{"id":"https://openalex.org/W4312570924","doi":"https://doi.org/10.1109/dasc/picom/cbdcom/cy55231.2022.9927810","title":"Deep Reinforcement Learning Based Multi-UUV Cooperative Control for Target Capturing","display_name":"Deep Reinforcement Learning Based Multi-UUV Cooperative Control for Target Capturing","publication_year":2022,"publication_date":"2022-09-12","ids":{"openalex":"https://openalex.org/W4312570924","doi":"https://doi.org/10.1109/dasc/picom/cbdcom/cy55231.2022.9927810"},"language":"en","primary_location":{"id":"doi:10.1109/dasc/picom/cbdcom/cy55231.2022.9927810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/dasc/picom/cbdcom/cy55231.2022.9927810","pdf_url":null,"source":{"id":"https://openalex.org/S4363605495","display_name":"2022 IEEE Intl Conf on Dependable, Autonomic and Secure Computing, Intl Conf on Pervasive Intelligence and Computing, Intl Conf on Cloud and Big Data Computing, Intl Conf on Cyber Science and Technology Congress (DASC/PiCom/CBDCom/CyberSciTech)","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 Intl Conf on Dependable, Autonomic and Secure Computing, Intl Conf on Pervasive Intelligence and Computing, Intl Conf on Cloud and Big Data Computing, Intl Conf on Cyber Science and Technology Congress (DASC/PiCom/CBDCom/CyberSciTech)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100781872","display_name":"Zhong Wang","orcid":"https://orcid.org/0000-0002-6307-0458"},"institutions":[{"id":"https://openalex.org/I4210157899","display_name":"China State Shipbuilding (China)","ror":"https://ror.org/04rveb346","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210157899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong Wang","raw_affiliation_strings":["China State Shipbuilding Corporation Limited,705th Research Institute,China","705th Research Institute, China State Shipbuilding Corporation Limited, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China State Shipbuilding Corporation Limited,705th Research Institute,China","institution_ids":["https://openalex.org/I4210157899"]},{"raw_affiliation_string":"705th Research Institute, China State Shipbuilding Corporation Limited, China","institution_ids":["https://openalex.org/I4210157899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073619139","display_name":"Zhiwen Wen","orcid":"https://orcid.org/0000-0002-0915-7069"},"institutions":[{"id":"https://openalex.org/I4210157899","display_name":"China State Shipbuilding (China)","ror":"https://ror.org/04rveb346","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210157899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwen Wen","raw_affiliation_strings":["China State Shipbuilding Corporation Limited,705th Research Institute,China","705th Research Institute, China State Shipbuilding Corporation Limited, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China State Shipbuilding Corporation Limited,705th Research Institute,China","institution_ids":["https://openalex.org/I4210157899"]},{"raw_affiliation_string":"705th Research Institute, China State Shipbuilding Corporation Limited, China","institution_ids":["https://openalex.org/I4210157899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008716657","display_name":"Qianxin Xia","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157899","display_name":"China State Shipbuilding (China)","ror":"https://ror.org/04rveb346","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210157899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianxin Xia","raw_affiliation_strings":["China State Shipbuilding Corporation Limited,705th Research Institute,China","705th Research Institute, China State Shipbuilding Corporation Limited, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China State Shipbuilding Corporation Limited,705th Research Institute,China","institution_ids":["https://openalex.org/I4210157899"]},{"raw_affiliation_string":"705th Research Institute, China State Shipbuilding Corporation Limited, China","institution_ids":["https://openalex.org/I4210157899"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062468987","display_name":"Wei\u2010Jun Cai","orcid":"https://orcid.org/0000-0003-3606-8325"},"institutions":[{"id":"https://openalex.org/I4210157899","display_name":"China State Shipbuilding (China)","ror":"https://ror.org/04rveb346","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210157899"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weijun Cai","raw_affiliation_strings":["China State Shipbuilding Corporation Limited,705th Research Institute,China","705th Research Institute, China State Shipbuilding Corporation Limited, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China State Shipbuilding Corporation Limited,705th Research Institute,China","institution_ids":["https://openalex.org/I4210157899"]},{"raw_affiliation_string":"705th Research Institute, China State Shipbuilding Corporation Limited, China","institution_ids":["https://openalex.org/I4210157899"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210157899"],"apc_list":null,"apc_paid":null,"fwci":1.8872,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.86440592,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9993000030517578,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9926999807357788,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/unmanned-underwater-vehicle","display_name":"Unmanned underwater vehicle","score":0.7528122067451477},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6961017847061157},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6675175428390503},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.60523521900177},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.589112401008606},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4770885407924652},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.47643357515335083},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.4684712290763855},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45713695883750916},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4503999948501587},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.44261792302131653},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3352571129798889},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26723599433898926}],"concepts":[{"id":"https://openalex.org/C2778740559","wikidata":"https://www.wikidata.org/wiki/Q2496586","display_name":"Unmanned underwater vehicle","level":3,"score":0.7528122067451477},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6961017847061157},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6675175428390503},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.60523521900177},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.589112401008606},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4770885407924652},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.47643357515335083},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.4684712290763855},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45713695883750916},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4503999948501587},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.44261792302131653},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3352571129798889},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26723599433898926},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/dasc/picom/cbdcom/cy55231.2022.9927810","is_oa":false,"landing_page_url":"https://doi.org/10.1109/dasc/picom/cbdcom/cy55231.2022.9927810","pdf_url":null,"source":{"id":"https://openalex.org/S4363605495","display_name":"2022 IEEE Intl Conf on Dependable, Autonomic and Secure Computing, Intl Conf on Pervasive Intelligence and Computing, Intl Conf on Cloud and Big Data Computing, Intl Conf on Cyber Science and Technology Congress (DASC/PiCom/CBDCom/CyberSciTech)","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 Intl Conf on Dependable, Autonomic and Secure Computing, Intl Conf on Pervasive Intelligence and Computing, Intl Conf on Cloud and Big Data Computing, Intl Conf on Cyber Science and Technology Congress (DASC/PiCom/CBDCom/CyberSciTech)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1988196484","https://openalex.org/W2288109557","https://openalex.org/W2791009491","https://openalex.org/W2899638729","https://openalex.org/W2931548779","https://openalex.org/W3011995057","https://openalex.org/W3022730669","https://openalex.org/W3048295601","https://openalex.org/W3084304729","https://openalex.org/W3216767138","https://openalex.org/W4210616537","https://openalex.org/W4285173995","https://openalex.org/W4299802797","https://openalex.org/W6738796088"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W65954170","https://openalex.org/W1988876749","https://openalex.org/W2518382144","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166","https://openalex.org/W2787547275","https://openalex.org/W1600534566"],"abstract_inverted_index":{"Cooperative":[0],"target":[1,20,58,83,178],"capturing":[2,21,59,97,193],"is":[3],"of":[4,9,37,88,131],"significance":[5],"in":[6,35,67,107,121,143],"the":[7,68,89,95,108,144,154,158,177,192],"field":[8],"autonomous":[10],"coordination":[11],"and":[12,32,39,56,99,140,157,170,181],"swarm":[13,66],"intelligence":[14],"for":[15,64,81],"underwater":[16,26],"unmanned":[17,25],"system.":[18,111],"Existing":[19],"strategies":[22],"using":[23],"multiple":[24],"vehicles":[27],"(UUVs)":[28],"usually":[29],"lack":[30],"adaptability":[31,63],"often":[33],"fail":[34],"face":[36],"unknown":[38],"time-varying":[40],"marine":[41],"environment.":[42,71],"By":[43],"leveraging":[44],"multi-agent":[45,145],"deep":[46],"reinforcement":[47],"learning":[48],"(MADDPG)":[49],"techniques,":[50],"this":[51],"paper":[52],"investigates":[53],"an":[54,126],"intelligent":[55],"cooperative":[57],"scheme":[60],"with":[61],"better":[62],"UUV":[65,78,155],"dynamic":[69,77,128],"adversarial":[70,151],"Specifically,":[72],"we":[73,124,136],"first":[74],"present":[75],"a":[76,173],"formation":[79,156,175],"method":[80,91],"collaborative":[82],"capturing.":[84],"Due":[85],"to":[86,149,160],"limitations":[87],"distribution":[90],"by":[92,113,188],"angular":[93,100],"position,":[94],"desired":[96],"radius":[98],"spacing":[101],"are":[102],"selected":[103],"as":[104],"control":[105,117],"indicators":[106],"polar":[109],"coordinate":[110],"Then,":[112],"converting":[114],"these":[115],"two":[116],"indices":[118],"into":[119],"one":[120],"Cartesian":[122],"coordinate,":[123],"devise":[125],"adaptive":[127],"allocation":[129],"strategy":[130],"interested":[132],"round-up":[133],"points.":[134],"Finally,":[135],"combine":[137],"both":[138],"MADDPG":[139],"DDPG":[141],"algorithms":[142],"particle":[146],"environment":[147],"(MPE)":[148],"perform":[150],"training":[152],"between":[153],"targets":[159,187],"be":[161],"captured.":[162],"Extensive":[163],"simulations":[164],"demonstrate":[165],"that":[166],"UUVs":[167],"can":[168,182],"adaptively":[169],"cooperatively":[171],"form":[172],"circular":[174],"near":[176],"without":[179],"collision,":[180],"successfully":[183],"round":[184],"up":[185],"escaping":[186],"keeping":[189],"them":[190],"within":[191],"circle.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}