{"id":"https://openalex.org/W4312421349","doi":"https://doi.org/10.1109/case49997.2022.9926499","title":"A reinforcement learning path planning approach for range-only underwater target localization with autonomous vehicles","display_name":"A reinforcement learning path planning approach for range-only underwater target localization with autonomous vehicles","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W4312421349","doi":"https://doi.org/10.1109/case49997.2022.9926499"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926499","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926499","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2301.06863","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046635009","display_name":"Ivan Masmitj\u00e0 Rusi\u00f1ol","orcid":"https://orcid.org/0000-0001-6355-7955"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ivan Masmitja","raw_affiliation_strings":["Mbari,Bioinspiration Lab,CA,USA,95062"],"affiliations":[{"raw_affiliation_string":"Mbari,Bioinspiration Lab,CA,USA,95062","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026842131","display_name":"Mario Mart\u00edn","orcid":"https://orcid.org/0000-0002-4125-6630"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Mario Martin","raw_affiliation_strings":["Universitat Politècnica de Catalunya, Barcelona Tech.,Knowledge Engineering and Machine Learning Group,Barcelona,Spain,08034"],"affiliations":[{"raw_affiliation_string":"Universitat Politècnica de Catalunya, Barcelona Tech.,Knowledge Engineering and Machine Learning Group,Barcelona,Spain,08034","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021011900","display_name":"Kakani Katija","orcid":"https://orcid.org/0000-0002-7249-0147"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kakani Katija","raw_affiliation_strings":["Mbari,Bioinspiration Lab,CA,USA,95062"],"affiliations":[{"raw_affiliation_string":"Mbari,Bioinspiration Lab,CA,USA,95062","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062718565","display_name":"Spartacus Gom\u00e1riz Castro","orcid":"https://orcid.org/0000-0001-9765-2176"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Spartacus Gomariz","raw_affiliation_strings":["Barcelona Tech.,Sarti Research Group,Electronics Department Universitat Politècnica de Catalunya,Barcelona,Spain,080934"],"affiliations":[{"raw_affiliation_string":"Barcelona Tech.,Sarti Research Group,Electronics Department Universitat Politècnica de Catalunya,Barcelona,Spain,080934","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091546833","display_name":"Joan Navarro","orcid":"https://orcid.org/0000-0002-5756-9543"},"institutions":[{"id":"https://openalex.org/I4210104448","display_name":"Institut Catal\u00e0 de Ci\u00e8ncies del Clima","ror":"https://ror.org/01bpa4157","country_code":"ES","type":"nonprofit","lineage":["https://openalex.org/I4210104448"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Joan Navarro","raw_affiliation_strings":["Institut de Ciències del Mar,Csic,Barcelona,Spain,08003"],"affiliations":[{"raw_affiliation_string":"Institut de Ciències del Mar,Csic,Barcelona,Spain,08003","institution_ids":["https://openalex.org/I4210104448"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5046635009"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5767,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.94559448,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"675","last_page":"682"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983999729156494,"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":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8316476941108704},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7509284019470215},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5878476500511169},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5775807499885559},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5576594471931458},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5080511569976807},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47210660576820374},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.42790699005126953},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3748604357242584},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3090178370475769},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2758944034576416},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2650410532951355},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.13100051879882812},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12251865863800049}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8316476941108704},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7509284019470215},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5878476500511169},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5775807499885559},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5576594471931458},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5080511569976807},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47210660576820374},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.42790699005126953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3748604357242584},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3090178370475769},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2758944034576416},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2650410532951355},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.13100051879882812},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12251865863800049},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/case49997.2022.9926499","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926499","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2301.06863","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2301.06863","pdf_url":"https://arxiv.org/pdf/2301.06863","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":null,"raw_type":"text"},{"id":"pmh:oai:digital.csic.es:10261/286085","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/286085","pdf_url":"https://digital.csic.es/bitstream/10261/286085/1/Masmitja_et_al_2022_postprint.pdf","source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"cap\u00edtulo de libro"},{"id":"pmh:oai:upcommons.upc.edu:2117/376510","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/376510","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2301.06863","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2301.06863","pdf_url":"https://arxiv.org/pdf/2301.06863","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.7099999785423279,"display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G10638306","display_name":null,"funder_award_id":"CEX2019-000928-S","funder_id":"https://openalex.org/F4320321505","funder_display_name":"Generalitat de Catalunya"},{"id":"https://openalex.org/G1974542962","display_name":null,"funder_award_id":"Sk\u0142odowska","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G2689612763","display_name":null,"funder_award_id":"Marie","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G3514550006","display_name":null,"funder_award_id":"Centre","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4472392361","display_name":null,"funder_award_id":"CEX2019-000928-S","funder_id":"https://openalex.org/F4320321837","funder_display_name":"Ministerio de Econom\u00eda y Competitividad"},{"id":"https://openalex.org/G4531677044","display_name":null,"funder_award_id":"grant","funder_id":"https://openalex.org/F4320321837","funder_display_name":"Ministerio de Econom\u00eda y Competitividad"},{"id":"https://openalex.org/G5295991091","display_name":null,"funder_award_id":"RTI2018-095112-B-I00","funder_id":"https://openalex.org/F4320321837","funder_display_name":"Ministerio de Econom\u00eda y Competitividad"},{"id":"https://openalex.org/G6861619220","display_name":null,"funder_award_id":"CEX2019-000928-S","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6952074348","display_name":null,"funder_award_id":"893089","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8302528420","display_name":null,"funder_award_id":"CEX2019-0009","funder_id":"https://openalex.org/F4320321837","funder_display_name":"Ministerio de Econom\u00eda y Competitividad"},{"id":"https://openalex.org/G8318064016","display_name":null,"funder_award_id":"Horizon","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8665705021","display_name":null,"funder_award_id":"SGR 376","funder_id":"https://openalex.org/F4320321505","funder_display_name":"Generalitat de Catalunya"},{"id":"https://openalex.org/G866601107","display_name":null,"funder_award_id":"2017 SGR 376","funder_id":"https://openalex.org/F4320321505","funder_display_name":"Generalitat de Catalunya"},{"id":"https://openalex.org/G8970473815","display_name":null,"funder_award_id":"2017 SGR","funder_id":"https://openalex.org/F4320321505","funder_display_name":"Generalitat de Catalunya"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320321505","display_name":"Generalitat de Catalunya","ror":"https://ror.org/01bg62x04"},{"id":"https://openalex.org/F4320321837","display_name":"Ministerio de Econom\u00eda y Competitividad","ror":"https://ror.org/034900433"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4312421349.pdf"},"referenced_works_count":52,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1506975760","https://openalex.org/W1973737385","https://openalex.org/W1982711454","https://openalex.org/W2054979365","https://openalex.org/W2083065232","https://openalex.org/W2109952298","https://openalex.org/W2123998235","https://openalex.org/W2129324213","https://openalex.org/W2149681188","https://openalex.org/W2170984917","https://openalex.org/W2257979135","https://openalex.org/W2343915965","https://openalex.org/W2519534106","https://openalex.org/W2581006053","https://openalex.org/W2746643787","https://openalex.org/W2766164908","https://openalex.org/W2781726626","https://openalex.org/W2787938642","https://openalex.org/W2802474393","https://openalex.org/W2891423421","https://openalex.org/W2895744445","https://openalex.org/W2897395948","https://openalex.org/W2912083425","https://openalex.org/W2929634766","https://openalex.org/W2956099446","https://openalex.org/W2963864421","https://openalex.org/W3003544699","https://openalex.org/W3005243570","https://openalex.org/W3006136081","https://openalex.org/W3090386093","https://openalex.org/W3107153805","https://openalex.org/W3108678770","https://openalex.org/W3133533407","https://openalex.org/W3207717275","https://openalex.org/W3208052598","https://openalex.org/W4206082746","https://openalex.org/W4248488850","https://openalex.org/W4287018575","https://openalex.org/W4298857966","https://openalex.org/W4299802797","https://openalex.org/W4300942734","https://openalex.org/W6637967152","https://openalex.org/W6678340937","https://openalex.org/W6681895701","https://openalex.org/W6684921986","https://openalex.org/W6738796088","https://openalex.org/W6745410505","https://openalex.org/W6747473740","https://openalex.org/W6748839928","https://openalex.org/W6783838878","https://openalex.org/W6800570120"],"related_works":["https://openalex.org/W4372267671","https://openalex.org/W2079693677","https://openalex.org/W4312756471","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344"],"abstract_inverted_index":{"Underwater":[0],"target":[1,35,47,60,93],"localization":[2,36],"using":[3,111,171],"range-only":[4],"and":[5,28,85,98],"single-beacon":[6],"(ROSB)":[7],"techniques":[8],"with":[9,123],"autonomous":[10,77,194],"vehicles":[11],"has":[12],"been":[13,109],"used":[14,130,218],"recently":[15],"to":[16,70,83,182,205,211],"improve":[17],"the":[18,38,41,45,54,58,72,87,91,120,124,138,142,153,158,161,207],"limitations":[19],"of":[20,40,57,90,160,188,209],"more":[21,223],"complex":[22,224],"methods,":[23,37],"such":[24,213],"as":[25,200],"long":[26],"baseline":[27,30],"ultra-short":[29],"systems.":[31],"Nonetheless,":[32],"in":[33,52,81,131,221],"ROSB":[34],"trajectory":[39],"tracking":[42,187],"vehicle":[43,78],"near":[44],"localized":[46],"plays":[48],"an":[49,76],"important":[50],"role":[51],"obtaining":[53],"best":[55],"accuracy":[56,89],"predicted":[59,92,155],"position.":[61],"Here,":[62],"we":[63],"investigate":[64],"a":[65,201,222],"Reinforcement":[66],"Learning":[67],"(RL)":[68],"approach":[69,129],"find":[71],"optimal":[73],"path":[74],"that":[75,137,170,185],"should":[79],"follow":[80],"order":[82],"increase":[84],"optimize":[86],"overall":[88],"localization,":[94],"while":[95],"reducing":[96],"time":[97],"power":[99],"consumption.":[100],"To":[101],"accomplish":[102],"this":[103],"objective,":[104],"different":[105],"experimental":[106],"tests":[107],"have":[108],"designed":[110],"state-of-the-art":[112],"deep":[113,172],"RL":[114,143,173,210],"algorithms.":[115],"Our":[116],"study":[117],"also":[118],"compares":[119],"results":[121,135],"obtained":[122],"analytical":[125,150],"Fisher":[126],"information":[127],"matrix":[128],"previous":[132],"studies.":[133],"The":[134],"revealed":[136],"policy":[139],"learned":[140],"by":[141,193],"agent":[144],"outperforms":[145],"trajectories":[146],"based":[147],"on":[148,220],"these":[149],"solutions,":[151],"e.g.":[152],"median":[154],"error":[156],"at":[157],"beginning":[159],"target\u2019s":[162],"localisation":[163],"is":[164,198],"17%":[165],"less.":[166],"These":[167],"findings":[168],"suggest":[169],"for":[174],"localizing":[175],"acoustic":[176],"targets":[177],"could":[178,216],"be":[179,217],"successfully":[180],"applied":[181],"in-water":[183],"applications":[184],"include":[186],"acoustically":[189],"tagged":[190],"marine":[191],"animals":[192],"underwater":[195],"vehicles.":[196],"This":[197],"envisioned":[199],"first":[202],"necessary":[203],"step":[204],"validate":[206],"use":[208],"tackle":[212],"problems,":[214],"which":[215],"later":[219],"scenarios.":[225]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}