{"id":"https://openalex.org/W4313484878","doi":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995792","title":"Deterministic and Stochastic Analysis of Deep Reinforcement Learning for Low Dimensional Sensing-based Navigation of Mobile Robots","display_name":"Deterministic and Stochastic Analysis of Deep Reinforcement Learning for Low Dimensional Sensing-based Navigation of Mobile Robots","publication_year":2022,"publication_date":"2022-10-18","ids":{"openalex":"https://openalex.org/W4313484878","doi":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995792"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995792","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/2209.06328","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020504746","display_name":"Ricardo B. Grando","orcid":null},"institutions":[{"id":"https://openalex.org/I4210147939","display_name":"Universidad ORT Uruguay","ror":"https://ror.org/03ypykr22","country_code":"UY","type":"education","lineage":["https://openalex.org/I4210147939"]}],"countries":["UY"],"is_corresponding":false,"raw_author_name":"Ricardo B. Grando","raw_affiliation_strings":["Technological University of Uruguay, Rivera, Uruguay"],"affiliations":[{"raw_affiliation_string":"Technological University of Uruguay, Rivera, Uruguay","institution_ids":["https://openalex.org/I4210147939"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011219553","display_name":"Junior Costa de Jesus","orcid":"https://orcid.org/0000-0002-8819-1168"},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Junior C. de Jesus","raw_affiliation_strings":["Universidade Federal de Rio Grande,Centro de Ciências Computacionais,Rio Grande,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal de Rio Grande,Centro de Ciências Computacionais,Rio Grande,Brazil","institution_ids":["https://openalex.org/I126460647"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061075103","display_name":"Victor A. Kich","orcid":"https://orcid.org/0000-0002-0547-5510"},"institutions":[{"id":"https://openalex.org/I33501960","display_name":"Universidade Federal de Santa Maria","ror":"https://ror.org/01b78mz79","country_code":"BR","type":"education","lineage":["https://openalex.org/I33501960"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Victor A. Kich","raw_affiliation_strings":["Universidade Federal de Santa Maria (UFSM), Santa Maria, Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal de Santa Maria (UFSM), Santa Maria, Brazil","institution_ids":["https://openalex.org/I33501960"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061106812","display_name":"Alisson Henrique Kolling","orcid":null},"institutions":[{"id":"https://openalex.org/I33501960","display_name":"Universidade Federal de Santa Maria","ror":"https://ror.org/01b78mz79","country_code":"BR","type":"education","lineage":["https://openalex.org/I33501960"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Alisson H. Kolling","raw_affiliation_strings":["Universidade Federal de Santa Maria (UFSM), Santa Maria, Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal de Santa Maria (UFSM), Santa Maria, Brazil","institution_ids":["https://openalex.org/I33501960"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027433639","display_name":"Pedro M. Pinheiro","orcid":"https://orcid.org/0000-0002-8564-458X"},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Pedro M. Pinheiro","raw_affiliation_strings":["Universidade Federal de Rio Grande,Centro de Ciências Computacionais,Rio Grande,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal de Rio Grande,Centro de Ciências Computacionais,Rio Grande,Brazil","institution_ids":["https://openalex.org/I126460647"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017613080","display_name":"Rodrigo da Silva Guerra","orcid":"https://orcid.org/0000-0003-4011-0901"},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Rodrigo S. Guerra","raw_affiliation_strings":["Universidade Federal de Rio Grande,Centro de Ciências Computacionais,Rio Grande,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal de Rio Grande,Centro de Ciências Computacionais,Rio Grande,Brazil","institution_ids":["https://openalex.org/I126460647"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037041582","display_name":"Paulo Drews","orcid":"https://orcid.org/0000-0002-7519-0502"},"institutions":[{"id":"https://openalex.org/I126460647","display_name":"Universidade Federal do Rio Grande","ror":"https://ror.org/05hpfkn88","country_code":"BR","type":"education","lineage":["https://openalex.org/I126460647"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Paulo L. J. Drews","raw_affiliation_strings":["Universidade Federal de Rio Grande,Centro de Ciências Computacionais,Rio Grande,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal de Rio Grande,Centro de Ciências Computacionais,Rio Grande,Brazil","institution_ids":["https://openalex.org/I126460647"]}]}],"institution_assertions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.324,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.685436,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":70,"max":76},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9999,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9999,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9992,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8681564},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7339164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7265501},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.67546445},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6558556},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.57136935},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4656257},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.40610456}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars/sbr/wre56824.2022.9995792","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/2209.06328","pdf_url":"https://arxiv.org/pdf/2209.06328","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/2209.06328","pdf_url":"https://arxiv.org/pdf/2209.06328","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":[{"display_name":"Peace, justice, and strong institutions","score":0.74,"id":"https://metadata.un.org/sdg/16"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":23,"referenced_works":["https://openalex.org/W1977655452","https://openalex.org/W2017957151","https://openalex.org/W2465948386","https://openalex.org/W2604216058","https://openalex.org/W2781726626","https://openalex.org/W2802782010","https://openalex.org/W2897447555","https://openalex.org/W2908846937","https://openalex.org/W2962887844","https://openalex.org/W2963428623","https://openalex.org/W2963864421","https://openalex.org/W3004647015","https://openalex.org/W3005166619","https://openalex.org/W3036557346","https://openalex.org/W3118570208","https://openalex.org/W3119037956","https://openalex.org/W3120739971","https://openalex.org/W3129198075","https://openalex.org/W3160952489","https://openalex.org/W3207080284","https://openalex.org/W3216799660","https://openalex.org/W4210643767","https://openalex.org/W4312862363"],"related_works":["https://openalex.org/W4380318855","https://openalex.org/W4362501864","https://openalex.org/W4306904969","https://openalex.org/W3114279067","https://openalex.org/W3049728571","https://openalex.org/W2586732548","https://openalex.org/W2138720691","https://openalex.org/W2122871747","https://openalex.org/W2031695474","https://openalex.org/W2024136090"],"abstract_inverted_index":{"Deterministic":[0,90],"and":[1,18,94,130],"Stochastic":[2],"techniques":[3,87],"in":[4,45],"Deep":[5,89],"Reinforcement":[6],"Learning":[7],"(Deep-RL)":[8],"have":[9],"become":[10],"a":[11,23,65,81],"promising":[12],"solution":[13],"to":[14,38,50,110],"improve":[15],"motion":[16],"control":[17],"the":[19,72,115,120,128,150,160,164],"decision-making":[20],"tasks":[21,101],"for":[22,105,138],"wide":[24],"variety":[25],"of":[26,42,84,102,132,134,144],"robots.":[27,107],"Previous":[28],"works":[29],"showed":[30],"that":[31,60,149],"these":[32],"Deep-RL":[33,86],"algorithms":[34],"can":[35],"be":[36],"applied":[37],"perform":[39,62],"mapless":[40,103],"navigation":[41,104,133],"mobile":[43,106,136],"robots":[44,137],"general.":[46],"However,":[47],"they":[48,61],"tend":[49],"use":[51],"simple":[52],"sensing":[53],"strategies":[54],"since":[55],"it":[56],"has":[57],"been":[58],"shown":[59],"poorly":[63],"with":[64,156,163],"high":[66],"dimensional":[67],"state":[68],"spaces,":[69],"such":[70],"as":[71],"ones":[73],"yielded":[74],"from":[75],"image-based":[76],"sensing.":[77],"This":[78],"paper":[79],"presents":[80],"comparative":[82],"analysis":[83,143],"two":[85],"-":[88,98],"Policy":[91],"Gradients":[92],"(DDPG)":[93],"Soft":[95],"Actor-Critic":[96],"(SAC)":[97,153],"when":[99],"performing":[100],"We":[108],"aim":[109],"contribute":[111],"by":[112],"showing":[113],"how":[114],"neural":[116],"network":[117],"architecture":[118],"influences":[119],"learning":[121],"itself,":[122],"presenting":[123],"quantitative":[124],"results":[125],"based":[126],"on":[127],"time":[129],"distance":[131],"aerial":[135],"each":[139],"approach.":[140],"Overall,":[141],"our":[142],"six":[145],"distinct":[146],"architectures":[147],"highlights":[148],"stochastic":[151],"approach":[152,166],"better":[154],"suits":[155],"deeper":[157],"architectures,":[158],"while":[159],"opposite":[161],"happens":[162],"deterministic":[165],"(DDPG).":[167]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4313484878","counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2024-12-10T10:05:26.214763","created_date":"2023-01-06"}