乐胖代购免代理版

{"id":"https://openalex.org/W4383108562","doi":"https://doi.org/10.1109/icra48891.2023.10161498","title":"Scalable Task-Driven Robotic Swarm Control via Collision Avoidance and Learning Mean-Field Control","display_name":"Scalable Task-Driven Robotic Swarm Control via Collision Avoidance and Learning Mean-Field Control","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108562","doi":"https://doi.org/10.1109/icra48891.2023.10161498"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161498","pdf_url":null,"source":null,"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/2209.07420","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","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 and Information Technology,Darmstadt,Germany,64287"],"affiliations":[{"raw_affiliation_string":"Technische Universität Darmstadt,Department of Electrical Engineering and Information Technology,Darmstadt,Germany,64287","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070116212","display_name":"Mengguang Li","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":"Mengguang Li","raw_affiliation_strings":["Technische Universität Darmstadt,Department of Electrical Engineering and Information Technology,Darmstadt,Germany,64287"],"affiliations":[{"raw_affiliation_string":"Technische Universität Darmstadt,Department of Electrical Engineering and Information Technology,Darmstadt,Germany,64287","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067265291","display_name":"Christian Fabi\u00e1n","orcid":"https://orcid.org/0000-0003-4239-3861"},"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":"Christian Fabian","raw_affiliation_strings":["Technische Universität Darmstadt,Department of Electrical Engineering and Information Technology,Darmstadt,Germany,64287"],"affiliations":[{"raw_affiliation_string":"Technische Universität Darmstadt,Department of Electrical Engineering and Information Technology,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 and Information Technology,Darmstadt,Germany,64287"],"affiliations":[{"raw_affiliation_string":"Technische Universität Darmstadt,Department of Electrical Engineering and Information Technology,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":0.395,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.505325,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":67,"max":78},"biblio":{"volume":"352","issue":null,"first_page":"1192","last_page":"1199"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997,"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":0.9997,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9996,"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/T10524","display_name":"Traffic control and management","score":0.9924,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/swarm-robotics","display_name":"Swarm Robotics","score":0.73237747},{"id":"https://openalex.org/keywords/autonomous-agent","display_name":"Autonomous agent","score":0.4413798},{"id":"https://openalex.org/keywords/swarm-intelligence","display_name":"Swarm intelligence","score":0.41493127}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.82600105},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.73237747},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6923451},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6851026},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6259326},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5562908},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.49557698},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49233353},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.4413798},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4299003},{"id":"https://openalex.org/C119487961","wikidata":"https://www.wikidata.org/wiki/Q863960","display_name":"Swarm intelligence","level":3,"score":0.41493127},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37228745},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.33832604},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.17430815},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10439098},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.072722405},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2209.07420","pdf_url":"https://arxiv.org/pdf/2209.07420","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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/2209.07420","pdf_url":"https://arxiv.org/pdf/2209.07420","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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":72,"referenced_works":["https://openalex.org/W1641379095","https://openalex.org/W1771410628","https://openalex.org/W2000875519","https://openalex.org/W2002440441","https://openalex.org/W2011000015","https://openalex.org/W2011995167","https://openalex.org/W2038686546","https://openalex.org/W2077391629","https://openalex.org/W2108554593","https://openalex.org/W2118331730","https://openalex.org/W2137153348","https://openalex.org/W2149106415","https://openalex.org/W2149902396","https://openalex.org/W2167080759","https://openalex.org/W2177274602","https://openalex.org/W2585881814","https://openalex.org/W2736601468","https://openalex.org/W2758653969","https://openalex.org/W2768629321","https://openalex.org/W2782709193","https://openalex.org/W2784196298","https://openalex.org/W2785315072","https://openalex.org/W2790892475","https://openalex.org/W2805031923","https://openalex.org/W2808495305","https://openalex.org/W2811374584","https://openalex.org/W2886401384","https://openalex.org/W2886868627","https://openalex.org/W2897176597","https://openalex.org/W2903583264","https://openalex.org/W2906572333","https://openalex.org/W2915117209","https://openalex.org/W2945395894","https://openalex.org/W2948820101","https://openalex.org/W2950273886","https://openalex.org/W2963693734","https://openalex.org/W2978236721","https://openalex.org/W2981759303","https://openalex.org/W2982138249","https://openalex.org/W2991046523","https://openalex.org/W2996037775","https://openalex.org/W3009344227","https://openalex.org/W3011070014","https://openalex.org/W3012394957","https://openalex.org/W3013079993","https://openalex.org/W3014630000","https://openalex.org/W3099689767","https://openalex.org/W3100789280","https://openalex.org/W3111019671","https://openalex.org/W3197292997","https://openalex.org/W3200003729","https://openalex.org/W3208215078","https://openalex.org/W3209101326","https://openalex.org/W4205354563","https://openalex.org/W4211153069","https://openalex.org/W4225483569","https://openalex.org/W4226093003","https://openalex.org/W4229597915","https://openalex.org/W4233762729","https://openalex.org/W4283032009","https://openalex.org/W4283310754","https://openalex.org/W4285050487","https://openalex.org/W4285102640","https://openalex.org/W4286433375","https://openalex.org/W4286748781","https://openalex.org/W4286982463","https://openalex.org/W4287082680","https://openalex.org/W4287757834","https://openalex.org/W4291676832","https://openalex.org/W4292948701","https://openalex.org/W4295105844","https://openalex.org/W586490843"],"related_works":["https://openalex.org/W65954170","https://openalex.org/W4386001959","https://openalex.org/W4362659455","https://openalex.org/W4304182880","https://openalex.org/W4234675952","https://openalex.org/W4233987368","https://openalex.org/W2510991340","https://openalex.org/W2182522217","https://openalex.org/W2048054807","https://openalex.org/W1988876749"],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"reinforcement":[3,80,161],"learning":[4,22,81,114,162],"and":[5,30,113,146,163,175,195],"its":[6,27],"multi-agent":[7,20,160],"analogue":[8],"have":[9],"achieved":[10],"great":[11],"success":[12],"in":[13,26,59,78,143,173],"solving":[14],"various":[15],"complex":[16],"control":[17,57,65,70,117,141],"problems.":[18,205],"However,":[19,91],"rein-forcement":[21],"remains":[23,47],"challenging":[24],"both":[25,142,172,192],"theoretical":[28,131],"analysis":[29],"empirical":[31],"design":[32,186],"of":[33,39,49,71,85,100,115,187,201],"algorithms,":[34],"especially":[35],"for":[36,122,138,165,184],"large":[37],"swarms":[38],"embodied":[40],"robotic":[41,126],"agents":[42],"where":[43],"a":[44,119,182],"definitive":[45],"toolchain":[46],"part":[48],"active":[50],"research.":[51],"We":[52],"use":[53],"emerging":[54],"state-of-the-art":[55],"mean-field":[56,93,116,140],"techniques":[58],"order":[60],"to":[61],"convert":[62],"many-agent":[63],"swarm":[64,127,188,204],"into":[66,118],"more":[67],"classical":[68],"single-agent":[69,79],"distributions.":[72],"This":[73],"allows":[74,164],"profiting":[75],"from":[76],"advances":[77],"at":[82],"the":[83,92,98,130,151,185,199],"cost":[84],"assuming":[86],"weak":[87],"interaction":[88],"between":[89],"agents.":[90,107],"model":[94],"is":[95,191],"violated":[96],"by":[97],"nature":[99],"real":[101,176],"systems":[102],"with":[103,147],"embodied,":[104],"physically":[105],"colliding":[106],"Thus,":[108],"we":[109,133,154,180],"combine":[110],"collision":[111,148],"avoidance":[112],"unified":[120],"framework":[121,183],"tractably":[123],"designing":[124],"intelligent":[125],"behavior.":[128],"On":[129,150],"side,":[132,153],"provide":[134],"novel":[135],"approximation":[136],"guarantees":[137],"general":[139],"continuous":[144],"spaces":[145],"avoidance.":[149],"practical":[152],"show":[155],"that":[156,190],"our":[157],"approach":[158],"outperforms":[159],"decentralized":[166],"open-loop":[167],"application":[168],"while":[169],"avoiding":[170],"collisions,":[171],"simulation":[174],"UAV":[177],"swarms.":[178],"Overall,":[179],"propose":[181],"behavior":[189],"mathematically":[193],"well-founded":[194],"practically":[196],"useful,":[197],"enabling":[198],"solution":[200],"otherwise":[202],"intractable":[203]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4383108562","counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-01-19T13:58:01.466402","created_date":"2023-07-05"}