{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,16]],"date-time":"2026-07-16T14:20:23Z","timestamp":1784211623209,"version":"3.55.0"},"reference-count":31,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2023,6,26]],"date-time":"2023-06-26T00:00:00Z","timestamp":1687737600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,6,26]],"date-time":"2023-06-26T00:00:00Z","timestamp":1687737600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2023,7]]},"DOI":"10.1007\/s10846-023-01888-1","type":"journal-article","created":{"date-parts":[[2023,6,26]],"date-time":"2023-06-26T17:01:36Z","timestamp":1687798896000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["An Efficient Deep Reinforcement Learning Algorithm for Mapless Navigation with Gap-Guided Switching Strategy"],"prefix":"10.1007","volume":"108","author":[{"given":"Heng","family":"Li","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7580-0836","authenticated-orcid":false,"given":"Jiahu","family":"Qin","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qingchen","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chengzhen","family":"Yan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2023,6,26]]},"reference":[{"issue":"2","key":"1888_CR1","doi-asserted-by":"publisher","first-page":"237","DOI":"10.1109\/34.982903","volume":"24","author":"GN DeSouza","year":"2002","unstructured":"DeSouza, G.N., Kak, A.C.: Vision for mobile robot navigation: a survey. IEEE Trans. Pattern Anal. Mach. Intell. 24(2), 237\u2013267 (2002)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"issue":"1","key":"1888_CR2","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-022-01606-3","volume":"105","author":"Z Zhang","year":"2022","unstructured":"Zhang, Z., Qin, J., Wang, S., Kang, Y., Liu, C.: Ulodnet: a unified lane and obstacle detection network towards drivable area understanding in autonomous navigation. J. Intell. Robot. Syst. 105(1), 1\u201311 (2022)","journal-title":"J. Intell. Robot. Syst."},{"issue":"12","key":"1888_CR3","doi-asserted-by":"publisher","first-page":"5323","DOI":"10.1109\/TNNLS.2021.3056383","volume":"32","author":"X Chang","year":"2022","unstructured":"Chang, X., Pan, H., Sun, W., Gao, H.: Yoltrack: multitask learning based real-time multiobject tracking and segmentation for autonomous vehicles. IEEE Trans. Neural Netw. Learn. Syst. 32(12), 5323\u20135333 (2022)","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"key":"1888_CR4","doi-asserted-by":"crossref","unstructured":"Zhu, Y., Mottaghi, R., Kolve, E., Lim, J.J., Gupta, A., Fei-Fei, L., Farhadi, A.: Target-driven visual navigation in indoor scenes using deep reinforcement learning. In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 3357\u20133364 (2017)","DOI":"10.1109\/ICRA.2017.7989381"},{"key":"1888_CR5","doi-asserted-by":"crossref","unstructured":"Zhang, J., Springenberg, J.T., Boedecker, J., Burgard, W.: Deep reinforcement learning with successor features for navigation across similar environments. In: 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2371\u20132378 (2017)","DOI":"10.1109\/IROS.2017.8206049"},{"key":"1888_CR6","unstructured":"Lillicrap, T., Hunt, J., Pritzel, A., Heess, N., Erez, T., Tassa, Y., Silver, D., Wierstra, D.: Continuous control with deep reinforcement learning. arXiv:1509.02971 (2015)"},{"key":"1888_CR7","unstructured":"Schulman, J., Wolski, F., Dhariwal, P., Radford, A., Klimov, O.: Proximal policy optimization algorithms. arXiv:1707.06347 (2017)"},{"key":"1888_CR8","unstructured":"Haarnoja, T., Zhou, A., Hartikainen, K., Tucker, G., Ha, S., Tan, J., Kumar, V., Zhu, H., Gupta, A., Abbeel, P., et al.: Soft actor-critic algorithms and applications. arXiv:1812.05905 (2018)"},{"issue":"2","key":"1888_CR9","doi-asserted-by":"publisher","first-page":"610","DOI":"10.1109\/LRA.2019.2891991","volume":"4","author":"F Niroui","year":"2019","unstructured":"Niroui, F., Zhang, K., Kashino, Z., Nejat, G.: Deep reinforcement learning robot for search and rescue applications: exploration in unknown cluttered environments. IEEE Robot. Autom. Lett. 4(2), 610\u2013617 (2019)","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"6","key":"1888_CR10","doi-asserted-by":"publisher","first-page":"2064","DOI":"10.1109\/TNNLS.2019.2927869","volume":"31","author":"H Li","year":"2019","unstructured":"Li, H., Zhang, Q., Zhao, D.: Deep reinforcement learning-based automatic exploration for navigation in unknown environment. IEEE Trans. Neural Netw. Learn. Syst. 31(6), 2064\u20132076 (2019)","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"key":"1888_CR11","unstructured":"Botteghi, N., Sirmacek, B., Mustafa, K., Poel, M., Stramigioli, S.: On reward shaping for mobile robot navigation: a reinforcement learning and slam based approach. arXiv:2002.04109 (2020)"},{"issue":"1","key":"1888_CR12","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/s40638-016-0033-3","volume":"3","author":"L Tai","year":"2016","unstructured":"Tai, L., Liu, M.: Mobile robots exploration through cnn-based reinforcement learning. Robot. Biomimetics 3(1), 1\u20138 (2016)","journal-title":"Robot. Biomimetics"},{"key":"1888_CR13","doi-asserted-by":"crossref","unstructured":"Kato, Y., Kamiyama, K., Morioka, K.: Autonomous robot navigation system with learning based on deep q-network and topological maps. In: 2017 IEEE\/SICE International Symposium on System Integration (SII), pp.\u00a01040\u20131046 (2017)","DOI":"10.1109\/SII.2017.8279360"},{"key":"1888_CR14","doi-asserted-by":"crossref","unstructured":"Faust, A., Oslund, K., Ramirez, O., Francis, A., Tapia, L., Fiser, M., Davidson, J.: Prm-rl: long-range robotic navigation tasks by combining reinforcement learning and sampling-based planning. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp.\u00a05113\u20135120 (2018)","DOI":"10.1109\/ICRA.2018.8461096"},{"key":"1888_CR15","doi-asserted-by":"crossref","unstructured":"Chen, G., Pan, L., Xu, P., et al.: Robot navigation with map-based deep reinforcement learning. In: 2020 IEEE International Conference on Networking, Sensing and Control (ICNSC), pp.\u00a01-6 (2020)","DOI":"10.1109\/ICNSC48988.2020.9238090"},{"issue":"5","key":"1888_CR16","doi-asserted-by":"publisher","first-page":"469","DOI":"10.1016\/j.robot.2008.10.024","volume":"57","author":"B Argall","year":"2009","unstructured":"Argall, B., Chernova, S., Veloso, M., Browning, B.: A survey of robot learning from demonstration. Robot. Auton. Syst. 57(5), 469\u2013483 (2009)","journal-title":"Robot. Auton. Syst."},{"issue":"1","key":"1888_CR17","doi-asserted-by":"publisher","first-page":"175","DOI":"10.1109\/LRA.2020.3036597","volume":"6","author":"Q Wu","year":"2021","unstructured":"Wu, Q., Gong, X., Xu, K., Manocha, D., Dong, J., Wang, J.: Towards target-driven visual navigation in indoor scenes via generative imitation learning. IEEE Robot. Autom. Lett. 6(1), 175\u2013182 (2021)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1888_CR18","doi-asserted-by":"crossref","unstructured":"Rana, K., Dasagi, V., Talbot, B., Milford, M., S\u00fcnderhauf, N.: Multiplicative controller fusion: leveraging algorithmic priors for sample-efficient reinforcement learning and safe sim-to-real transfer. In: 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6069\u20136076 (2020)","DOI":"10.1109\/IROS45743.2020.9341372"},{"key":"1888_CR19","doi-asserted-by":"crossref","unstructured":"Bellegarda, G., Byl, K.: An online training method for augmenting mpc with deep reinforcement learning. In: 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.\u00a05453\u20135459 (2020)","DOI":"10.1109\/IROS45743.2020.9341021"},{"key":"1888_CR20","doi-asserted-by":"crossref","unstructured":"Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. In: 1985 IEEE International Conference on Robotics and Automation (ICRA), pp.\u00a0500\u2013505 (1985)","DOI":"10.1109\/ROBOT.1985.1087247"},{"issue":"1","key":"1888_CR21","doi-asserted-by":"publisher","first-page":"23","DOI":"10.1109\/100.580977","volume":"4","author":"D Fox","year":"1997","unstructured":"Fox, D., Burgard, W., Thrun, S.: The dynamic window approach to collision avoidance. IEEE Robot. Autom. Mag. 4(1), 23-33 (1997)","journal-title":"IEEE Robot. Autom. Mag."},{"key":"1888_CR22","doi-asserted-by":"crossref","unstructured":"Ballesteros, J., Urdiales, C., Velasco, A., Ramos-Jim\u00e9nez, G.: A biomimetical dynamic window approach to navigation for collaborative control. IEEE Trans. Hum.-Mach. Syst. vol. 47, no. 6, pp. 1123\u20131133, 2017","DOI":"10.1109\/THMS.2017.2700633"},{"key":"1888_CR23","doi-asserted-by":"crossref","unstructured":"Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. In: Autonomous Robot Vehicles, pp.\u00a0396\u2013404 (1986)","DOI":"10.1007\/978-1-4613-8997-2_29"},{"issue":"2","key":"1888_CR24","doi-asserted-by":"publisher","first-page":"468","DOI":"10.1109\/JAS.2021.1003841","volume":"8","author":"Z Gao","year":"2021","unstructured":"Gao, Z., Qin, J., Wang, S., Wang, Y.: Boundary gap based reactive navigation in unknown environments. IEEE\/CAA J. Autom. Sinica 8(2), 468\u2013477 (2021)","journal-title":"IEEE\/CAA J. Autom. Sinica"},{"issue":"12","key":"1888_CR25","doi-asserted-by":"publisher","first-page":"5266","DOI":"10.1109\/TNNLS.2021.3056585","volume":"32","author":"J Qiu","year":"2021","unstructured":"Qiu, J., Ma, M., Wang, T., Gao, H.: Gradient descent-based adaptive learning control for autonomous underwater vehicles with unknown uncertainties. IEEE Trans. Neural Netw. Learn. Syst. 32(12), 5266\u20135273 (2021)","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"issue":"1","key":"1888_CR26","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-020-01290-1","volume":"101","author":"Y Li","year":"2021","unstructured":"Li, Y., Qin, F., Du, S., Xu, D., Zhang, J.: Vision-based imitation learning of needle reaching skill for robotic precision manipulation. J. Intell. Robot. Syst. 101(1), 1\u201313 (2021)","journal-title":"J. Intell. Robot. Syst."},{"key":"1888_CR27","doi-asserted-by":"crossref","unstructured":"Yan, C., Qin, J., Liu, Q., Ma, Q., Kang, Y.: Mapless navigation with safety-enhanced imitation learning. IEEE Trans. Ind. Electron. in press (2022)","DOI":"10.1109\/TIE.2022.3203761"},{"issue":"2","key":"1888_CR28","doi-asserted-by":"publisher","first-page":"297","DOI":"10.1007\/s10846-019-01073-3","volume":"98","author":"C Yan","year":"2020","unstructured":"Yan, C., Xiang, X., Wang, C.: Towards real-time path planning through deep reinforcement learning for a uav in dynamic environments. J. Intell. Robot. Syst. 98(2), 297\u2013309 (2020)","journal-title":"J. Intell. Robot. Syst."},{"key":"1888_CR29","doi-asserted-by":"crossref","unstructured":"Mujahad, M., Fischer, D., Mertsching, B., Jaddu, H.: Closest gap based (cg) reactive obstacle avoidance navigation for highly cluttered environments. In: 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.\u00a01805\u20131812 (2010)","DOI":"10.1109\/IROS.2010.5649736"},{"issue":"3","key":"1888_CR30","doi-asserted-by":"publisher","first-page":"52","DOI":"10.1145\/504729.504754","volume":"45","author":"S Thrun","year":"2002","unstructured":"Thrun, S.: Probabilistic robotics. Commun. ACM 45(3), 52\u201357 (2002)","journal-title":"Commun. ACM"},{"key":"1888_CR31","doi-asserted-by":"crossref","unstructured":"Grisetti, G., Stachniss, C., Burgard, W.: Improving grid-based slam with rao-blackwellized particle filters by adaptive proposals and selective resampling. In: 2005 IEEE International Conference on Robotics and Automation (ICRA), pp.\u00a02432\u20132437 (2005)","DOI":"10.1109\/ROBOT.2005.1570477"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01888-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-023-01888-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01888-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,23]],"date-time":"2024-10-23T02:59:27Z","timestamp":1729652367000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-023-01888-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,6,26]]},"references-count":31,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2023,7]]}},"alternative-id":["1888"],"URL":"https:\/\/doi.org\/10.1007\/s10846-023-01888-1","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,6,26]]},"assertion":[{"value":"30 August 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 May 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 June 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Decalrations"}},{"value":"Not applicable.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical Approval"}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to Participate"}},{"value":"Not applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for Publication"}},{"value":"The authors have no relevant financial or non-financial interests to disclose.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of interest"}}],"article-number":"43"}}