{"id":"https://openalex.org/W4412187819","doi":"https://doi.org/10.1017/s0263574725101902","title":"Trajectory planning of free-floating space robot for non-cooperative tumbling target capture based on deep reinforcement learning","display_name":"Trajectory planning of free-floating space robot for non-cooperative tumbling target capture based on deep reinforcement learning","publication_year":2025,"publication_date":"2025-07-01","ids":{"openalex":"https://openalex.org/W4412187819","doi":"https://doi.org/10.1017/s0263574725101902"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725101902","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725101902","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5050561047","display_name":"Yaqiang Wei","orcid":"https://orcid.org/0000-0002-9210-4207"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yaqiang Wei","raw_affiliation_strings":["Nanjing University of Aeronautics and Astronautics"],"raw_orcid":"https://orcid.org/0000-0002-9210-4207","affiliations":[{"raw_affiliation_string":"Nanjing University of Aeronautics and Astronautics","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114034788","display_name":"Xinlin Bai","orcid":"https://orcid.org/0000-0003-2655-3183"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinlin Bai","raw_affiliation_strings":["Shenyang Institute of Automation, Chinese Academy of Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100611079","display_name":"Lu Han","orcid":"https://orcid.org/0009-0009-6812-7343"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Lu","raw_affiliation_strings":["Shenyang Institute of Automation, Chinese Academy of Sciences","University of Chinese Academy of Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5050561047"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":{"value":3550,"currency":"USD","value_usd":3550},"apc_paid":null,"fwci":9.7931,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.97268202,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"43","issue":"7","first_page":"2674","last_page":"2692"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10325","display_name":"Astro and Planetary Science","score":0.980400025844574,"subfield":{"id":"https://openalex.org/subfields/3103","display_name":"Astronomy and Astrophysics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9387999773025513,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.812847912311554},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6098475456237793},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5929470062255859},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.5625998973846436},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5620497465133667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5235459804534912},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.506841242313385},{"id":"https://openalex.org/keywords/free-space","display_name":"Free space","score":0.4837517738342285},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4478324055671692},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4182429611682892},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36036527156829834},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.333684504032135},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18695226311683655},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11384272575378418},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.07782742381095886}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.812847912311554},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6098475456237793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5929470062255859},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.5625998973846436},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5620497465133667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5235459804534912},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.506841242313385},{"id":"https://openalex.org/C2988672794","wikidata":"https://www.wikidata.org/wiki/Q11475","display_name":"Free space","level":2,"score":0.4837517738342285},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4478324055671692},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4182429611682892},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36036527156829834},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.333684504032135},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18695226311683655},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11384272575378418},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.07782742381095886},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725101902","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725101902","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1980337256","https://openalex.org/W2001422561","https://openalex.org/W2090308161","https://openalex.org/W2104386981","https://openalex.org/W2106339354","https://openalex.org/W2125097269","https://openalex.org/W2176715885","https://openalex.org/W2576453365","https://openalex.org/W2599904823","https://openalex.org/W2765283001","https://openalex.org/W2783942736","https://openalex.org/W2787938642","https://openalex.org/W2792875002","https://openalex.org/W2921530178","https://openalex.org/W2921714676","https://openalex.org/W2996458220","https://openalex.org/W2997727809","https://openalex.org/W2999144670","https://openalex.org/W3006320086","https://openalex.org/W3006383411","https://openalex.org/W3033035110","https://openalex.org/W3042010185","https://openalex.org/W3114018165","https://openalex.org/W3172789343","https://openalex.org/W3203007157","https://openalex.org/W4200246998","https://openalex.org/W4229007060","https://openalex.org/W4285891649","https://openalex.org/W4285992180","https://openalex.org/W4303473133","https://openalex.org/W4378651323","https://openalex.org/W4380883504","https://openalex.org/W4386143388","https://openalex.org/W4386483763"],"related_works":["https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255","https://openalex.org/W2106552856","https://openalex.org/W2145821588","https://openalex.org/W2086122291","https://openalex.org/W1987513656"],"abstract_inverted_index":{"Abstract":[0],"Capturing":[1],"the":[2,7,20,25,28,32,36,44,48,54,59,78,81,87,92,99,108,116,121,125,131,143,147,154,158,161,165,168,172,178,182,196,199,209,213,218,224],"non-cooperative":[3,64,110,148,225],"tumbling":[4,65,111,126,149,226],"target":[5,66,84,112,127,185,227],"by":[6],"free-floating":[8,60],"space":[9,61,93,109,122,166],"robot":[10,62,94,123],"stands":[11],"as":[12],"a":[13,205],"crucial":[14],"task":[15],"within":[16],"on-orbit":[17],"servicing.":[18],"However,":[19],"strong":[21],"dynamic":[22],"coupling":[23],"of":[24,40,58,80,91,107,157,164,171,212],"base-spacecraft":[26,82,173,214],"and":[27,43,124,160,208],"manipulator":[29,159],"seriously":[30],"disturbs":[31],"base-spacecraft,":[33],"which":[34,75,98],"reduces":[35],"power":[37],"generation":[38],"efficiency":[39],"solar":[41],"panels":[42],"communication":[45],"quality":[46],"with":[47,195,204,228],"earth":[49],"station.":[50],"In":[51],"this":[52],"paper,":[53],"trajectory":[55,144],"planning":[56],"method":[57,201,219],"for":[63,145,184,222],"capture":[67,186],"based":[68],"on":[69],"deep":[70,134],"reinforcement":[71],"learning":[72],"is":[73,95,102,113,139,174,187,215],"proposed,":[74],"can":[76],"reduce":[77],"disturbance":[79,170,211],"during":[83],"capture.":[85],"First,":[86],"generalized":[88,162],"Jacobian":[89],"matrix":[90],"derived,":[96],"from":[97,153],"dynamics":[100,119],"model":[101,106],"obtained.":[103],"The":[104,190],"kinematics":[105],"established.":[114],"And":[115],"contact":[117],"collision":[118],"between":[120],"are":[128],"analysed.":[129],"Second,":[130],"twin":[132],"delayed":[133],"deterministic":[135],"policy":[136],"gradient":[137],"algorithm":[138],"introduced":[140],"to":[141,177],"plan":[142],"capturing":[146,223],"target,":[150],"where":[151],"apart":[152],"motion":[155],"parameters":[156],"manipulability":[163],"robot,":[167],"pose":[169,210],"initially":[175],"added":[176],"reward":[179],"function.":[180],"Finally,":[181],"simulation":[183],"carried":[188],"out.":[189],"results":[191],"show":[192],"that":[193],"compared":[194],"existing":[197],"method,":[198],"proposed":[200],"converges":[202],"faster":[203],"larger":[206],"reward,":[207],"reduced.":[216],"Moreover,":[217],"performs":[220],"well":[221],"different":[229],"initial":[230],"rotational":[231],"angular":[232],"velocities.":[233]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}