{"id":"https://openalex.org/W4417130858","doi":"https://doi.org/10.1109/lra.2025.3641108","title":"Competitive Learning for Autonomous Flight","display_name":"Competitive Learning for Autonomous Flight","publication_year":2025,"publication_date":"2025-12-08","ids":{"openalex":"https://openalex.org/W4417130858","doi":"https://doi.org/10.1109/lra.2025.3641108"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3641108","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3641108","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","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/A5024648893","display_name":"Kangyao Huang","orcid":"https://orcid.org/0000-0002-5708-2620"},"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":"Kangyao Huang","raw_affiliation_strings":["Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5708-2620","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080102032","display_name":"Hao Wang","orcid":"https://orcid.org/0000-0001-7594-7387"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Wang","raw_affiliation_strings":["School of Computer Science and Technology, Dalian University of Technology, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101833400","display_name":"Di Guo","orcid":"https://orcid.org/0000-0002-9816-0103"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Di Guo","raw_affiliation_strings":["School of Artificial Intelligence, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9816-0103","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086609818","display_name":"Xiangkui Zhang","orcid":"https://orcid.org/0000-0001-9060-2248"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangkui Zhang","raw_affiliation_strings":["School of Computer Science and Technology, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0001-9060-2248","affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024401174","display_name":"Xiangyang Ji","orcid":"https://orcid.org/0000-0002-7333-9975"},"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":"Xiangyang Ji","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7333-9975","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041101317","display_name":"Huaping Liu","orcid":"https://orcid.org/0000-0002-4042-6044"},"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":"Huaping Liu","raw_affiliation_strings":["Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4042-6044","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"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":0.43846257,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"2","first_page":"1194","last_page":"1201"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.45320001244544983,"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/T11133","display_name":"UAV Applications and Optimization","score":0.45320001244544983,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.11620000004768372,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.1088000014424324,"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/adaptability","display_name":"Adaptability","score":0.6241000294685364},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5753999948501587},{"id":"https://openalex.org/keywords/competition","display_name":"Competition (biology)","score":0.5681999921798706},{"id":"https://openalex.org/keywords/competitive-advantage","display_name":"Competitive advantage","score":0.5555999875068665},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.5397999882698059},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48969998955726624},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4781999886035919},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4763000011444092}],"concepts":[{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6241000294685364},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5771999955177307},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5753999948501587},{"id":"https://openalex.org/C91306197","wikidata":"https://www.wikidata.org/wiki/Q45767","display_name":"Competition (biology)","level":2,"score":0.5681999921798706},{"id":"https://openalex.org/C58546491","wikidata":"https://www.wikidata.org/wiki/Q1150207","display_name":"Competitive advantage","level":2,"score":0.5555999875068665},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.5397999882698059},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5178999900817871},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48969998955726624},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4781999886035919},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4763000011444092},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.39489999413490295},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3903000056743622},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34950000047683716},{"id":"https://openalex.org/C120822770","wikidata":"https://www.wikidata.org/wiki/Q5156355","display_name":"Competitive learning","level":3,"score":0.34389999508857727},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.32109999656677246},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.31220000982284546},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.303600013256073},{"id":"https://openalex.org/C9628104","wikidata":"https://www.wikidata.org/wiki/Q788009","display_name":"Autonomous system (mathematics)","level":2,"score":0.30219998955726624},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.30070000886917114},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.2775999903678894},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2639999985694885},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.2596000134944916}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3641108","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3641108","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W2733312032","https://openalex.org/W2809909937","https://openalex.org/W2962787639","https://openalex.org/W2962890638","https://openalex.org/W2982095652","https://openalex.org/W3022492448","https://openalex.org/W3038825904","https://openalex.org/W3093970103","https://openalex.org/W3114626444","https://openalex.org/W3139633126","https://openalex.org/W3192129199","https://openalex.org/W3193924173","https://openalex.org/W3198125712","https://openalex.org/W3202429845","https://openalex.org/W3205270746","https://openalex.org/W3206996732","https://openalex.org/W4200438872","https://openalex.org/W4206742276","https://openalex.org/W4283262038","https://openalex.org/W4285102199","https://openalex.org/W4285117968","https://openalex.org/W4384159629","https://openalex.org/W4386285856","https://openalex.org/W4386718967","https://openalex.org/W4391019623","https://openalex.org/W4392933358","https://openalex.org/W4396910019","https://openalex.org/W4401414021","https://openalex.org/W4403753154","https://openalex.org/W4405778711","https://openalex.org/W4405785243","https://openalex.org/W4407411662","https://openalex.org/W4407948422","https://openalex.org/W4413945153","https://openalex.org/W4414462243","https://openalex.org/W4416747885"],"related_works":[],"abstract_inverted_index":{"The":[0],"competition":[1,36],"among":[2,63],"a":[3,31,40],"swarm":[4],"often":[5],"brings":[6],"about":[7],"astonishing":[8],"potential":[9,119],"beyond":[10],"the":[11,108,118],"ordinary.":[12],"This":[13,115],"paper":[14],"proposes":[15],"an":[16],"approach":[17],"for":[18],"enhancing":[19],"autonomous":[20,126],"obstacle":[21],"avoidance":[22],"in":[23,81,98,124],"aerial":[24,127],"robots":[25],"through":[26],"competitive":[27,61,83,113,121],"training.":[28],"By":[29],"constructing":[30],"multi-agent":[32,84],"environment,":[33],"we":[34],"introduce":[35],"between":[37],"individuals":[38],"as":[39],"form":[41],"of":[42,112,120],"comparative":[43],"learning,":[44],"stimulating":[45],"more":[46],"robust":[47],"end-to-end":[48],"flight":[49],"strategies.":[50],"Unlike":[51],"traditional":[52],"single-agent":[53],"reinforcement":[54],"learning":[55,122],"(RL)":[56],"methods,":[57],"our":[58],"framework":[59],"leverages":[60],"interactions":[62],"virtual":[64],"agents":[65],"to":[66,72,106],"generate":[67],"richer":[68],"training":[69],"signals,":[70],"leading":[71],"superior":[73],"performance.":[74],"Experimental":[75],"results":[76],"demonstrate":[77],"that":[78],"policies":[79],"trained":[80],"this":[82],"setting":[85],"outperform":[86],"those":[87],"derived":[88],"from":[89],"single-drone":[90],"simulation-based":[91],"RL,":[92],"achieving":[93],"higher":[94],"efficiency":[95],"and":[96,110],"adaptability":[97],"complex":[99],"environments.":[100],"Furthermore,":[101],"ablation":[102],"studies":[103],"are":[104],"conducted":[105],"validate":[107],"effectiveness":[109],"limitations":[111],"learning.":[114],"work":[116],"highlights":[117],"paradigms":[123],"advancing":[125],"robot":[128],"navigation.":[129]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-12-08T00:00:00"}