{"id":"https://openalex.org/W4285306175","doi":"https://doi.org/10.1109/mis.2022.3173504","title":"CACLA-Based Local Path Planner for Drones Navigating Unknown Indoor Corridors","display_name":"CACLA-Based Local Path Planner for Drones Navigating Unknown Indoor Corridors","publication_year":2022,"publication_date":"2022-05-17","ids":{"openalex":"https://openalex.org/W4285306175","doi":"https://doi.org/10.1109/mis.2022.3173504"},"language":"en","primary_location":{"id":"doi:10.1109/mis.2022.3173504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mis.2022.3173504","pdf_url":null,"source":{"id":"https://openalex.org/S114241109","display_name":"IEEE Intelligent Systems","issn_l":"1541-1672","issn":["1541-1672","1941-1294"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086022376","display_name":"Samarth Singh","orcid":"https://orcid.org/0000-0002-7745-7477"},"institutions":[{"id":"https://openalex.org/I41763900","display_name":"Central Electronics Engineering Research Institute","ror":"https://ror.org/01hh45364","country_code":"IN","type":"facility","lineage":["https://openalex.org/I2799351866","https://openalex.org/I41763900","https://openalex.org/I4210134808","https://openalex.org/I66760702"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Samarth Singh","raw_affiliation_strings":["CSIR-Central Electronics Engineering Research Institute, Pilani, India"],"raw_orcid":"https://orcid.org/0000-0002-7745-7477","affiliations":[{"raw_affiliation_string":"CSIR-Central Electronics Engineering Research Institute, Pilani, India","institution_ids":["https://openalex.org/I41763900"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066599481","display_name":"Kaushal Kishore","orcid":"https://orcid.org/0000-0001-8751-3009"},"institutions":[{"id":"https://openalex.org/I41763900","display_name":"Central Electronics Engineering Research Institute","ror":"https://ror.org/01hh45364","country_code":"IN","type":"facility","lineage":["https://openalex.org/I2799351866","https://openalex.org/I41763900","https://openalex.org/I4210134808","https://openalex.org/I66760702"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Kaushal Kishore","raw_affiliation_strings":["CSIR-Central Electronics Engineering Research Institute, Pilani, India"],"raw_orcid":"https://orcid.org/0000-0001-8751-3009","affiliations":[{"raw_affiliation_string":"CSIR-Central Electronics Engineering Research Institute, Pilani, India","institution_ids":["https://openalex.org/I41763900"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087243692","display_name":"Sagar Dalai","orcid":"https://orcid.org/0000-0001-7195-9831"},"institutions":[{"id":"https://openalex.org/I41763900","display_name":"Central Electronics Engineering Research Institute","ror":"https://ror.org/01hh45364","country_code":"IN","type":"facility","lineage":["https://openalex.org/I2799351866","https://openalex.org/I41763900","https://openalex.org/I4210134808","https://openalex.org/I66760702"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sagar Dalai","raw_affiliation_strings":["CSIR-Central Electronics Engineering Research Institute, Pilani, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSIR-Central Electronics Engineering Research Institute, Pilani, India","institution_ids":["https://openalex.org/I41763900"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063831139","display_name":"Mahammad Irfan","orcid":"https://orcid.org/0000-0002-0432-7006"},"institutions":[{"id":"https://openalex.org/I41763900","display_name":"Central Electronics Engineering Research Institute","ror":"https://ror.org/01hh45364","country_code":"IN","type":"facility","lineage":["https://openalex.org/I2799351866","https://openalex.org/I41763900","https://openalex.org/I4210134808","https://openalex.org/I66760702"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Mahammad Irfan","raw_affiliation_strings":["CSIR-Central Electronics Engineering Research Institute, Pilani, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSIR-Central Electronics Engineering Research Institute, Pilani, India","institution_ids":["https://openalex.org/I41763900"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022334979","display_name":"Sanjay Singh","orcid":"https://orcid.org/0000-0002-2249-799X"},"institutions":[{"id":"https://openalex.org/I41763900","display_name":"Central Electronics Engineering Research Institute","ror":"https://ror.org/01hh45364","country_code":"IN","type":"facility","lineage":["https://openalex.org/I2799351866","https://openalex.org/I41763900","https://openalex.org/I4210134808","https://openalex.org/I66760702"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sanjay Singh","raw_affiliation_strings":["CSIR-Central Electronics Engineering Research Institute, Pilani, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSIR-Central Electronics Engineering Research Institute, Pilani, India","institution_ids":["https://openalex.org/I41763900"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111562548","display_name":"S. A. Akbar","orcid":"https://orcid.org/0000-0003-2691-0996"},"institutions":[{"id":"https://openalex.org/I41763900","display_name":"Central Electronics Engineering Research Institute","ror":"https://ror.org/01hh45364","country_code":"IN","type":"facility","lineage":["https://openalex.org/I2799351866","https://openalex.org/I41763900","https://openalex.org/I4210134808","https://openalex.org/I66760702"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"S. A Akbar","raw_affiliation_strings":["CSIR-Central Electronics Engineering Research Institute, Pilani, India"],"raw_orcid":"https://orcid.org/0000-0003-2691-0996","affiliations":[{"raw_affiliation_string":"CSIR-Central Electronics Engineering Research Institute, Pilani, India","institution_ids":["https://openalex.org/I41763900"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015265172","display_name":"Gurpreet S. Sachdeva","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117535","display_name":"Cognizant (India)","ror":"https://ror.org/01x51st25","country_code":"IN","type":"company","lineage":["https://openalex.org/I163361683","https://openalex.org/I4210117535"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Gurpreet Sachdeva","raw_affiliation_strings":["IoT Centre of Excellence, Cognizant, Bangalore, India"],"raw_orcid":"https://orcid.org/0000-0002-4875-2397","affiliations":[{"raw_affiliation_string":"IoT Centre of Excellence, Cognizant, Bangalore, India","institution_ids":["https://openalex.org/I4210117535"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090956798","display_name":"Ramesh Yechangunja","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117535","display_name":"Cognizant (India)","ror":"https://ror.org/01x51st25","country_code":"IN","type":"company","lineage":["https://openalex.org/I163361683","https://openalex.org/I4210117535"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ramesh Yechangunja","raw_affiliation_strings":["IoT Centre of Excellence, Cognizant, Bangalore, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IoT Centre of Excellence, Cognizant, Bangalore, India","institution_ids":["https://openalex.org/I4210117535"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6092,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.67009313,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"37","issue":"5","first_page":"32","last_page":"41"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9983999729156494,"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":0.998199999332428,"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/drone","display_name":"Drone","score":0.8861569762229919},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8152899146080017},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8041527271270752},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7627089619636536},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7555249929428101},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5701656341552734},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5613430142402649},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.48337024450302124},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4618360996246338},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3862367868423462},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38614997267723083},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3456035852432251},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.10231000185012817}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8861569762229919},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8152899146080017},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8041527271270752},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7627089619636536},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7555249929428101},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5701656341552734},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5613430142402649},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.48337024450302124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4618360996246338},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3862367868423462},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38614997267723083},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3456035852432251},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.10231000185012817},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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":1,"locations":[{"id":"doi:10.1109/mis.2022.3173504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mis.2022.3173504","pdf_url":null,"source":{"id":"https://openalex.org/S114241109","display_name":"IEEE Intelligent Systems","issn_l":"1541-1672","issn":["1541-1672","1941-1294"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Intelligent Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6800000071525574}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320721","display_name":"Council of Scientific and Industrial Research, India","ror":"https://ror.org/021wm7p51"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W281943252","https://openalex.org/W1424654272","https://openalex.org/W1572570726","https://openalex.org/W1969472392","https://openalex.org/W2101539915","https://openalex.org/W2150982344","https://openalex.org/W2411093439","https://openalex.org/W2529521294","https://openalex.org/W2772721022","https://openalex.org/W2807241675","https://openalex.org/W2891816981","https://openalex.org/W2906798544","https://openalex.org/W2963428623","https://openalex.org/W3203592351","https://openalex.org/W3212723749","https://openalex.org/W4214717370","https://openalex.org/W4287645036","https://openalex.org/W6678073246","https://openalex.org/W6684921986","https://openalex.org/W6746809867","https://openalex.org/W6784071673","https://openalex.org/W6802497915"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W4380590094","https://openalex.org/W2050548713"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"an":[3,17],"online":[4,134],"local":[5,33,135],"path":[6,34,136],"planning":[7],"approach":[8,29],"for":[9,30,36,50,113],"autonomous":[10],"drone":[11,79,119,144],"navigating":[12],"a":[13,26,32,43,58,63,89,108,142],"2D":[14],"plane":[15],"in":[16,38,127,145],"unknown,":[18],"indoor":[19],"corridor-like":[20],"environment.":[21,41,147],"The":[22,78,130],"proposed":[23,55,131],"method":[24],"utilizes":[25],"reinforcement":[27,132],"learning":[28,46],"training":[31],"planner":[35,137],"navigation":[37],"the":[39,54,72,96,114,121],"said":[40],"With":[42],"continuous":[44,51],"actor-critic":[45],"automaton":[47],"(CACLA)":[48],"applied":[49],"action":[52],"spaces,":[53],"algorithm":[56,104],"uses":[57],"reward":[59,68],"structure":[60],"that":[61,66],"formulates":[62],"balancing":[64,71,122],"function":[65],"gives":[67],"based":[69],"on":[70,141],"vehicle":[73],"between":[74],"artificial":[75],"potential":[76],"hills.":[77],"thereby":[80],"learns":[81],"steering":[82],"control":[83],"and":[84,105],"obstacle":[85],"avoidance":[86],"while":[87],"maintaining":[88],"central":[90],"aligned":[91],"position":[92],"with":[93],"respect":[94],"to":[95],"unknown":[97],"hallways":[98],"or":[99],"corridors.":[100],"A":[101],"novel":[102],"CACLA":[103],"incorporation":[106],"of":[107,118],"special":[109],"experience":[110],"replay":[111],"memory":[112],"better":[115],"converging":[116],"tendency":[117],"toward":[120],"point":[123],"have":[124],"been":[125,139],"introduced":[126],"this":[128],"article.":[129],"learning-based":[133],"has":[138],"tested":[140],"simulated":[143],"Gazebo":[146]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}