{"id":"https://openalex.org/W4413925906","doi":"https://doi.org/10.1109/icra55743.2025.11127355","title":"Cross-Platform Learning-Based Fault Tolerant Surfacing Controller for Underwater Robots","display_name":"Cross-Platform Learning-Based Fault Tolerant Surfacing Controller for Underwater Robots","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925906","doi":"https://doi.org/10.1109/icra55743.2025.11127355"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127355","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","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/A5059090322","display_name":"Yuya Hamamatsu","orcid":"https://orcid.org/0000-0001-8589-0628"},"institutions":[{"id":"https://openalex.org/I111112146","display_name":"Tallinn University of Technology","ror":"https://ror.org/0443cwa12","country_code":"EE","type":"education","lineage":["https://openalex.org/I111112146"]}],"countries":["EE"],"is_corresponding":false,"raw_author_name":"Yuya Hamamatsu","raw_affiliation_strings":["Tallinn University of Technology,Department of Computer Systems,Tallinn,Estonia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tallinn University of Technology,Department of Computer Systems,Tallinn,Estonia","institution_ids":["https://openalex.org/I111112146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006050292","display_name":"Walid Remmas","orcid":"https://orcid.org/0000-0001-8690-0496"},"institutions":[{"id":"https://openalex.org/I4210138951","display_name":"DANTE Solutions (United States)","ror":"https://ror.org/03t0h6z08","country_code":"US","type":"company","lineage":["https://openalex.org/I4210138951"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Walid Remmas","raw_affiliation_strings":["Defsecintel Solutions,Department of Research and Development,Estonia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Defsecintel Solutions,Department of Research and Development,Estonia","institution_ids":["https://openalex.org/I4210138951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010542609","display_name":"Jaan Rebane","orcid":"https://orcid.org/0000-0001-5499-3704"},"institutions":[{"id":"https://openalex.org/I111112146","display_name":"Tallinn University of Technology","ror":"https://ror.org/0443cwa12","country_code":"EE","type":"education","lineage":["https://openalex.org/I111112146"]}],"countries":["EE"],"is_corresponding":false,"raw_author_name":"Jaan Rebane","raw_affiliation_strings":["Tallinn University of Technology,Department of Computer Systems,Tallinn,Estonia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tallinn University of Technology,Department of Computer Systems,Tallinn,Estonia","institution_ids":["https://openalex.org/I111112146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084627413","display_name":"Maarja Kruusmaa","orcid":"https://orcid.org/0000-0001-5738-5421"},"institutions":[{"id":"https://openalex.org/I111112146","display_name":"Tallinn University of Technology","ror":"https://ror.org/0443cwa12","country_code":"EE","type":"education","lineage":["https://openalex.org/I111112146"]}],"countries":["EE"],"is_corresponding":false,"raw_author_name":"Maarja Kruusmaa","raw_affiliation_strings":["Tallinn University of Technology,Department of Computer Systems,Tallinn,Estonia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tallinn University of Technology,Department of Computer Systems,Tallinn,Estonia","institution_ids":["https://openalex.org/I111112146"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034240581","display_name":"Asko Ristolainen","orcid":"https://orcid.org/0000-0003-3029-9667"},"institutions":[{"id":"https://openalex.org/I111112146","display_name":"Tallinn University of Technology","ror":"https://ror.org/0443cwa12","country_code":"EE","type":"education","lineage":["https://openalex.org/I111112146"]}],"countries":["EE"],"is_corresponding":false,"raw_author_name":"Asko Ristolainen","raw_affiliation_strings":["Tallinn University of Technology,Department of Computer Systems,Tallinn,Estonia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tallinn University of Technology,Department of Computer Systems,Tallinn,Estonia","institution_ids":["https://openalex.org/I111112146"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5182,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.64889969,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"11263","last_page":"11269"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12406","display_name":"IoT and GPS-based Vehicle Safety Systems","score":0.932699978351593,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12406","display_name":"IoT and GPS-based Vehicle Safety Systems","score":0.932699978351593,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/underwater","display_name":"Underwater","score":0.6136146783828735},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.604253888130188},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5777336359024048},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.5457396507263184},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.4568427801132202},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4532131552696228},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3340238332748413},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2845461368560791},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.178032785654068},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1524353325366974}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6136146783828735},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.604253888130188},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5777336359024048},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.5457396507263184},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.4568427801132202},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4532131552696228},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3340238332748413},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2845461368560791},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.178032785654068},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1524353325366974},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127355","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1956244631","https://openalex.org/W1994349244","https://openalex.org/W1998580099","https://openalex.org/W2040316861","https://openalex.org/W2055211789","https://openalex.org/W2409350459","https://openalex.org/W2767050701","https://openalex.org/W2884150506","https://openalex.org/W2885195348","https://openalex.org/W2889925733","https://openalex.org/W3088568066","https://openalex.org/W3090721715","https://openalex.org/W3106237718","https://openalex.org/W3128707967","https://openalex.org/W3165915503","https://openalex.org/W3167597551","https://openalex.org/W3198854574","https://openalex.org/W3202143481","https://openalex.org/W3211725336","https://openalex.org/W3212580602","https://openalex.org/W4280571816","https://openalex.org/W4378472283","https://openalex.org/W4388240415","https://openalex.org/W4402545715"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2953138830","https://openalex.org/W2773822314","https://openalex.org/W3176162126","https://openalex.org/W2891537746","https://openalex.org/W3201231642","https://openalex.org/W3217214504"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,66,99],"propose":[4],"a":[5,52,68,74,109,112,117,134,138,156,177,183],"novel":[6],"cross-platform":[7],"fault-tolerant":[8,189],"surfacing":[9],"controller":[10,50,143],"for":[11,188,191],"underwater":[12,82,107,193],"robots,":[13],"based":[14],"on":[15,102],"reinforcement":[16],"learning":[17,70,89],"(RL).":[18],"Unlike":[19],"conventional":[20],"approaches,":[21],"which":[22],"require":[23],"explicit":[24],"identification":[25],"of":[26,56,76,106,149],"malfunctioning":[27],"actuators,":[28,86],"our":[29,97],"method":[30],"allows":[31],"the":[32,38,46,77,128],"robot":[33,119],"to":[34,44,133,155,169],"surface":[35],"using":[36],"only":[37],"remaining":[39],"operational":[40],"actuators":[41],"without":[42],"needing":[43],"pinpoint":[45],"failures.":[47],"The":[48],"proposed":[49],"learns":[51],"robust":[53],"policy":[54,79,130],"capable":[55],"handling":[57],"diverse":[58,192],"failure":[59],"scenarios":[60],"across":[61,80,93],"different":[62,85,104],"actuator":[63],"configurations.":[64],"Moreover,":[65],"introduce":[67],"transfer":[69],"mechanism":[71],"that":[72],"shares":[73],"part":[75],"control":[78,190],"various":[81],"robots":[83],"with":[84,176,195],"thus":[87],"improving":[88],"efficiency":[90],"and":[91,116,151,185],"generalization":[92],"platforms.":[94],"To":[95],"validate":[96],"approach,":[98],"conduct":[100],"simulations":[101],"three":[103],"types":[105],"robots:":[108],"hoveringtype":[110],"AUV,":[111,115],"torpedo":[113],"shaped":[114],"turtle-shaped":[118],"(U-CAT).":[120],"Additionally,":[121],"real-world":[122,166,199],"experiments":[123],"are":[124],"performed,":[125],"successfully":[126],"transferring":[127],"learned":[129],"from":[131],"simulation":[132],"physical":[135],"U-CAT":[136],"in":[137,147,165,198],"controlled":[139],"environment.":[140],"Our":[141],"RLbased":[142],"demonstrates":[144],"superior":[145],"performance":[146],"terms":[148],"stability":[150],"success":[152,163],"rate":[153,164],"compared":[154,168],"baseline":[157,178],"controller,":[158],"achieving":[159],"an":[160],"85.7":[161],"percent":[162,175],"tests":[167],"<tex":[170],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[171],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\mathbf{5":[172],"7.":[173],"1}$</tex>":[174],"controller.":[179],"This":[180],"research":[181],"provides":[182],"scalable":[184],"efficient":[186],"solution":[187],"platforms,":[194],"potential":[196],"applications":[197],"aquatic":[200],"missions.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
