{"id":"https://openalex.org/W4413925049","doi":"https://doi.org/10.1109/icra55743.2025.11128340","title":"V-Pilot: A Velocity Vector Control Agent for Fixed-Wing UAVs from Imperfect Demonstrations","display_name":"V-Pilot: A Velocity Vector Control Agent for Fixed-Wing UAVs from Imperfect Demonstrations","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925049","doi":"https://doi.org/10.1109/icra55743.2025.11128340"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128340","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128340","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/A5066103977","display_name":"Xudong Gong","orcid":"https://orcid.org/0000-0002-2253-2927"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xudong Gong","raw_affiliation_strings":["College of Computer Science and Technology, National University of Defense Technology,Changsha,Hunan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, National University of Defense Technology,Changsha,Hunan,China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008312236","display_name":"Dawei Feng","orcid":"https://orcid.org/0009-0003-8823-6260"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dawei Feng","raw_affiliation_strings":["College of Computer Science and Technology, National University of Defense Technology,Changsha,Hunan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, National University of Defense Technology,Changsha,Hunan,China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013340793","display_name":"Kele Xu","orcid":"https://orcid.org/0000-0001-5997-5169"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kele Xu","raw_affiliation_strings":["College of Computer Science and Technology, National University of Defense Technology,Changsha,Hunan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, National University of Defense Technology,Changsha,Hunan,China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101643468","display_name":"Xing Zhou","orcid":"https://orcid.org/0000-0001-9033-6832"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xing Zhou","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology,Changsha,Hunan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology,Changsha,Hunan,China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102758281","display_name":"S. Q. Zheng","orcid":"https://orcid.org/0000-0002-5773-0341"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Si Zheng","raw_affiliation_strings":["Qiyuan Lab,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qiyuan Lab,Beijing,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088885490","display_name":"Bo Ding","orcid":"https://orcid.org/0000-0002-1236-8318"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Ding","raw_affiliation_strings":["College of Computer Science and Technology, National University of Defense Technology,Changsha,Hunan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, National University of Defense Technology,Changsha,Hunan,China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101522100","display_name":"Huaimin Wang","orcid":"https://orcid.org/0000-0002-3245-1901"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaimin Wang","raw_affiliation_strings":["College of Computer Science and Technology, National University of Defense Technology,Changsha,Hunan,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, National University of Defense Technology,Changsha,Hunan,China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"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":0.28202297,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11538","last_page":"11545"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12125","display_name":"Aerospace and Aviation Technology","score":0.9894999861717224,"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"}},"topics":[{"id":"https://openalex.org/T12125","display_name":"Aerospace and Aviation Technology","score":0.9894999861717224,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9803000092506409,"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"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9573000073432922,"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/fixed-wing","display_name":"Fixed wing","score":0.768547773361206},{"id":"https://openalex.org/keywords/imperfect","display_name":"Imperfect","score":0.7631253600120544},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.5771833062171936},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4992084503173828},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45690667629241943},{"id":"https://openalex.org/keywords/vector-control","display_name":"Vector control","score":0.41783809661865234},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41671693325042725},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.36236193776130676},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3466946482658386},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28402259945869446},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13761413097381592},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1252916157245636}],"concepts":[{"id":"https://openalex.org/C3018522811","wikidata":"https://www.wikidata.org/wiki/Q2875704","display_name":"Fixed wing","level":3,"score":0.768547773361206},{"id":"https://openalex.org/C2780310539","wikidata":"https://www.wikidata.org/wiki/Q12547192","display_name":"Imperfect","level":2,"score":0.7631253600120544},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.5771833062171936},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4992084503173828},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45690667629241943},{"id":"https://openalex.org/C152060993","wikidata":"https://www.wikidata.org/wiki/Q1759392","display_name":"Vector control","level":4,"score":0.41783809661865234},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41671693325042725},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.36236193776130676},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3466946482658386},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28402259945869446},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13761413097381592},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1252916157245636},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128340","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128340","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":[{"id":"https://openalex.org/G7763311295","display_name":null,"funder_award_id":"62306325","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2051228319","https://openalex.org/W2124136621","https://openalex.org/W2560647685","https://openalex.org/W2785534585","https://openalex.org/W2790412092","https://openalex.org/W2962890638","https://openalex.org/W2968312042","https://openalex.org/W2982316857","https://openalex.org/W2997165841","https://openalex.org/W2998396902","https://openalex.org/W3092635282","https://openalex.org/W3110904951","https://openalex.org/W3145123113","https://openalex.org/W3149839747","https://openalex.org/W3190154035","https://openalex.org/W3206820790","https://openalex.org/W3207657697","https://openalex.org/W4285601030","https://openalex.org/W4288047663","https://openalex.org/W4288047789","https://openalex.org/W4288047821","https://openalex.org/W4300672471","https://openalex.org/W4307234290","https://openalex.org/W4318615508"],"related_works":["https://openalex.org/W2051353479","https://openalex.org/W2047663700","https://openalex.org/W2145266680","https://openalex.org/W2267127512","https://openalex.org/W2029869150","https://openalex.org/W2374250903","https://openalex.org/W3039066287","https://openalex.org/W4409108187","https://openalex.org/W1978478581","https://openalex.org/W1569654675"],"abstract_inverted_index":{"This":[0,103],"paper":[1],"addresses":[2],"the":[3,18,54,57,109,121],"challenge":[4],"of":[5,20,28,56,111],"Velocity":[6],"Vector":[7],"Control":[8],"(VVC)":[9],"for":[10,95],"fixed-wing":[11,122],"UAVs":[12],"using":[13],"Reinforcement":[14],"Learning":[15],"(RL)":[16],"in":[17],"presence":[19],"imperfect":[21,115],"demonstrations.":[22,59,116],"The":[23],"multi-objective":[24],"and":[25,33,89,99,134],"long-horizon":[26],"nature":[27],"VVC":[29],"introduces":[30],"significant":[31],"spatial":[32],"temporal":[34,86],"complexities,":[35],"complicating":[36],"RL's":[37],"exploration.":[38],"While":[39],"demonstration-based":[40,112],"RL":[41,113,124],"methods":[42],"can":[43],"help":[44],"mitigate":[45],"exploration":[46,87],"challenges,":[47],"their":[48],"effectiveness":[49],"is":[50,105],"often":[51],"limited":[52],"by":[53],"quality":[55,101],"provided":[58],"To":[60],"tackle":[61],"this,":[62],"we":[63],"propose":[64],"V-Pilot,":[65],"a":[66,72,76,91],"novel":[67],"approach":[68],"that":[69,130],"integrates:":[70],"(1)":[71],"controller":[73],"equipped":[74],"with":[75],"control":[77],"law":[78],"model":[79],"to":[80,107],"reduce":[81],"action":[82],"oscillation,":[83],"thus":[84],"alleviating":[85],"issues,":[88],"(2)":[90],"VVC-specific":[92],"training":[93],"workflow":[94],"iterative":[96],"policy":[97],"refinement":[98],"demonstration":[100],"improvement.":[102],"framework":[104],"designed":[106],"enhance":[108],"performance":[110,139],"under":[114],"We":[117],"evaluate":[118],"V-Pilot":[119,131],"on":[120],"UAV":[123],"environment,":[125],"VVCGym.":[126],"Experimental":[127],"results":[128],"demonstrate":[129],"outperforms":[132],"PID":[133],"Behavioral":[135],"Cloning":[136],"across":[137],"multiple":[138],"metrics.":[140]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
