{"id":"https://openalex.org/W4401416991","doi":"https://doi.org/10.1109/icra57147.2024.10610101","title":"PPO-Based Dynamic Control of Uncertain Floating Platforms in Zero-G Environment","display_name":"PPO-Based Dynamic Control of Uncertain Floating Platforms in Zero-G Environment","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416991","doi":"https://doi.org/10.1109/icra57147.2024.10610101"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610101","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5046555390","display_name":"Mahya Ramezani","orcid":null},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":true,"raw_author_name":"Mahya Ramezani","raw_affiliation_strings":["University of Luxembourg (UL),Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT),Luxembourg"],"affiliations":[{"raw_affiliation_string":"University of Luxembourg (UL),Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT),Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069930973","display_name":"M. Amin Alandihallaj","orcid":"https://orcid.org/0000-0002-8526-3605"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"M. Amin Alandihallaj","raw_affiliation_strings":["University of Luxembourg (UL),Space Systems Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT),Luxembourg"],"affiliations":[{"raw_affiliation_string":"University of Luxembourg (UL),Space Systems Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT),Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033297796","display_name":"Andreas M. Hein","orcid":"https://orcid.org/0000-0003-1763-6892"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Andreas M. Hein","raw_affiliation_strings":["University of Luxembourg (UL),Space Systems Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT),Luxembourg"],"affiliations":[{"raw_affiliation_string":"University of Luxembourg (UL),Space Systems Research Group, Interdisciplinary Centre for Security, Reliability and Trust (SnT),Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5046555390"],"corresponding_institution_ids":["https://openalex.org/I186903577"],"apc_list":null,"apc_paid":null,"fwci":3.2856,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.91727817,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"11730","last_page":"11736"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9700000286102295,"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":0.9700000286102295,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9549999833106995,"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/T10223","display_name":"Microgrid Control and Optimization","score":0.9358999729156494,"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/zero","display_name":"Zero (linguistics)","score":0.659659743309021},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.53615403175354},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44314664602279663},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1605660617351532}],"concepts":[{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.659659743309021},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.53615403175354},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44314664602279663},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1605660617351532},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"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":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10610101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610101","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:orbilu.uni.lu:10993/62365","is_oa":false,"landing_page_url":"https://orbilu.uni.lu/handle/10993/62365","pdf_url":null,"source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation, ICRA 2024 (2024-05-14); 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Jpn [Jpn], 13-05-2024 => 17-05-2024","raw_type":"peer reviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1965555277","https://openalex.org/W1990196420","https://openalex.org/W2013677780","https://openalex.org/W2039823307","https://openalex.org/W2060864110","https://openalex.org/W2141690156","https://openalex.org/W2237353654","https://openalex.org/W2331292352","https://openalex.org/W2397222277","https://openalex.org/W2736601468","https://openalex.org/W2750544110","https://openalex.org/W2901227628","https://openalex.org/W2910382176","https://openalex.org/W2912290085","https://openalex.org/W2927823475","https://openalex.org/W2999854857","https://openalex.org/W3047627630","https://openalex.org/W3090019156","https://openalex.org/W3217074671","https://openalex.org/W4224213624","https://openalex.org/W4280623115","https://openalex.org/W4283797821","https://openalex.org/W4382050565","https://openalex.org/W4386363052","https://openalex.org/W4387396793","https://openalex.org/W4391607546","https://openalex.org/W4392148313","https://openalex.org/W4399801388","https://openalex.org/W6741002519","https://openalex.org/W6758257295","https://openalex.org/W6781562384","https://openalex.org/W6903988537","https://openalex.org/W7006476210"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"In":[0],"the":[1,50,56,72,104,111,118,121],"field":[2],"of":[3,58,76,120],"space":[4,139],"exploration,":[5],"floating":[6,77,131],"platforms":[7,21,132],"play":[8],"a":[9,98],"crucial":[10],"role":[11],"in":[12,22,49,97,110,133,138],"scientific":[13],"investigations":[14],"and":[15,30,67,94,108],"technological":[16],"advancements.":[17],"However,":[18],"controlling":[19,130],"these":[20],"zerogravity":[23,105],"environments":[24],"presents":[25],"unique":[26],"challenges,":[27],"including":[28],"uncertainties":[29],"disturbances.":[31],"This":[32,60,124],"paper":[33],"introduces":[34],"an":[35],"innovative":[36],"approach":[37,61,85],"that":[38],"combines":[39],"Proximal":[40],"Policy":[41],"Optimization":[42],"(PPO)":[43],"with":[44],"Model":[45],"Predictive":[46],"Control":[47],"(MPC)":[48],"zero-gravity":[51,134],"laboratory":[52],"(Zero-G":[53],"Lab)":[54],"at":[55],"University":[57],"Luxembourg.":[59],"leverages":[62],"PPO\u2019s":[63],"reinforcement":[64],"learning":[65],"power":[66],"MPC\u2019s":[68],"precision":[69],"to":[70,91,103],"navigate":[71],"complex":[73],"control":[74,81,100],"dynamics":[75,93],"platforms.":[78],"Unlike":[79],"traditional":[80],"methods,":[82],"this":[83,115],"PPO-MPC":[84],"learns":[86],"from":[87],"MPC":[88],"predictions,":[89],"adapting":[90],"unmodeled":[92],"disturbances,":[95],"resulting":[96],"resilient":[99],"framework":[101],"tailored":[102],"environment.":[106],"Simulations":[107],"experiments":[109],"Zero-G":[112],"Lab":[113],"validate":[114],"approach,":[116],"showcasing":[117],"adaptability":[119],"PPO":[122],"agent.":[123],"research":[125],"opens":[126],"new":[127],"possibilities":[128],"for":[129],"settings,":[135],"promising":[136],"advancements":[137],"exploration.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3}],"updated_date":"2026-04-11T08:14:18.477133","created_date":"2025-10-10T00:00:00"}