250893"]},{"raw_affiliation_string":"Center of AI & Robotics (CAIR), New York University, United Arab Emirates","institution_ids":["https://openalex.org/I120250893"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5001781861"],"corresponding_institution_ids":["https://openalex.org/I174458059"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":0.6952,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.6714155,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"10","issue":null,"first_page":"1255696","last_page":"1255696"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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":0.9979000091552734,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9914000034332275,"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":0.8230680227279663},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7613415718078613},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6594815850257874},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6136192083358765},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6127220392227173},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4613044857978821},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4404502213001251},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4152447581291199},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3545520305633545},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2557121217250824},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18670904636383057},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.18331274390220642}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8230680227279663},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7613415718078613},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6594815850257874},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6136192083358765},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6127220392227173},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4613044857978821},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4404502213001251},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4152447581291199},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3545520305633545},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2557121217250824},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18670904636383057},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.18331274390220642},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/frobt.2023.1255696","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1255696","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1255696/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:38234864","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38234864","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10791867","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10791867","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10791867/pdf/frobt-10-1255696.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:8325a1ef52ce4a81bb5c55af2c2eed9c","is_oa":true,"landing_page_url":"https://doaj.org/article/8325a1ef52ce4a81bb5c55af2c2eed9c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 10 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2023.1255696","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2023.1255696","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2023.1255696/pdf?isPublishedV2=False","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5099999904632568,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4390541777.pdf"},"referenced_works_count":70,"referenced_works":["https://openalex.org/W2169610","https://openalex.org/W1590684588","https://openalex.org/W1904799423","https://openalex.org/W1915358632","https://openalex.org/W1940784131","https://openalex.org/W1970832114","https://openalex.org/W1971086298","https://openalex.org/W1974581510","https://openalex.org/W1995600898","https://openalex.org/W2000359213","https://openalex.org/W2030777923","https://openalex.org/W2037907469","https://openalex.org/W2076738229","https://openalex.org/W2097121541","https://openalex.org/W2098475019","https://openalex.org/W2108286682","https://openalex.org/W2110144538","https://openalex.org/W2128990851","https://openalex.org/W2132990760","https://openalex.org/W2134846016","https://openalex.org/W2167340365","https://openalex.org/W2167348159","https://openalex.org/W2199171022","https://openalex.org/W2584986912","https://openalex.org/W2599174273","https://openalex.org/W2609474531","https://openalex.org/W2771235966","https://openalex.org/W2888241724","https://openalex.org/W2890358241","https://openalex.org/W2891816981","https://openalex.org/W2901136733","https://openalex.org/W2963469207","https://openalex.org/W2976269899","https://openalex.org/W3005907094","https://openalex.org/W3006505024","https://openalex.org/W3016507688","https://openalex.org/W3022310485","https://openalex.org/W3029795912","https://openalex.org/W3035578948","https://openalex.org/W3096349301","https://openalex.org/W3131301495","https://openalex.org/W3133407528","https://openalex.org/W3135787812","https://openalex.org/W3208245705","https://openalex.org/W3214738088","https://openalex.org/W4205430897","https://openalex.org/W4205940976","https://openalex.org/W4206165650","https://openalex.org/W4206260634","https://openalex.org/W4214717370","https://openalex.org/W4236554145","https://openalex.org/W4247582681","https://openalex.org/W4306404064","https://openalex.org/W4378696928","https://openalex.org/W6636945615","https://openalex.org/W6639902923","https://openalex.org/W6640187396","https://openalex.org/W6640373652","https://openalex.org/W6643684882","https://openalex.org/W6680032640","https://openalex.org/W6680793940","https://openalex.org/W6683236216","https://openalex.org/W6684393244","https://openalex.org/W6696955428","https://openalex.org/W6735028971","https://openalex.org/W6754271776","https://openalex.org/W6756486208","https://openalex.org/W6776434548","https://openalex.org/W6780383567","https://openalex.org/W6791036973"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1999333556","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103"],"abstract_inverted_index":{"approach.":[0],"The":[1],"proposed":[2],"method":[3],"outperforms":[4],"or":[5],"closely":[6],"matches":[7],"the":[8,12,17,28,31],"latter":[9],"methods,":[10],"indicating":[11],"near":[13],"global":[14],"optimality":[15],"of":[16],"former,":[18],"while":[19],"providing":[20],"a":[21],"solution":[22],"for":[23],"planning":[24],"from":[25],"anywhere":[26],"within":[27],"workspace":[29],"to":[30],"goal":[32],"position.":[33]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
