@article{lu2021assistive,
    title={Assistive navigation using deep reinforcement learning guiding robot with UWB/voice beacons and semantic feedbacks for blind and visually impaired people},
    author={Lu, Chen-Lung and Liu, Zi-Yan and Huang, Jui-Te and Huang, Ching-I and Wang, Bo-Hui and Chen, Yi and Wu, Nien-Hsin and Wang, Hsueh-Cheng and Giarr{\'e}, Laura and Kuo, Pei-Yi},
    journal={Frontiers in Robotics and AI},
    volume={8},
    pages={654132},
    year={2021},
    publisher={Frontiers Media SA}
    }