{"id":"https://openalex.org/W3122963056","doi":"https://doi.org/10.1109/access.2021.3053348","title":"A Multiagent Deep Reinforcement Learning Approach for Path Planning in Autonomous Surface Vehicles: The Ypacara\u00ed Lake Patrolling Case","display_name":"A Multiagent Deep Reinforcement Learning Approach for Path Planning in Autonomous Surface Vehicles: The Ypacara\u00ed Lake Patrolling Case","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3122963056","doi":"https://doi.org/10.1109/access.2021.3053348","mag":"3122963056"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3053348","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3053348","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09330612.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/ielx7/6287639/9312710/09330612.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052419651","display_name":"Samuel Yanes Luis","orcid":"https://orcid.org/0000-0002-7796-3599"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Samuel Yanes Luis","raw_affiliation_strings":["Technical School of Engineering of Seville, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0002-7796-3599","affiliations":[{"raw_affiliation_string":"Technical School of Engineering of Seville, Seville, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014119633","display_name":"Daniel Guti\u00e9rrez Reina","orcid":"https://orcid.org/0000-0002-2481-5058"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniel Gutierrez Reina","raw_affiliation_strings":["Technical School of Engineering of Seville, Seville, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technical School of Engineering of Seville, Seville, Spain","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003625612","display_name":"S. L. Toral","orcid":"https://orcid.org/0000-0003-2612-0388"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sergio L. Toral Marin","raw_affiliation_strings":["Technical School of Engineering of Seville, Seville, Spain"],"raw_orcid":"https://orcid.org/0000-0003-2612-0388","affiliations":[{"raw_affiliation_string":"Technical School of Engineering of Seville, Seville, Spain","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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":8.0525,"has_fulltext":true,"cited_by_count":73,"citation_normalized_percentile":{"value":0.97859888,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":null,"first_page":"17084","last_page":"17099"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.998199999332428,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.998199999332428,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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/T12288","display_name":"Optimization and Search Problems","score":0.9911999702453613,"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":0.8964856863021851},{"id":"https://openalex.org/keywords/patrolling","display_name":"Patrolling","score":0.8665000796318054},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7878971099853516},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5992636680603027},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5946776866912842},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.5316303968429565},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5207931399345398},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.45294493436813354},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41310393810272217},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3460097908973694},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16260918974876404},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09011894464492798}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8964856863021851},{"id":"https://openalex.org/C110698143","wikidata":"https://www.wikidata.org/wiki/Q651389","display_name":"Patrolling","level":2,"score":0.8665000796318054},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7878971099853516},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5992636680603027},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5946776866912842},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.5316303968429565},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5207931399345398},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.45294493436813354},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41310393810272217},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3460097908973694},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16260918974876404},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09011894464492798},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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":3,"locations":[{"id":"doi:10.1109/access.2021.3053348","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3053348","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09330612.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:701164caec1843988573ccdff89f81c3","is_oa":true,"landing_page_url":"https://doaj.org/article/701164caec1843988573ccdff89f81c3","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 9, Pp 17084-17099 (2021)","raw_type":"article"},{"id":"pmh:oai:idus.us.es:11441/135301","is_oa":true,"landing_page_url":"https://idus.us.es/handle//11441/135301","pdf_url":null,"source":{"id":"https://openalex.org/S4306400333","display_name":"idUS (Universidad de Sevilla)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79238269","host_organization_name":"Universidad de Sevilla","host_organization_lineage":["https://openalex.org/I79238269"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3053348","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3053348","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09330612.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":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.7300000190734863}],"awards":[{"id":"https://openalex.org/G5907588653","display_name":null,"funder_award_id":"US-1257508","funder_id":"https://openalex.org/F4320326754","funder_display_name":"Junta de Andaluc\u00eda"},{"id":"https://openalex.org/G7147825673","display_name":null,"funder_award_id":"PY18-RE0009","funder_id":"https://openalex.org/F4320326754","funder_display_name":"Junta de Andaluc\u00eda"},{"id":"https://openalex.org/G8181105605","display_name":null,"funder_award_id":"RTI2018","funder_id":"https://openalex.org/F4320315062","funder_display_name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades"}],"funders":[{"id":"https://openalex.org/F4320310967","display_name":"Universidad de Sevilla","ror":"https://ror.org/03yxnpp24"},{"id":"https://openalex.org/F4320315062","display_name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades","ror":null},{"id":"https://openalex.org/F4320326754","display_name":"Junta de Andaluc\u00eda","ror":"https://ror.org/01jem9c82"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3122963056.pdf","grobid_xml":"https://content.openalex.org/works/W3122963056.grobid-xml"},"referenced_works_count":51,"referenced_works":["https://openalex.org/W65484472","https://openalex.org/W165287356","https://openalex.org/W180119731","https://openalex.org/W1515851193","https://openalex.org/W1603050797","https://openalex.org/W2063677508","https://openalex.org/W2096145798","https://openalex.org/W2099618002","https://openalex.org/W2145339207","https://openalex.org/W2173564293","https://openalex.org/W2568887908","https://openalex.org/W2592798481","https://openalex.org/W2596367596","https://openalex.org/W2611994503","https://openalex.org/W2766900259","https://openalex.org/W2790928930","https://openalex.org/W2794711922","https://openalex.org/W2809128225","https://openalex.org/W2946469828","https://openalex.org/W2951799221","https://openalex.org/W2963658727","https://openalex.org/W2974556546","https://openalex.org/W2975791276","https://openalex.org/W2976344064","https://openalex.org/W2981038142","https://openalex.org/W2990073264","https://openalex.org/W2991232381","https://openalex.org/W3000637312","https://openalex.org/W3002604519","https://openalex.org/W3004006877","https://openalex.org/W3008232782","https://openalex.org/W3009575668","https://openalex.org/W3032581747","https://openalex.org/W3044976552","https://openalex.org/W3082622020","https://openalex.org/W3093902348","https://openalex.org/W3098639178","https://openalex.org/W3100789280","https://openalex.org/W3118524082","https://openalex.org/W3123212791","https://openalex.org/W3126413449","https://openalex.org/W4232693667","https://openalex.org/W4233776596","https://openalex.org/W4299802797","https://openalex.org/W6685444567","https://openalex.org/W6734678876","https://openalex.org/W6735641298","https://openalex.org/W6738796088","https://openalex.org/W6770275676","https://openalex.org/W6780768476","https://openalex.org/W6789819571"],"related_works":["https://openalex.org/W170273588","https://openalex.org/W2337788814","https://openalex.org/W2092973197","https://openalex.org/W2163146706","https://openalex.org/W2404411151","https://openalex.org/W3206391274","https://openalex.org/W167683769","https://openalex.org/W4200335020","https://openalex.org/W2957660816","https://openalex.org/W3100590984"],"abstract_inverted_index":{"Autonomous":[0],"surfaces":[1],"vehicles":[2],"(ASVs)":[3],"excel":[4],"at":[5],"monitoring":[6],"and":[7,16,48,114,132,161,195],"measuring":[8],"aquatic":[9],"nutrients":[10],"due":[11],"to":[12,60,100,184,191],"their":[13],"autonomy,":[14],"mobility,":[15],"relatively":[17],"low":[18],"cost.":[19],"When":[20,206],"planning":[21],"paths":[22,58],"for":[23,97,141,202],"such":[24,39],"vehicles,":[25],"the":[26,46,52,69,79,105,111,171,200,203,208,211,219],"task":[27],"of":[28,45,51,188],"patrolling":[29,77],"with":[30,36,91,102,104,147],"multiple":[31],"agents":[32],"is":[33,72,82,123],"usually":[34],"addressed":[35],"heuristics":[37],"approaches,":[38],"as":[40,130],"Reinforcement":[41,150],"Learning":[42,151],"(RL),":[43],"because":[44],"complexity":[47],"high":[49],"dimensionality":[50],"problem.":[53],"Not":[54],"only":[55],"do":[56],"efficient":[57],"have":[59],"be":[61],"designed,":[62],"but":[63],"addressing":[64],"disturbances":[65],"in":[66,166,174,180],"movement":[67],"or":[68],"battery's":[70],"performance":[71],"mandatory.":[73],"For":[74,116],"this":[75,117],"multiagent":[76,149,162,181],"task,":[78],"proposed":[80,212],"approach":[81,213],"based":[83],"on":[84],"a":[85,92,119,142,167,196],"centralized":[86],"Convolutional":[87],"Deep":[88,164],"Q-Network,":[89],"designed":[90],"final":[93],"independent":[94,220],"dense":[95],"layer":[96],"every":[98,108],"agent":[99,109],"deal":[101],"scalability,":[103],"hypothesis/assumption":[106],"that":[107,138],"has":[110,154],"same":[112],"properties":[113],"capabilities.":[115],"purpose,":[118],"tailored":[120],"reward":[121],"function":[122],"created":[124],"which":[125],"penalizes":[126],"illegal":[127],"actions":[128],"(such":[129],"collisions)":[131],"rewards":[133],"visiting":[134],"idle":[135],"cells":[136],"(cells":[137],"remains":[139],"unvisited":[140],"long":[143],"time).":[144],"A":[145],"comparison":[146],"various":[148],"(MARL)":[152],"algorithms":[153],"been":[155],"done":[156],"(Independent":[157],"Q-Learning,":[158],"Dueling":[159],"Q-Network":[160],"Double":[163],"Q-Learning)":[165],"case-study":[168,204],"scenario":[169],"like":[170],"Ypacara\u00ed":[172],"lake":[173],"Asunci\u00f3n":[175],"(Paraguay).":[176],"The":[177],"training":[178,209],"results":[179],"policy":[182],"leads":[183],"an":[185],"average":[186],"improvement":[187,198],"15%":[189],"compared":[190],"lawn":[192],"mower":[193],"trajectories":[194],"6%":[197],"over":[199],"IDQL":[201],"considered.":[205],"evaluating":[207],"speed,":[210],"runs":[214],"three":[215],"times":[216],"faster":[217],"than":[218],"algorithm.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":19},{"year":2021,"cited_by_count":10}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2021-02-01T00:00:00"}
