{"id":"https://openalex.org/W3039899186","doi":"https://doi.org/10.3390/s20133664","title":"Learning Reward Function with Matching Network for Mapless Navigation","display_name":"Learning Reward Function with Matching Network for Mapless Navigation","publication_year":2020,"publication_date":"2020-06-30","ids":{"openalex":"https://openalex.org/W3039899186","doi":"https://doi.org/10.3390/s20133664","mag":"3039899186","pmid":"https://pubmed.ncbi.nlm.nih.gov/32629934"},"language":"en","primary_location":{"id":"doi:10.3390/s20133664","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20133664","pdf_url":"https://www.mdpi.com/1424-8220/20/13/3664/pdf?version=1593512853","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/20/13/3664/pdf?version=1593512853","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101664308","display_name":"Qichen Zhang","orcid":"https://orcid.org/0000-0001-5486-5729"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qichen Zhang","raw_affiliation_strings":["Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, China University of Mining and Technology, Xuzhou 221116 China","The School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, China University of Mining and Technology, Xuzhou 221116 China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"The School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104532587","display_name":"Meiqiang Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Meiqiang Zhu","raw_affiliation_strings":["Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, China University of Mining and Technology, Xuzhou 221116 China","The School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, China University of Mining and Technology, Xuzhou 221116 China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"The School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006184120","display_name":"Liang Zou","orcid":"https://orcid.org/0000-0001-7322-5735"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Zou","raw_affiliation_strings":["Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, China University of Mining and Technology, Xuzhou 221116 China","The School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, China University of Mining and Technology, Xuzhou 221116 China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"The School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100351521","display_name":"Ming Li","orcid":"https://orcid.org/0000-0003-3163-5992"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Li","raw_affiliation_strings":["Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, China University of Mining and Technology, Xuzhou 221116 China","The School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, China University of Mining and Technology, Xuzhou 221116 China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"The School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"last","author":{"id":null,"display_name":"Yong Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Zhang","raw_affiliation_strings":["Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, China University of Mining and Technology, Xuzhou 221116 China","The School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, China University of Mining and Technology, Xuzhou 221116 China","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"The School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China","institution_ids":["https://openalex.org/I25757504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5104532587"],"corresponding_institution_ids":["https://openalex.org/I25757504"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":1.1548,"has_fulltext":true,"cited_by_count":19,"citation_normalized_percentile":{"value":0.78266915,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"20","issue":"13","first_page":"3664","last_page":"3664"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9991999864578247,"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":0.9983000159263611,"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/intuition","display_name":"Intuition","score":0.7886185646057129},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7017258405685425},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6644010543823242},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5849006175994873},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5719748735427856},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5263717770576477},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.38416486978530884},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0977410078048706},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09361881017684937},{"id":"https://openalex.org/keywords/cognitive-science","display_name":"Cognitive science","score":0.05920696258544922}],"concepts":[{"id":"https://openalex.org/C132010649","wikidata":"https://www.wikidata.org/wiki/Q189222","display_name":"Intuition","level":2,"score":0.7886185646057129},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7017258405685425},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6644010543823242},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5849006175994873},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5719748735427856},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5263717770576477},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.38416486978530884},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0977410078048706},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09361881017684937},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.05920696258544922},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s20133664","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20133664","pdf_url":"https://www.mdpi.com/1424-8220/20/13/3664/pdf?version=1593512853","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:32629934","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32629934","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":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:7860c49c866b4ef3a926dff7569d94ee","is_oa":true,"landing_page_url":"https://doaj.org/article/7860c49c866b4ef3a926dff7569d94ee","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":"Sensors, Vol 20, Iss 13, p 3664 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/20/13/3664/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s20133664","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Sensors","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:7374413","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7374413","pdf_url":null,"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s20133664","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s20133664","pdf_url":"https://www.mdpi.com/1424-8220/20/13/3664/pdf?version=1593512853","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8551531258","display_name":null,"funder_award_id":"2018XKQYMS03","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3039899186.pdf","grobid_xml":"https://content.openalex.org/works/W3039899186.grobid-xml"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W1777239053","https://openalex.org/W1978956894","https://openalex.org/W1979012378","https://openalex.org/W2077831477","https://openalex.org/W2117211893","https://openalex.org/W2127617835","https://openalex.org/W2134491302","https://openalex.org/W2146611987","https://openalex.org/W2290104316","https://openalex.org/W2461937780","https://openalex.org/W2522489477","https://openalex.org/W2575705757","https://openalex.org/W2596874484","https://openalex.org/W2604763608","https://openalex.org/W2727281634","https://openalex.org/W2736084340","https://openalex.org/W2801441281","https://openalex.org/W2806130867","https://openalex.org/W2889923199","https://openalex.org/W2895671740","https://openalex.org/W2904455790","https://openalex.org/W2938421504","https://openalex.org/W2942307437","https://openalex.org/W2963428623","https://openalex.org/W2963562508","https://openalex.org/W2963821308","https://openalex.org/W2963943197","https://openalex.org/W2964105864","https://openalex.org/W2964177756","https://openalex.org/W2967355195","https://openalex.org/W2971218263","https://openalex.org/W2980730703","https://openalex.org/W2981232524","https://openalex.org/W3001997350","https://openalex.org/W3005451807","https://openalex.org/W3009864380","https://openalex.org/W3013042044","https://openalex.org/W3104933725","https://openalex.org/W3124420883","https://openalex.org/W4292083457","https://openalex.org/W6682205418","https://openalex.org/W6717697761","https://openalex.org/W6718092244","https://openalex.org/W6718171111","https://openalex.org/W6750106230","https://openalex.org/W6760036574","https://openalex.org/W6766240895"],"related_works":["https://openalex.org/W2364252372","https://openalex.org/W4234066492","https://openalex.org/W4306904969","https://openalex.org/W1998063895","https://openalex.org/W1967044713","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2133470120"],"abstract_inverted_index":{"Deep":[0],"reinforcement":[1],"learning":[2],"(DRL)":[3],"has":[4],"been":[5],"successfully":[6],"applied":[7],"in":[8,14,97,142],"mapless":[9,134],"navigation.":[10],"An":[11],"important":[12],"issue":[13],"DRL":[15,96,109,121],"is":[16,76,161],"to":[17,78,163],"design":[18],"a":[19,29,63],"reward":[20,33,50,65,74,102,129],"function":[21,34,66,75,103,130],"for":[22],"evaluating":[23],"actions":[24],"of":[25,95,108],"agents.":[26],"However,":[27],"designing":[28],"robust":[30],"and":[31,41,61,90],"suitable":[32],"greatly":[35],"depends":[36],"on":[37,54,68,86,114],"the":[38,80,92,105,120,127,132,158,165],"designer's":[39],"experience":[40,81],"intuition.":[42],"To":[43],"address":[44],"this":[45],"concern,":[46],"we":[47],"consider":[48],"employing":[49],"shaping":[51],"from":[52,155],"trajectories":[53,85],"similar":[55],"navigation":[56,88,135,166],"tasks":[57,89,167],"without":[58,168],"human":[59],"supervision,":[60],"propose":[62],"general":[64],"based":[67],"matching":[69],"network":[70],"(MN).":[71],"The":[72,100,111,137],"MN-based":[73],"able":[77,162],"gain":[79],"by":[82],"pre-training":[83],"through":[84],"different":[87,154],"accelerate":[91],"training":[93,156],"speed":[94],"new":[98],"tasks.":[99],"proposed":[101,138,159],"keeps":[104],"optimal":[106],"strategy":[107,160],"unchanged.":[110],"simulation":[112],"results":[113],"two":[115],"static":[116],"maps":[117,144,152],"show":[118],"that":[119],"converge":[122],"with":[123,145],"less":[124],"iterations":[125],"via":[126],"learned":[128],"than":[131],"state-of-the-art":[133],"methods.":[136],"method":[139],"performs":[140],"well":[141],"dynamic":[143],"partially":[146],"moving":[147],"obstacles.":[148],"Even":[149],"when":[150],"test":[151],"are":[153],"maps,":[157],"complete":[164],"additional":[169],"training.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2025-10-10T00:00:00"}