# Human-Flow-Aware Long-Term Mobile Robot Task Planning Based on Hierarchical Reinforcement Learning

> Research article (IEEE Robotics and Automation Letters, 2023) · cited 16× · AI/ML

**Wikidata**: [openalex:W4378697413](https://www.wikidata.org/wiki/openalex:W4378697413)  
**Source**: https://4ort.xyz/entity/human-flow-aware-long-term-mobile-robot-task-planning-based-on-hierarchical-reinforcement-learning