{"id":"https://openalex.org/W4406794049","doi":"https://doi.org/10.1109/jiot.2024.3472700","title":"UPEGSim: An RL-Enabled Simulator for Unmanned Underwater Vehicles Dedicated in the Underwater Pursuit-Evasion Game","display_name":"UPEGSim: An RL-Enabled Simulator for Unmanned Underwater Vehicles Dedicated in the Underwater Pursuit-Evasion Game","publication_year":2025,"publication_date":"2025-01-24","ids":{"openalex":"https://openalex.org/W4406794049","doi":"https://doi.org/10.1109/jiot.2024.3472700"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2024.3472700","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2024.3472700","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5100575396","display_name":"Jingzehua Xu","orcid":"https://orcid.org/0009-0007-2860-5203"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jingzehua Xu","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101238271","display_name":"Guanwen Xie","orcid":"https://orcid.org/0009-0000-2410-2878"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanwen Xie","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101807899","display_name":"Zekai Zhang","orcid":"https://orcid.org/0000-0002-6231-7068"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zekai Zhang","raw_affiliation_strings":["Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072643813","display_name":"Xiangwang Hou","orcid":"https://orcid.org/0000-0001-9449-4854"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangwang Hou","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115592641","display_name":"Shuai Zhang","orcid":"https://orcid.org/0009-0004-3213-5804"},"institutions":[{"id":"https://openalex.org/I118118575","display_name":"New Jersey Institute of Technology","ror":"https://ror.org/05e74xb87","country_code":"US","type":"education","lineage":["https://openalex.org/I118118575"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shuai Zhang","raw_affiliation_strings":["Department of Data Science, New Jersey Institute of Technology, Newark, NJ, USA"],"affiliations":[{"raw_affiliation_string":"Department of Data Science, New Jersey Institute of Technology, Newark, NJ, USA","institution_ids":["https://openalex.org/I118118575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002346706","display_name":"Yong Ren","orcid":"https://orcid.org/0000-0003-0312-9371"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Ren","raw_affiliation_strings":["Department of Electronic Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091266202","display_name":"Dusit Niyato","orcid":"https://orcid.org/0000-0002-7442-7416"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Dusit Niyato","raw_affiliation_strings":["College of Computing and Data Science, Nanyang Technological University, Jurong West, Singapore"],"affiliations":[{"raw_affiliation_string":"College of Computing and Data Science, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100575396"],"corresponding_institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":5.1053,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.93975872,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"12","issue":"3","first_page":"2334","last_page":"2346"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.960099995136261,"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":0.960099995136261,"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/T12158","display_name":"Guidance and Control Systems","score":0.9386000037193298,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9257000088691711,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7853294610977173},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6956169605255127},{"id":"https://openalex.org/keywords/evasion","display_name":"Evasion (ethics)","score":0.5740664601325989},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5444934368133545},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.40544483065605164},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17064332962036133},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.06531885266304016}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7853294610977173},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6956169605255127},{"id":"https://openalex.org/C2781251061","wikidata":"https://www.wikidata.org/wiki/Q5416089","display_name":"Evasion (ethics)","level":3,"score":0.5740664601325989},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5444934368133545},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.40544483065605164},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17064332962036133},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.06531885266304016},{"id":"https://openalex.org/C8891405","wikidata":"https://www.wikidata.org/wiki/Q1059","display_name":"Immune system","level":2,"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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C203014093","wikidata":"https://www.wikidata.org/wiki/Q101929","display_name":"Immunology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2024.3472700","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2024.3472700","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.6899999976158142,"id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W2071279196","https://openalex.org/W2563150812","https://openalex.org/W2908261578","https://openalex.org/W2993716273","https://openalex.org/W3020261978","https://openalex.org/W3139298425","https://openalex.org/W3152083699","https://openalex.org/W3152777725","https://openalex.org/W3154921073","https://openalex.org/W3156089158","https://openalex.org/W3164385739","https://openalex.org/W3209137861","https://openalex.org/W3214814008","https://openalex.org/W4200438872","https://openalex.org/W4285102606","https://openalex.org/W4287113380","https://openalex.org/W4289639903","https://openalex.org/W4307262113","https://openalex.org/W4312376633","https://openalex.org/W4312496182","https://openalex.org/W4313166209","https://openalex.org/W4321608017","https://openalex.org/W4365801621","https://openalex.org/W4383097624","https://openalex.org/W4383109037","https://openalex.org/W4383109140","https://openalex.org/W4385236825","https://openalex.org/W4385245566","https://openalex.org/W4386971213","https://openalex.org/W4387385656","https://openalex.org/W4387487630","https://openalex.org/W4387986835","https://openalex.org/W4388878547","https://openalex.org/W4389667345","https://openalex.org/W4390075021","https://openalex.org/W4390872682","https://openalex.org/W4391422864","https://openalex.org/W4396542632","https://openalex.org/W4399800787","https://openalex.org/W4402352846","https://openalex.org/W4402753759","https://openalex.org/W4403791659","https://openalex.org/W6747473740","https://openalex.org/W6796289742"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4388412763","https://openalex.org/W2373230814","https://openalex.org/W1999583034","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W3168963531","https://openalex.org/W2591930867"],"abstract_inverted_index":{"Unmanned":[0],"underwater":[1,14,21],"vehicles":[2],"(UUVs)":[3],"have":[4],"been":[5],"widely":[6],"used":[7],"in":[8,43,108,152],"various":[9],"ocean":[10,45],"applications,":[11],"such":[12],"as":[13],"exploration":[15],"and":[16,50,52,89,126,133,158,165],"data":[17],"collection.":[18],"And":[19],"the":[20,26,40,66,83,105,109,149,156,161,166],"pursuit-evasion":[22],"game":[23],"(UPEG)":[24],"is":[25,47],"key":[27],"to":[28,64,100,141],"efficient":[29,116,143],"implementation":[30],"of":[31,160],"other":[32],"tasks,":[33],"holding":[34],"significant":[35],"research":[36],"value.":[37],"However,":[38],"testing":[39],"UPEG":[41,68,84,110,117,150],"task":[42,151],"real":[44],"environment":[46,99],"both":[48],"costly":[49],"risky,":[51],"currently,":[53],"UUV":[54,78,144],"control":[55],"algorithms":[56],"that":[57],"rely":[58],"on":[59,138,148],"specific":[60],"environmental":[61],"models":[62],"struggle":[63],"complete":[65],"complicated":[67],"task.":[69,85,111],"To":[70],"address":[71],"above":[72],"challenge,":[73],"we":[74,113,154],"propose":[75,114],"UPEGSim,":[76,153],"an":[77,115],"simulator":[79,164],"specifically":[80],"designed":[81],"for":[82,103],"Built":[86],"through":[87],"Gazebo":[88],"robot":[90],"operating":[91],"system,":[92],"UPEGSim":[93,163],"provides":[94],"a":[95],"reinforcement":[96],"learning":[97],"(RL)":[98],"train":[101],"UUVs":[102],"improving":[104],"intelligent":[106],"performance":[107],"Furthermore,":[112],"training":[118,125,131,147,168],"framework":[119],"(ETFDU),":[120],"which":[121],"includes":[122],"multiagent":[123],"decentralized":[124],"execution":[127],"techniques,":[128],"scene":[129],"transfer":[130],"methods,":[132],"offline":[134],"RL":[135],"techniques":[136],"based":[137],"decision":[139],"transformer,":[140],"facilitate":[142],"training.":[145],"Through":[146],"validate":[155],"effectiveness":[157],"feasibility":[159],"proposed":[162],"ETFDU":[167],"framework.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}