{"id":"https://openalex.org/W4285102640","doi":"https://doi.org/10.1109/icra46639.2022.9812221","title":"Nearest-Neighbor-based Collision Avoidance for Quadrotors via Reinforcement Learning","display_name":"Nearest-Neighbor-based Collision Avoidance for Quadrotors via Reinforcement Learning","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102640","doi":"https://doi.org/10.1109/icra46639.2022.9812221"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812221","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2104.14912","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067786944","display_name":"Ramzi Ourari","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ramzi Ourari","raw_affiliation_strings":["Technische Universität Darmstadt,Department of Electrical Engineering,Darmstadt,Germany,64287"],"affiliations":[{"raw_affiliation_string":"Technische Universität Darmstadt,Department of Electrical Engineering,Darmstadt,Germany,64287","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082267036","display_name":"Kai Cui","orcid":"https://orcid.org/0000-0002-2605-0386"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kai Cui","raw_affiliation_strings":["Technische Universität Darmstadt,Department of Electrical Engineering,Darmstadt,Germany,64287"],"affiliations":[{"raw_affiliation_string":"Technische Universität Darmstadt,Department of Electrical Engineering,Darmstadt,Germany,64287","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026363392","display_name":"Ahmed Elshamanhory","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ahmed Elshamanhory","raw_affiliation_strings":["Technische Universität Darmstadt,Department of Electrical Engineering,Darmstadt,Germany,64287"],"affiliations":[{"raw_affiliation_string":"Technische Universität Darmstadt,Department of Electrical Engineering,Darmstadt,Germany,64287","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070544702","display_name":"Heinz Koeppl","orcid":"https://orcid.org/0000-0002-8305-9379"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Heinz Koeppl","raw_affiliation_strings":["Technische Universität Darmstadt,Department of Electrical Engineering,Darmstadt,Germany,64287"],"affiliations":[{"raw_affiliation_string":"Technische Universität Darmstadt,Department of Electrical Engineering,Darmstadt,Germany,64287","institution_ids":["https://openalex.org/I31512782"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.022,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.999701,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":90},"biblio":{"volume":null,"issue":null,"first_page":"293","last_page":"300"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9988,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9988,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986,"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":0.9956,"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/generality","display_name":"Generality","score":0.6665205},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.4413584}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8468083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.74874073},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.74124604},{"id":"https://openalex.org/C2780767217","wikidata":"https://www.wikidata.org/wiki/Q5532421","display_name":"Generality","level":2,"score":0.6665205},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.51348287},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.49292898},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.4413584},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.43031964},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.4216686},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3701625},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.11510062},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812221","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2104.14912","pdf_url":"https://arxiv.org/pdf/2104.14912","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2104.14912","pdf_url":"https://arxiv.org/pdf/2104.14912","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":43,"referenced_works":["https://openalex.org/W1521464635","https://openalex.org/W155231534","https://openalex.org/W1641379095","https://openalex.org/W178419168","https://openalex.org/W1970225900","https://openalex.org/W2002440441","https://openalex.org/W2034754696","https://openalex.org/W2034981131","https://openalex.org/W2069698418","https://openalex.org/W2082585576","https://openalex.org/W2127617835","https://openalex.org/W2136207702","https://openalex.org/W2296073425","https://openalex.org/W2547074464","https://openalex.org/W2586067474","https://openalex.org/W2604216058","https://openalex.org/W2736601468","https://openalex.org/W2753957144","https://openalex.org/W2758653969","https://openalex.org/W2768629321","https://openalex.org/W2811374584","https://openalex.org/W2886374915","https://openalex.org/W2889987506","https://openalex.org/W2906572333","https://openalex.org/W2963809389","https://openalex.org/W2963821308","https://openalex.org/W2969897047","https://openalex.org/W2972878485","https://openalex.org/W2981038142","https://openalex.org/W2981759303","https://openalex.org/W2991046523","https://openalex.org/W2991850947","https://openalex.org/W3004058922","https://openalex.org/W3006868075","https://openalex.org/W3008967682","https://openalex.org/W3011226172","https://openalex.org/W3037683188","https://openalex.org/W3056510116","https://openalex.org/W3096470617","https://openalex.org/W3103572865","https://openalex.org/W3135457936","https://openalex.org/W3209101326","https://openalex.org/W4213147678"],"related_works":["https://openalex.org/W4385625905","https://openalex.org/W4381094582","https://openalex.org/W4247925126","https://openalex.org/W4229448053","https://openalex.org/W3045722011","https://openalex.org/W2743170747","https://openalex.org/W2742483371","https://openalex.org/W2201908702","https://openalex.org/W2045049461","https://openalex.org/W1978893398"],"abstract_inverted_index":{"Collision":[0],"avoidance":[1,79,97,167],"algorithms":[2],"are":[3,172],"of":[4,42,112,123],"central":[5],"interest":[6],"to":[7,19,50,73,94,133,146,163,179,182],"many":[8],"drone":[9,22],"applications.":[10],"In":[11,33,144],"particular,":[12],"decentralized":[13,53],"approaches":[14],"may":[15],"be":[16],"the":[17,48,110],"key":[18],"enabling":[20],"robust":[21],"swarm":[23],"solutions":[24],"in":[25,137,152,174],"cases":[26],"where":[27],"centralized":[28],"communication":[29],"becomes":[30],"computationally":[31],"prohibitive.":[32],"this":[34,113],"work,":[35],"we":[36,58,88,115,149],"draw":[37],"biological":[38],"inspiration":[39],"from":[40],"flocks":[41],"starlings":[43],"(Sturnus":[44],"vulgaris)":[45],"and":[46,76,105,128,176],"apply":[47,117],"insight":[49],"end-to-end":[51,91],"learned":[52,170],"collision":[54,78,96,166],"avoidance.":[55],"More":[56],"specifically,":[57],"propose":[59],"a":[60,66,83,140],"new,":[61],"scalable":[62],"observation":[63],"model":[64],"following":[65],"biomimetic":[67],"nearest-neighbor":[68,158],"information":[69,159],"constraint":[70],"that":[71,151],"leads":[72],"fast":[74],"learning":[75,86],"good":[77],"behavior.":[80,168],"By":[81],"proposing":[82],"general":[84],"reinforcement":[85],"approach,":[87,114],"obtain":[89],"an":[90],"learning-based":[92],"approach":[93],"integrating":[95],"with":[98,139],"arbitrary":[99],"tasks":[100],"such":[101],"as":[102],"package":[103],"collection":[104],"formation":[106],"change.":[107],"To":[108],"validate":[109,183],"generality":[111],"successfully":[116],"our":[118,153],"methodology":[119],"through":[120],"motion":[121,156],"models":[122],"medium":[124],"complexity,":[125],"modeling":[126],"momentum":[127],"nonetheless":[129],"allowing":[130],"direct":[131],"application":[132],"real":[134],"world":[135],"quadrotors":[136],"conjunction":[138],"standard":[141],"PID":[142],"controller.":[143],"contrast":[145],"prior":[147],"works,":[148],"find":[150],"sufficiently":[154],"rich":[155],"model,":[157],"is":[160],"indeed":[161],"enough":[162],"learn":[164],"effective":[165],"Our":[169],"policies":[171],"tested":[173],"simulation":[175],"subsequently":[177],"transferred":[178],"real-world":[180,185],"drones":[181],"their":[184],"applicability.":[186]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4285102640","counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2025-01-05T12:02:23.362144","created_date":"2022-07-14"}