{"id":"https://openalex.org/W4206742276","doi":"https://doi.org/10.1109/iros51168.2021.9636053","title":"Autonomous Drone Racing with Deep Reinforcement Learning","display_name":"Autonomous Drone Racing with Deep Reinforcement Learning","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4206742276","doi":"https://doi.org/10.1109/iros51168.2021.9636053"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636053","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636053","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5085971429","display_name":"Yunlong Song","orcid":"https://orcid.org/0000-0002-6352-3744"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CH","US"],"is_corresponding":true,"raw_author_name":"Yunlong Song","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich","University of Zurich and ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I202697423"]},{"raw_affiliation_string":"University of Zurich and ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022638344","display_name":"Mats Steinweg","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]},{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH","DE","US"],"is_corresponding":false,"raw_author_name":"Mats Steinweg","raw_affiliation_strings":["RWTH Aachen University","Robotics and Perception Group, University of Zurich","University of Zurich and ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"RWTH Aachen University","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I202697423"]},{"raw_affiliation_string":"University of Zurich and ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003892206","display_name":"Elia Kaufmann","orcid":"https://orcid.org/0000-0001-6094-5901"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Elia Kaufmann","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich","University of Zurich and ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I202697423"]},{"raw_affiliation_string":"University of Zurich and ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I202697423"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["Robotics and Perception Group, University of Zurich","University of Zurich and ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics and Perception Group, University of Zurich","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I202697423"]},{"raw_affiliation_string":"University of Zurich and ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I202697423"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5085971429"],"corresponding_institution_ids":["https://openalex.org/I202697423","https://openalex.org/I35440088","https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":9.1956,"has_fulltext":false,"cited_by_count":183,"citation_normalized_percentile":{"value":0.98582271,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1205","last_page":"1212"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980999827384949,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9979000091552734,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.8402160406112671},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7993522882461548},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7952203750610352},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7059547305107117},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6177148818969727},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5740301012992859},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5374067425727844},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5358760356903076},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4948863387107849},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4807412624359131},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4739420711994171},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.46771329641342163},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33544033765792847},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12400120496749878}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.8402160406112671},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7993522882461548},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7952203750610352},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7059547305107117},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6177148818969727},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5740301012992859},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5374067425727844},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5358760356903076},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4948863387107849},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4807412624359131},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4739420711994171},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.46771329641342163},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33544033765792847},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12400120496749878},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636053","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636053","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1578293866","https://openalex.org/W1971086298","https://openalex.org/W2054585537","https://openalex.org/W2162991084","https://openalex.org/W2168533688","https://openalex.org/W2557430988","https://openalex.org/W2575705757","https://openalex.org/W2654286404","https://openalex.org/W2733312032","https://openalex.org/W2736601468","https://openalex.org/W2810217655","https://openalex.org/W2869375357","https://openalex.org/W2907126380","https://openalex.org/W2911956173","https://openalex.org/W2962787639","https://openalex.org/W2967464230","https://openalex.org/W2981589598","https://openalex.org/W3003344567","https://openalex.org/W3038825904","https://openalex.org/W3039975065","https://openalex.org/W3040334549","https://openalex.org/W3068678661","https://openalex.org/W3082697078","https://openalex.org/W3090027660","https://openalex.org/W3093922502","https://openalex.org/W3099343074","https://openalex.org/W3104876774","https://openalex.org/W3185165122","https://openalex.org/W4299811618","https://openalex.org/W6741002519","https://openalex.org/W6775186109","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/W2605096541","https://openalex.org/W3200286695","https://openalex.org/W4212885606"],"abstract_inverted_index":{"In":[0,70],"many":[1],"robotic":[2],"tasks,":[3],"such":[4],"as":[5,19,21],"autonomous":[6],"drone":[7],"racing,":[8],"the":[9,31,43,67,100,134],"goal":[10],"is":[11,29,35,52,82,123],"to":[12,45,63,76,102,141],"travel":[13],"through":[14],"a":[15,57,73,126,147],"set":[16,127],"of":[17,42,128,139],"waypoints":[18,44],"fast":[20],"possible.":[22],"A":[23],"key":[24],"challenge":[25],"for":[26,56,80,116],"this":[27,71],"task":[28],"planning":[30],"timeoptimal":[32],"trajectory,":[33],"which":[34],"typically":[36],"solved":[37],"by":[38],"assuming":[39],"perfect":[40],"knowledge":[41],"pass":[46],"in":[47,131],"advance.":[48],"The":[49,120],"resulting":[50],"solution":[51],"either":[53],"highly":[54],"specialized":[55],"single-track":[58],"layout,":[59],"or":[60],"suboptimal":[61],"due":[62],"simplifying":[64],"assumptions":[65],"about":[66],"platform":[68],"dynamics.":[69],"work,":[72],"new":[74],"approach":[75,93,122],"near-time-optimal":[77,96],"trajectory":[78,101,114],"generation":[79],"quadrotors":[81],"presented.":[83],"Leveraging":[84],"deep":[85],"reinforcement":[86],"learning":[87],"and":[88,98,133],"relative":[89],"gate":[90],"observations,":[91],"our":[92],"can":[94],"compute":[95],"trajectories":[97],"adapt":[99],"environment":[103],"changes.":[104],"Our":[105],"method":[106],"exhibits":[107],"computational":[108],"advantages":[109],"over":[110],"approaches":[111],"based":[112],"on":[113,125],"optimization":[115],"non-trivial":[117],"track":[118],"configurations.":[119],"proposed":[121],"evaluated":[124],"race":[129],"tracks":[130],"simulation":[132],"real":[135],"world,":[136],"achieving":[137],"speeds":[138],"up":[140],"60kmh":[142],"<sup":[143],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[144],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u22121</sup>":[145],"with":[146],"physical":[148],"quadrotor.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":42},{"year":2024,"cited_by_count":50},{"year":2023,"cited_by_count":53},{"year":2022,"cited_by_count":31},{"year":2021,"cited_by_count":6}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}
