{"id":"https://openalex.org/W4405361737","doi":"https://doi.org/10.1109/lars64411.2024.10786465","title":"A comparison of DRL with APF and A* with PI Control for Trajectory Planning with Obstacle Avoidance for Sailboat Robots","display_name":"A comparison of DRL with APF and A* with PI Control for Trajectory Planning with Obstacle Avoidance for Sailboat Robots","publication_year":2024,"publication_date":"2024-11-11","ids":{"openalex":"https://openalex.org/W4405361737","doi":"https://doi.org/10.1109/lars64411.2024.10786465"},"language":"en","primary_location":{"id":"doi:10.1109/lars64411.2024.10786465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars64411.2024.10786465","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 Latin American Robotics Symposium (LARS)","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/A5104027658","display_name":"Andr\u00e9 Ara\u00fajo","orcid":null},"institutions":[{"id":"https://openalex.org/I161127581","display_name":"Universidade Federal Fluminense","ror":"https://ror.org/02rjhbb08","country_code":"BR","type":"education","lineage":["https://openalex.org/I161127581"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Andr\u00e9 Ara\u00fajo","raw_affiliation_strings":["Universidade Federal Fluminense,Niter&#x00F3;i,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal Fluminense,Niter&#x00F3;i,Brazil","institution_ids":["https://openalex.org/I161127581"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115428736","display_name":"Vishali Mankina","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096856","display_name":"Innovation Engineering (Italy)","ror":"https://ror.org/00sxjp357","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210096856"]},{"id":"https://openalex.org/I142910587","display_name":"University of Salento","ror":"https://ror.org/03fc1k060","country_code":"IT","type":"education","lineage":["https://openalex.org/I142910587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Vishali Mankina","raw_affiliation_strings":["Univ. of Salento,Dept. of Eng. of Innovation,Lecce,Italy"],"affiliations":[{"raw_affiliation_string":"Univ. of Salento,Dept. of Eng. of Innovation,Lecce,Italy","institution_ids":["https://openalex.org/I4210096856","https://openalex.org/I142910587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061499339","display_name":"Carlo Cernicchiaro","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Carlo Cernicchiaro","raw_affiliation_strings":["CMMI Cyprus Marine and Maritime Institute,Larnaca,Cyprus"],"affiliations":[{"raw_affiliation_string":"CMMI Cyprus Marine and Maritime Institute,Larnaca,Cyprus","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048451431","display_name":"Pierre\u2010Marie Preux","orcid":"https://orcid.org/0000-0002-2171-2977"},"institutions":[{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Preux","raw_affiliation_strings":["Centre Inria de l&#x2018;Universit&#x00E9; de Lille,Lille,France"],"affiliations":[{"raw_affiliation_string":"Centre Inria de l&#x2018;Universit&#x00E9; de Lille,Lille,France","institution_ids":["https://openalex.org/I2279609970"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002571252","display_name":"Cosimo Distante","orcid":"https://orcid.org/0000-0002-1073-2390"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cosimo Distante","raw_affiliation_strings":["Inst. of Applied Sciences and Intelligent Systems,CNR,Lecce,Italy"],"affiliations":[{"raw_affiliation_string":"Inst. of Applied Sciences and Intelligent Systems,CNR,Lecce,Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051681428","display_name":"Charles Vasconcellos","orcid":null},"institutions":[{"id":"https://openalex.org/I161127581","display_name":"Universidade Federal Fluminense","ror":"https://ror.org/02rjhbb08","country_code":"BR","type":"education","lineage":["https://openalex.org/I161127581"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Charles Vasconcellos","raw_affiliation_strings":["Universidade Federal Fluminense,Niter&#x00F3;i,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal Fluminense,Niter&#x00F3;i,Brazil","institution_ids":["https://openalex.org/I161127581"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091691173","display_name":"Diego Brand\u00e3o","orcid":"https://orcid.org/0000-0003-3874-784X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Diego Brand\u00e3o","raw_affiliation_strings":["Centro Fed. de Educ. Tec. do Rio de Janeiro,Rio de Janeiro,Brazil"],"affiliations":[{"raw_affiliation_string":"Centro Fed. de Educ. Tec. do Rio de Janeiro,Rio de Janeiro,Brazil","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010487704","display_name":"Luiz Marcos Garcia Gon\u00e7alves","orcid":"https://orcid.org/0000-0002-7735-5630"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luiz Gon\u00e7alves","raw_affiliation_strings":["Univ. Fed. do Rio Grande do Norte,Natal,RN,Brazil"],"affiliations":[{"raw_affiliation_string":"Univ. Fed. do Rio Grande do Norte,Natal,RN,Brazil","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057392530","display_name":"Esteban Clua","orcid":"https://orcid.org/0000-0001-5650-1718"},"institutions":[{"id":"https://openalex.org/I161127581","display_name":"Universidade Federal Fluminense","ror":"https://ror.org/02rjhbb08","country_code":"BR","type":"education","lineage":["https://openalex.org/I161127581"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Esteban Clua","raw_affiliation_strings":["Universidade Federal Fluminense,Niter&#x00F3;i,Brazil"],"affiliations":[{"raw_affiliation_string":"Universidade Federal Fluminense,Niter&#x00F3;i,Brazil","institution_ids":["https://openalex.org/I161127581"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5104027658"],"corresponding_institution_ids":["https://openalex.org/I161127581"],"apc_list":null,"apc_paid":null,"fwci":0.7895,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.7476022,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9926000237464905,"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":0.9926000237464905,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9753999710083008,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9670000076293945,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8055438995361328},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7444829344749451},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6520319581031799},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6511939167976379},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.552751898765564},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5214009284973145},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4909394085407257},{"id":"https://openalex.org/keywords/pi","display_name":"Pi","score":0.46170005202293396},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4159148633480072},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40061402320861816},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3119203448295593},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3059905171394348},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1999775767326355},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1842706799507141},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16993305087089539},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.042194634675979614},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.038700610399246216},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.03725585341453552}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8055438995361328},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7444829344749451},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6520319581031799},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6511939167976379},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.552751898765564},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5214009284973145},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4909394085407257},{"id":"https://openalex.org/C53009064","wikidata":"https://www.wikidata.org/wiki/Q167","display_name":"Pi","level":2,"score":0.46170005202293396},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4159148633480072},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40061402320861816},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3119203448295593},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3059905171394348},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1999775767326355},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1842706799507141},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16993305087089539},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.042194634675979614},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.038700610399246216},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.03725585341453552},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lars64411.2024.10786465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lars64411.2024.10786465","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 Latin American Robotics Symposium (LARS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2975227874","https://openalex.org/W3011442695","https://openalex.org/W3164422086","https://openalex.org/W3176757096","https://openalex.org/W3214983176","https://openalex.org/W4200181649","https://openalex.org/W4200587440","https://openalex.org/W4281661543","https://openalex.org/W4294811899","https://openalex.org/W4296003180","https://openalex.org/W4312926965","https://openalex.org/W4313289055","https://openalex.org/W4321459897","https://openalex.org/W4379356445","https://openalex.org/W4389724719","https://openalex.org/W6860841787"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2782776446","https://openalex.org/W3043170174"],"abstract_inverted_index":{"Autonomous":[0],"sailboats":[1],"present":[2],"unique":[3],"challenges":[4],"for":[5,160,176],"Unmanned":[6],"Surface":[7],"Vessel":[8],"(USV)":[9],"research":[10],"due":[11],"to":[12,70,106],"the":[13],"dynamic":[14,161],"nature":[15],"of":[16,36,84,91,126],"maritime":[17,73,164,180],"environments,":[18],"where":[19],"variables":[20],"like":[21],"wind":[22,77],"direction,":[23],"ocean":[24],"currents,":[25],"and":[26,51,79,96,109,120,128,142,157,162,189],"obstacles":[27],"continuously":[28],"change.":[29],"This":[30],"paper":[31],"provides":[32,140],"a":[33,62,154],"detailed":[34],"comparison":[35],"two":[37],"advanced":[38],"trajectory":[39,94],"planning":[40],"methods:":[41],"Deep":[42],"Reinforcement":[43],"Learning":[44],"(DRL)":[45],"with":[46,53,101,114,136,171],"Artificial":[47],"Potential":[48],"Fields":[49],"(APF)":[50],"A*":[52,113],"Proportional-Integral":[54],"(PI)":[55],"control.":[56],"Both":[57],"techniques":[58],"are":[59],"evaluated":[60],"using":[61],"high-fidelity":[63],"simulation":[64],"environment":[65],"in":[66,89,178,183],"Gazebo,":[67],"specifically":[68],"designed":[69],"model":[71],"realistic":[72],"conditions,":[74],"including":[75],"varying":[76],"speeds":[78],"moving":[80],"obstacles.":[81],"The":[82,131],"performance":[83],"each":[85],"approach":[86],"is":[87],"measured":[88],"terms":[90],"obstacle":[92],"avoidance,":[93],"accuracy,":[95],"energy":[97,150],"efficiency.":[98,190],"Quantitatively,":[99],"DRL":[100,135,170],"APF":[102,137,172],"reduced":[103],"navigation":[104],"time":[105],"4":[107],"minutes":[108,119],"49":[110],"seconds,":[111,122],"while":[112],"PI":[115],"control":[116],"required":[117],"20":[118],"10":[121],"achieving":[123],"success":[124],"rates":[125],"92%":[127],"75%,":[129],"respectively.":[130],"results":[132],"demonstrate":[133],"that":[134,169,185],"not":[138],"only":[139],"smoother":[141],"more":[143,155],"adaptive":[144],"trajectories":[145],"but":[146],"also":[147],"significantly":[148],"improves":[149],"efficiency,":[151],"making":[152],"it":[153],"robust":[156],"flexible":[158],"solution":[159],"uncertain":[163],"environments.":[165],"These":[166],"findings":[167],"suggest":[168],"holds":[173],"great":[174],"potential":[175],"applications":[177],"autonomous":[179],"navigation,":[181],"particularly":[182],"scenarios":[184],"demand":[186],"real-time":[187],"adaptability":[188]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
