{"id":"https://openalex.org/W2918608282","doi":"https://doi.org/10.1007/s10846-019-01004-2","title":"Mapless Motion Planning System for an Autonomous Underwater Vehicle Using Policy Gradient-based Deep Reinforcement Learning","display_name":"Mapless Motion Planning System for an Autonomous Underwater Vehicle Using Policy Gradient-based Deep Reinforcement Learning","publication_year":2019,"publication_date":"2019-03-05","ids":{"openalex":"https://openalex.org/W2918608282","doi":"https://doi.org/10.1007/s10846-019-01004-2","mag":"2918608282"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-019-01004-2","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-019-01004-2","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic 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/A5100690146","display_name":"Yushan Sun","orcid":"https://orcid.org/0000-0001-5312-2413"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yushan Sun","raw_affiliation_strings":["Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China"],"affiliations":[{"raw_affiliation_string":"Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067496659","display_name":"Junhan Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junhan Cheng","raw_affiliation_strings":["Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China"],"affiliations":[{"raw_affiliation_string":"Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100620403","display_name":"Guocheng Zhang","orcid":"https://orcid.org/0000-0002-8604-5554"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guocheng Zhang","raw_affiliation_strings":["Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China"],"affiliations":[{"raw_affiliation_string":"Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100717008","display_name":"Hao Xu","orcid":"https://orcid.org/0000-0002-8149-4609"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Xu","raw_affiliation_strings":["Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China"],"affiliations":[{"raw_affiliation_string":"Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China","institution_ids":["https://openalex.org/I151727225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100690146"],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":4.0877,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.95158001,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"96","issue":"3-4","first_page":"591","last_page":"601"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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":0.9991999864578247,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9979000091552734,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8049251437187195},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6745087504386902},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6247546672821045},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5769433379173279},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5019724369049072},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.486723929643631},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4819064438343048},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46835556626319885},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42257678508758545},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40515658259391785},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38873928785324097},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32239556312561035},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30956077575683594},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1235247254371643}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8049251437187195},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6745087504386902},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6247546672821045},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5769433379173279},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5019724369049072},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.486723929643631},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4819064438343048},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46835556626319885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42257678508758545},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40515658259391785},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38873928785324097},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32239556312561035},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30956077575683594},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1235247254371643},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-019-01004-2","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-019-01004-2","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1193615197","display_name":null,"funder_award_id":"51779057,51709061","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W393689543","https://openalex.org/W1581407678","https://openalex.org/W1757796397","https://openalex.org/W1777239053","https://openalex.org/W1834079411","https://openalex.org/W1949804828","https://openalex.org/W2087963019","https://openalex.org/W2095564494","https://openalex.org/W2105551637","https://openalex.org/W2114680847","https://openalex.org/W2119112357","https://openalex.org/W2121615981","https://openalex.org/W2145339207","https://openalex.org/W2148480374","https://openalex.org/W2149078751","https://openalex.org/W2201581102","https://openalex.org/W2257979135","https://openalex.org/W2291973609","https://openalex.org/W2296073425","https://openalex.org/W2492811885","https://openalex.org/W2524241275","https://openalex.org/W2528951757","https://openalex.org/W2530887700","https://openalex.org/W2562788852","https://openalex.org/W2568019971","https://openalex.org/W2575705757","https://openalex.org/W2726187156","https://openalex.org/W2728420778","https://openalex.org/W2728860753","https://openalex.org/W2736601468","https://openalex.org/W2746553466","https://openalex.org/W2749928749","https://openalex.org/W2767286248","https://openalex.org/W2794029453","https://openalex.org/W2951799221","https://openalex.org/W2963428623","https://openalex.org/W2963781688","https://openalex.org/W2972758308","https://openalex.org/W3026829485","https://openalex.org/W3099533866","https://openalex.org/W6600514347","https://openalex.org/W6600553734","https://openalex.org/W6814003322"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}