{"id":"https://openalex.org/W2959298928","doi":"https://doi.org/10.1109/access.2019.2929120","title":"Target Search Control of AUV in Underwater Environment With Deep Reinforcement Learning","display_name":"Target Search Control of AUV in Underwater Environment With Deep Reinforcement Learning","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2959298928","doi":"https://doi.org/10.1109/access.2019.2929120","mag":"2959298928"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2929120","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2929120","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08764329.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08764329.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101414220","display_name":"Xiang Cao","orcid":"https://orcid.org/0000-0003-2448-6693"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Cao","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-2448-6693","affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019248683","display_name":"Changyin Sun","orcid":"https://orcid.org/0000-0001-9269-334X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changyin Sun","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101150340","display_name":"Mingzhong Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingzhong Yan","raw_affiliation_strings":["Lab Underwater Vehicles & Intelligent System, Shanghai Maritime University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab Underwater Vehicles & Intelligent System, Shanghai Maritime University, Shanghai, China","institution_ids":["https://openalex.org/I96733725"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":34.1781,"has_fulltext":true,"cited_by_count":71,"citation_normalized_percentile":{"value":0.99353875,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"7","issue":null,"first_page":"96549","last_page":"96559"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9990000128746033,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7521420121192932},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7389278411865234},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6993705034255981},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.5941146016120911},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.5206005573272705},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5178349614143372},{"id":"https://openalex.org/keywords/hyperparameter-optimization","display_name":"Hyperparameter optimization","score":0.49840378761291504},{"id":"https://openalex.org/keywords/search-problem","display_name":"Search problem","score":0.4811045527458191},{"id":"https://openalex.org/keywords/search-algorithm","display_name":"Search algorithm","score":0.4584064781665802},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.44365832209587097},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4349665641784668},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36843255162239075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2078799307346344},{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"Support vector machine","score":0.08894044160842896},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08878138661384583},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.08549636602401733}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7521420121192932},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7389278411865234},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6993705034255981},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.5941146016120911},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.5206005573272705},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5178349614143372},{"id":"https://openalex.org/C10485038","wikidata":"https://www.wikidata.org/wiki/Q48996162","display_name":"Hyperparameter optimization","level":3,"score":0.49840378761291504},{"id":"https://openalex.org/C201789804","wikidata":"https://www.wikidata.org/wiki/Q2362762","display_name":"Search problem","level":2,"score":0.4811045527458191},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.4584064781665802},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.44365832209587097},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4349665641784668},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36843255162239075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2078799307346344},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.08894044160842896},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08878138661384583},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.08549636602401733},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2929120","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2929120","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08764329.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:59dac52ec2d2464eb8d72402f0ba6014","is_oa":true,"landing_page_url":"https://doaj.org/article/59dac52ec2d2464eb8d72402f0ba6014","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 96549-96559 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2929120","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2929120","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08764329.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Life below water","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G2989479301","display_name":null,"funder_award_id":"2017M621587","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G3354177581","display_name":null,"funder_award_id":"BK20171270","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G3387023361","display_name":null,"funder_award_id":"61773177","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4635902267","display_name":null,"funder_award_id":"61520106009","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7860810449","display_name":null,"funder_award_id":"1701076B","funder_id":"https://openalex.org/F4320335471","funder_display_name":"Jiangsu Planned Projects for Postdoctoral Research Funds"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320321605","display_name":"Government of Jiangsu Province","ror":"https://ror.org/004svx814"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335471","display_name":"Jiangsu Planned Projects for Postdoctoral Research Funds","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2959298928.pdf","grobid_xml":"https://content.openalex.org/works/W2959298928.grobid-xml"},"referenced_works_count":56,"referenced_works":["https://openalex.org/W1595483645","https://openalex.org/W2121092017","https://openalex.org/W2134877736","https://openalex.org/W2146271069","https://openalex.org/W2146881125","https://openalex.org/W2152671441","https://openalex.org/W2155968351","https://openalex.org/W2156303437","https://openalex.org/W2164313740","https://openalex.org/W2173564293","https://openalex.org/W2300779272","https://openalex.org/W2479429355","https://openalex.org/W2519481221","https://openalex.org/W2524241275","https://openalex.org/W2562788852","https://openalex.org/W2565555125","https://openalex.org/W2568019971","https://openalex.org/W2577024205","https://openalex.org/W2594476234","https://openalex.org/W2742454413","https://openalex.org/W2746553466","https://openalex.org/W2772545238","https://openalex.org/W2772589676","https://openalex.org/W2775454482","https://openalex.org/W2783951406","https://openalex.org/W2786115198","https://openalex.org/W2791009491","https://openalex.org/W2792071139","https://openalex.org/W2793714446","https://openalex.org/W2801036921","https://openalex.org/W2883539312","https://openalex.org/W2884343155","https://openalex.org/W2885978330","https://openalex.org/W2888380055","https://openalex.org/W2891655128","https://openalex.org/W2892245714","https://openalex.org/W2892258706","https://openalex.org/W2893889064","https://openalex.org/W2901256877","https://openalex.org/W2907352405","https://openalex.org/W2910054127","https://openalex.org/W2912372166","https://openalex.org/W2951799221","https://openalex.org/W2964043796","https://openalex.org/W3099533866","https://openalex.org/W3100789280","https://openalex.org/W3103635569","https://openalex.org/W4244488637","https://openalex.org/W6635465357","https://openalex.org/W6677939520","https://openalex.org/W6680023198","https://openalex.org/W6682864246","https://openalex.org/W6685444567","https://openalex.org/W6692846177","https://openalex.org/W6746700414","https://openalex.org/W6753870681"],"related_works":["https://openalex.org/W2995179471","https://openalex.org/W3124911370","https://openalex.org/W85537259","https://openalex.org/W4388855780","https://openalex.org/W4379524202","https://openalex.org/W1553794852","https://openalex.org/W2997599262","https://openalex.org/W4400663440","https://openalex.org/W4213195198","https://openalex.org/W2082188447"],"abstract_inverted_index":{"The":[0,66,127],"autonomous":[1],"underwater":[2,16,24,47,134],"vehicle":[3],"(AUV)":[4],"is":[5,60,74],"widely":[6],"used":[7,75,117],"to":[8,19,39,43,92,121,158,164],"search":[9,58,84,100,125,147,166,176,186,190],"for":[10,82,102,118],"unknown":[11,46,105,133],"targets":[12],"in":[13,76,131,183],"the":[14,20,23,29,41,45,57,63,77,90,103,108,124,141,168],"complex":[15],"environment.":[17,106],"Due":[18],"unpredictability":[21],"of":[22,56],"environment,":[25],"this":[26,51],"paper":[27],"combines":[28],"traditional":[30,78],"frontier":[31,79,169],"exploration":[32,80,170],"method":[33,81],"with":[34,136,149],"deep":[35],"reinforcement":[36],"learning":[37],"(DRL)":[38],"enable":[40],"AUV":[42,91,119],"explore":[44],"environment":[48,59,135,179],"autonomously.":[49],"In":[50,161],"paper,":[52],"a":[53,150,177,184],"grid":[54,64],"map":[55],"built":[61],"by":[62],"method.":[65],"designed":[67],"asynchronous":[68],"advantage":[69],"actor-critic":[70],"(A3C)":[71],"network":[72,87],"structure":[73,88],"target":[83,146],"tasks.":[85],"This":[86],"enables":[89],"learn":[93],"from":[94],"its":[95],"own":[96],"experience":[97],"and":[98,112,129,154,188],"generate":[99],"strategies":[101],"various":[104],"At":[107],"same":[109],"time,":[110],"DRL":[111,174],"dual-stream":[113],"Q-learning":[114],"algorithms":[115],"are":[116],"navigation":[120],"further":[122],"optimize":[123],"path.":[126],"simulations":[128],"experiments":[130],"an":[132],"different":[137,159],"layouts":[138],"show":[139],"that":[140],"proposed":[142],"algorithm":[143,171],"can":[144,156,175],"accomplish":[145],"tasks":[148],"high":[151],"success":[152],"rate,":[153],"it":[155],"adapt":[157],"environments.":[160],"addition,":[162],"compared":[163],"other":[165],"methods,":[167],"based":[172],"on":[173],"wider":[178],"faster,":[180],"which":[181],"results":[182],"higher":[185],"efficiency":[187],"reduced":[189],"time.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":21},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}