{"id":"https://openalex.org/W4399769937","doi":"https://doi.org/10.1109/icara60736.2024.10553186","title":"Applying Reinforcement Learning to PID Flight Control of a Quadrotor Drone to Mitigate Wind Disturbances","display_name":"Applying Reinforcement Learning to PID Flight Control of a Quadrotor Drone to Mitigate Wind Disturbances","publication_year":2024,"publication_date":"2024-02-22","ids":{"openalex":"https://openalex.org/W4399769937","doi":"https://doi.org/10.1109/icara60736.2024.10553186"},"language":"en","primary_location":{"id":"doi:10.1109/icara60736.2024.10553186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara60736.2024.10553186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-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/A5007767640","display_name":"Ryan Hoover","orcid":"https://orcid.org/0000-0002-1335-6896"},"institutions":[{"id":"https://openalex.org/I23745121","display_name":"Point Park University","ror":"https://ror.org/017mfww27","country_code":"US","type":"education","lineage":["https://openalex.org/I23745121"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan J. Hoover","raw_affiliation_strings":["Point Park University,Department of Natural Sciecnes and Engineering,Pittsburgh,PA,USA","Department of Natural Sciecnes and Engineering, Point Park University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Point Park University,Department of Natural Sciecnes and Engineering,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I23745121"]},{"raw_affiliation_string":"Department of Natural Sciecnes and Engineering, Point Park University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I23745121"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100530349","display_name":"Wenyu Wu","orcid":"https://orcid.org/0009-0003-0489-5235"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenyu Wu","raw_affiliation_strings":["Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA","Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101724128","display_name":"Kenji Shimada","orcid":"https://orcid.org/0000-0001-8827-672X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kenji Shimada","raw_affiliation_strings":["Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA","Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06666509,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"285","last_page":"293"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9986000061035156,"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":0.9986000061035156,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10524","display_name":"Traffic control and management","score":0.9735999703407288,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/drone","display_name":"Drone","score":0.8998829126358032},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7554115056991577},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.7221333980560303},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.5304042100906372},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49999141693115234},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47477006912231445},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44188421964645386},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4030098617076874},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33235546946525574},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28415408730506897},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.13733327388763428},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07849466800689697}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8998829126358032},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7554115056991577},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.7221333980560303},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.5304042100906372},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49999141693115234},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47477006912231445},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44188421964645386},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4030098617076874},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33235546946525574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28415408730506897},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.13733327388763428},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07849466800689697},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icara60736.2024.10553186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara60736.2024.10553186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th International Conference on Automation, Robotics and Applications (ICARA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1923344279","https://openalex.org/W1995467711","https://openalex.org/W2024973123","https://openalex.org/W2143277772","https://openalex.org/W2158025740","https://openalex.org/W2615547864","https://openalex.org/W2733312032","https://openalex.org/W2736601468","https://openalex.org/W2775432569","https://openalex.org/W2786317709","https://openalex.org/W2954048160","https://openalex.org/W2962890638","https://openalex.org/W2963864421","https://openalex.org/W3003669699","https://openalex.org/W3004383804","https://openalex.org/W3082697078","https://openalex.org/W3084000032","https://openalex.org/W3084522584","https://openalex.org/W3099442372","https://openalex.org/W3153187775","https://openalex.org/W3199764406","https://openalex.org/W4200438872","https://openalex.org/W4295297425","https://openalex.org/W6684921986","https://openalex.org/W6725478704","https://openalex.org/W6747473740","https://openalex.org/W6782364735"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4379143281","https://openalex.org/W4320922540","https://openalex.org/W82747921","https://openalex.org/W4384916966"],"abstract_inverted_index":{"Quadrotor":[0],"drone":[1,44],"control":[2,8,15],"is":[3,49,67],"a":[4,36,41,60,97,105,131],"popular":[5],"domain":[6],"for":[7,17,34,68,77],"research":[9],"and":[10,88,94,123,130],"reinforcement":[11,28,37,99,127],"learning":[12,29,38,100,128],"applications.":[13],"Existing":[14],"applications":[16],"quadrotor":[18,43],"drones":[19],"can":[20],"be":[21],"leveraged":[22],"to":[23,50,71,85,118],"improve":[24],"the":[25,57,78,113],"performance":[26,91],"of":[27,59],"agents.":[30],"We":[31],"propose":[32],"methods":[33,82],"interfacing":[35],"agent":[39,70],"with":[40],"typical":[42,98,126,132],"flight":[45],"controller.":[46,63,80,108,134],"One":[47],"method":[48,66],"provide":[51],"auxiliary":[52],"rotor":[53],"commands":[54],"that":[55,112],"adjust":[56],"output":[58],"static":[61,106],"PID":[62,79,107,133],"The":[64,109],"other":[65],"an":[69],"identify":[72],"continuous":[73],"absolute":[74],"controller":[75],"parameters":[76],"These":[81],"are":[83,116],"used":[84],"train":[86],"agents":[87,115,129],"evaluate":[89],"their":[90],"through":[92],"simulation":[93],"compare":[95],"against":[96],"approach":[101],"as":[102,104],"well":[103],"results":[110],"show":[111],"trained":[114],"able":[117],"successfully":[119],"mitigate":[120],"wind":[121],"disturbances":[122],"outperform":[124],"both":[125]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}