{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T16:42:08Z","timestamp":1782405728800,"version":"3.54.5"},"reference-count":20,"publisher":"World Scientific Pub Co Pte Lt","issue":"03","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Un. Sys."],"published-print":{"date-parts":[[2021,7]]},"abstract":"<jats:p> Deep reinforcement learning-based mobile robot navigation has attracted some recent interest. In the single-agent case, a robot can learn to navigate autonomously without a map of the environment. In the multi-agent case, robots can learn to avoid collisions with each other. In this work, we propose a behavior-based mobile robot navigation method which directly maps the raw sensor data and goal information to the control command. The learned navigation policy can be applied in both single-agent and multi-agent scenarios. Two basic navigation behaviors are considered in our method, which are goal reaching and collision avoidance. The two behaviors are fused based on the risk-level estimation of the current state. The navigation task is decomposed using the behavior-based framework, which is capable of reducing the complexity of the learning process. The simulations and real-world experiments demonstrate that the proposed method can enable the collision-free autonomous navigation of multiple mobile robots in unknown environments. <\/jats:p>","DOI":"10.1142\/s2301385021410041","type":"journal-article","created":{"date-parts":[[2021,1,1]],"date-time":"2021-01-01T13:14:38Z","timestamp":1609506878000},"page":"201-209","source":"Crossref","is-referenced-by-count":26,"title":["A Behavior-Based Mobile Robot Navigation Method with Deep Reinforcement Learning"],"prefix":"10.1142","volume":"09","author":[{"given":"Juncheng","family":"Li","sequence":"first","affiliation":[{"name":"School of Electrical and Electronic Engineering, Nanyang Technological University Singapore 639798, Singapore"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Maopeng","family":"Ran","sequence":"additional","affiliation":[{"name":"School of Electrical and Electronic Engineering, Nanyang Technological University Singapore 639798, Singapore"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Han","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Electrical and Electronic Engineering, Nanyang Technological University Singapore 639798, Singapore"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lihua","family":"Xie","sequence":"additional","affiliation":[{"name":"School of Electrical and Electronic Engineering, Nanyang Technological University Singapore 639798, Singapore"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"219","published-online":{"date-parts":[[2021,2,5]]},"reference":[{"key":"S2301385021410041BIB001","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989182"},{"key":"S2301385021410041BIB002","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202134"},{"key":"S2301385021410041BIB003","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461203"},{"key":"S2301385021410041BIB004","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2869644"},{"key":"S2301385021410041BIB005","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801700706"},{"key":"S2301385021410041BIB006","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-19457-3_1"},{"key":"S2301385021410041BIB007","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2120810"},{"key":"S2301385021410041BIB008","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989037"},{"key":"S2301385021410041BIB009","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202312"},{"key":"S2301385021410041BIB010","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593871"},{"key":"S2301385021410041BIB011","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794134"},{"key":"S2301385021410041BIB012","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461113"},{"key":"S2301385021410041BIB013","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989381"},{"key":"S2301385021410041BIB014","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793493"},{"key":"S2301385021410041BIB015","doi-asserted-by":"publisher","DOI":"10.1038\/nature14236"},{"key":"S2301385021410041BIB016","volume-title":"Thirtieth AAAI Conf. 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