{"id":"https://openalex.org/W4396952786","doi":"https://doi.org/10.3390/bdcc8050049","title":"Runtime Verification-Based Safe MARL for Optimized Safety Policy Generation for Multi-Robot Systems","display_name":"Runtime Verification-Based Safe MARL for Optimized Safety Policy Generation for Multi-Robot Systems","publication_year":2024,"publication_date":"2024-05-16","ids":{"openalex":"https://openalex.org/W4396952786","doi":"https://doi.org/10.3390/bdcc8050049"},"language":"en","primary_location":{"id":"doi:10.3390/bdcc8050049","is_oa":true,"landing_page_url":"https://doi.org/10.3390/bdcc8050049","pdf_url":"https://www.mdpi.com/2504-2289/8/5/49/pdf?version=1715859776","source":{"id":"https://openalex.org/S4210238752","display_name":"Big Data and Cognitive Computing","issn_l":"2504-2289","issn":["2504-2289"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Big Data and Cognitive Computing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2504-2289/8/5/49/pdf?version=1715859776","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100356126","display_name":"Yang Liu","orcid":"https://orcid.org/0000-0003-2551-0050"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yang Liu","raw_affiliation_strings":["Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai 200120, China"],"affiliations":[{"raw_affiliation_string":"Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai 200120, China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079415041","display_name":"Jiankun Li","orcid":"https://orcid.org/0000-0001-9866-3168"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiankun Li","raw_affiliation_strings":["Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai 200120, China"],"affiliations":[{"raw_affiliation_string":"Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai 200120, China","institution_ids":["https://openalex.org/I96733725"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100356126"],"corresponding_institution_ids":["https://openalex.org/I96733725"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":1.1918,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.75980203,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":"8","issue":"5","first_page":"49","last_page":"49"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13295","display_name":"Safety Systems Engineering in Autonomy","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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/T13295","display_name":"Safety Systems Engineering in Autonomy","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T12423","display_name":"Software Reliability and Analysis Research","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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":0.5918506383895874},{"id":"https://openalex.org/keywords/runtime-verification","display_name":"Runtime verification","score":0.448953777551651},{"id":"https://openalex.org/keywords/marl","display_name":"Marl","score":0.4335462749004364},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3642171025276184},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.29618406295776367},{"id":"https://openalex.org/keywords/formal-verification","display_name":"Formal verification","score":0.18986618518829346},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11904975771903992}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5918506383895874},{"id":"https://openalex.org/C202973057","wikidata":"https://www.wikidata.org/wiki/Q7380130","display_name":"Runtime verification","level":3,"score":0.448953777551651},{"id":"https://openalex.org/C92927620","wikidata":"https://www.wikidata.org/wiki/Q184053","display_name":"Marl","level":3,"score":0.4335462749004364},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3642171025276184},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.29618406295776367},{"id":"https://openalex.org/C111498074","wikidata":"https://www.wikidata.org/wiki/Q173326","display_name":"Formal verification","level":2,"score":0.18986618518829346},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11904975771903992},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C109007969","wikidata":"https://www.wikidata.org/wiki/Q749565","display_name":"Structural basin","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/bdcc8050049","is_oa":true,"landing_page_url":"https://doi.org/10.3390/bdcc8050049","pdf_url":"https://www.mdpi.com/2504-2289/8/5/49/pdf?version=1715859776","source":{"id":"https://openalex.org/S4210238752","display_name":"Big Data and Cognitive Computing","issn_l":"2504-2289","issn":["2504-2289"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Big Data and Cognitive Computing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:95f7b9b51f194aa79a901c85982dd5a2","is_oa":true,"landing_page_url":"https://doaj.org/article/95f7b9b51f194aa79a901c85982dd5a2","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Big Data and Cognitive Computing, Vol 8, Iss 5, p 49 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/bdcc8050049","is_oa":true,"landing_page_url":"https://doi.org/10.3390/bdcc8050049","pdf_url":"https://www.mdpi.com/2504-2289/8/5/49/pdf?version=1715859776","source":{"id":"https://openalex.org/S4210238752","display_name":"Big Data and Cognitive Computing","issn_l":"2504-2289","issn":["2504-2289"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Big Data and Cognitive Computing","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Partnerships for the goals","score":0.5099999904632568,"id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4396952786.pdf"},"referenced_works_count":46,"referenced_works":["https://openalex.org/W1845972764","https://openalex.org/W2012586594","https://openalex.org/W2064572756","https://openalex.org/W2077245982","https://openalex.org/W2096415443","https://openalex.org/W2260243663","https://openalex.org/W2593845678","https://openalex.org/W2620938791","https://openalex.org/W2761119459","https://openalex.org/W2804324442","https://openalex.org/W2895196950","https://openalex.org/W2905150423","https://openalex.org/W2963762747","https://openalex.org/W2966537673","https://openalex.org/W3006844914","https://openalex.org/W3042980517","https://openalex.org/W3090827750","https://openalex.org/W3100789280","https://openalex.org/W3120475579","https://openalex.org/W3123490258","https://openalex.org/W3127942406","https://openalex.org/W3129038712","https://openalex.org/W3157947470","https://openalex.org/W3178092445","https://openalex.org/W3178520728","https://openalex.org/W3200561352","https://openalex.org/W3201315469","https://openalex.org/W3201859887","https://openalex.org/W3212192385","https://openalex.org/W4206497039","https://openalex.org/W4285279465","https://openalex.org/W4286500845","https://openalex.org/W4286748781","https://openalex.org/W4287758406","https://openalex.org/W4295789124","https://openalex.org/W4301123312","https://openalex.org/W4307572631","https://openalex.org/W4318053885","https://openalex.org/W4327571609","https://openalex.org/W4385690205","https://openalex.org/W4386872349","https://openalex.org/W4390780526","https://openalex.org/W6744968884","https://openalex.org/W6766805167","https://openalex.org/W6779101081","https://openalex.org/W6840380725"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2126019709","https://openalex.org/W1702901972","https://openalex.org/W4249798507","https://openalex.org/W2069775250","https://openalex.org/W2093541819","https://openalex.org/W2032294417","https://openalex.org/W2152754392","https://openalex.org/W1989172970"],"abstract_inverted_index":{"The":[0,29,125,226],"intelligent":[1,40,78,85,123,152],"warehouse":[2,48,218],"is":[3,33,142,165,173,221,236],"a":[4,62,105,135,216,243],"modern":[5],"logistics":[6],"management":[7,24],"system":[8,31,147],"that":[9,229],"uses":[10],"technologies":[11],"like":[12],"the":[13,47,74,132,145,151,155,188,196,199,230],"Internet":[14],"of":[15,58,64,128,190,246],"Things,":[16],"robots,":[17],"and":[18,25,51,61,95,171,176,241],"artificial":[19],"intelligence":[20],"to":[21,167,182,207],"realize":[22],"automated":[23],"optimize":[26],"warehousing":[27],"operations.":[28],"multi-robot":[30,75,82,120,146,217],"(MRS)":[32],"an":[34,39,56,114,209],"important":[35],"carrier":[36],"for":[37,119,144,213,223],"implementing":[38],"warehouse,":[41],"which":[42],"completes":[43],"various":[44],"tasks":[45],"in":[46,77,84,122,150],"through":[49,178],"cooperation":[50],"coordination":[52],"between":[53],"robots.":[54,214],"As":[55],"extension":[57],"reinforcement":[59,69],"learning":[60],"kind":[63],"swarm":[65],"intelligence,":[66],"MARL":[67,107],"(multi-agent":[68],"learning)":[70],"can":[71],"effectively":[72],"create":[73],"systems":[76,83,121],"warehouses.":[79,124],"However,":[80],"MARL-based":[81],"warehouses":[86],"face":[87],"serious":[88],"safety":[89,116,169,189,211],"issues,":[90,101],"such":[91],"as":[92],"collisions,":[93],"conflicts,":[94],"congestion.":[96],"To":[97],"deal":[98],"with":[99,163],"these":[100],"this":[102],"paper":[103],"proposes":[104],"safe":[106],"method":[108],"based":[109],"on":[110],"runtime":[111,136,149,179],"verification,":[112],"i.e.,":[113],"optimized":[115,210],"policy-generation":[117],"framework,":[118],"framework":[126,235],"consists":[127],"three":[129],"stages.":[130],"In":[131,154,195],"first":[133],"stage,":[134,157,198],"model":[137],"SCMG":[138,172,201],"(safety-constrained":[139,204],"Markov":[140],"Game)":[141],"defined":[143],"at":[148],"warehouse.":[153],"second":[156],"rPATL":[158],"(probabilistic":[159],"alternating-time":[160],"temporal":[161],"logic":[162],"rewards)":[164],"used":[166,222],"express":[168],"properties,":[170],"cyclically":[174],"verified":[175,200],"refined":[177],"verification":[180],"(RV)":[181],"ensure":[183],"safety.":[184],"This":[185],"stage":[186],"guarantees":[187],"robots\u2019":[191],"behaviors":[192],"before":[193],"training.":[194],"third":[197],"guides":[202],"SCPO":[203],"policy":[205,212,231],"optimization)":[206],"obtain":[208],"Finally,":[215],"(RWARE)":[219],"scenario":[220],"experimental":[224],"evaluation.":[225],"results":[227],"show":[228],"obtained":[232],"by":[233],"our":[234],"safer":[237],"than":[238],"existing":[239],"frameworks":[240],"includes":[242],"certain":[244],"degree":[245],"optimization.":[247]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
