{"id":"https://openalex.org/W4404294694","doi":"https://doi.org/10.1109/m2vip62491.2024.10746058","title":"Target Tracking for Quadrotors based on Deep Reinforcement Learning","display_name":"Target Tracking for Quadrotors based on Deep Reinforcement Learning","publication_year":2024,"publication_date":"2024-10-03","ids":{"openalex":"https://openalex.org/W4404294694","doi":"https://doi.org/10.1109/m2vip62491.2024.10746058"},"language":"en","primary_location":{"id":"doi:10.1109/m2vip62491.2024.10746058","is_oa":false,"landing_page_url":"https://doi.org/10.1109/m2vip62491.2024.10746058","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 30th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://orca.cardiff.ac.uk/id/eprint/172149/1/quadrotor_tracking__Copy_.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103249831","display_name":"Yan Gao","orcid":"https://orcid.org/0000-0002-3846-4199"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yan Gao","raw_affiliation_strings":["Cardiff University,School of Engineering,Cardiff,UK","School of Engineering, Cardiff University, Cardiff, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cardiff University,School of Engineering,Cardiff,UK","institution_ids":["https://openalex.org/I79510175"]},{"raw_affiliation_string":"School of Engineering, Cardiff University, Cardiff, UK","institution_ids":["https://openalex.org/I79510175"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049338278","display_name":"Feiqiang Lin","orcid":"https://orcid.org/0000-0001-5528-0001"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Feiqiang Lin","raw_affiliation_strings":["Cardiff University,School of Engineering,Cardiff,UK","School of Engineering, Cardiff University, Cardiff, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cardiff University,School of Engineering,Cardiff,UK","institution_ids":["https://openalex.org/I79510175"]},{"raw_affiliation_string":"School of Engineering, Cardiff University, Cardiff, UK","institution_ids":["https://openalex.org/I79510175"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066950886","display_name":"Changyun Wei","orcid":"https://orcid.org/0000-0002-5788-6573"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changyun Wei","raw_affiliation_strings":["Hohai University,College of Mechanical and Electrical Engineering,Changzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hohai University,College of Mechanical and Electrical Engineering,Changzhou,China","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101895660","display_name":"Raphael Grech","orcid":"https://orcid.org/0000-0002-9100-0633"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]},{"id":"https://openalex.org/I4210124032","display_name":"Spirent Communications (United Kingdom)","ror":"https://ror.org/02p5b1x56","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210124032"]}],"countries":["CN","GB"],"is_corresponding":true,"raw_author_name":"Raphael Grech","raw_affiliation_strings":["Spirent Communications,Paignton,UK","College of Mechanical and Electrical Engineering, Hohai University, Changzhou, China","Spirent Communications, Paignton, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Spirent Communications,Paignton,UK","institution_ids":["https://openalex.org/I4210124032"]},{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Hohai University, Changzhou, China","institution_ids":["https://openalex.org/I163340411"]},{"raw_affiliation_string":"Spirent Communications, Paignton, UK","institution_ids":["https://openalex.org/I4210124032"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068175770","display_name":"Ze Ji","orcid":"https://orcid.org/0000-0002-8968-9902"},"institutions":[{"id":"https://openalex.org/I79510175","display_name":"Cardiff University","ror":"https://ror.org/03kk7td41","country_code":"GB","type":"education","lineage":["https://openalex.org/I79510175"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ze Ji","raw_affiliation_strings":["Cardiff University,School of Engineering,Cardiff,UK","School of Engineering, Cardiff University, Cardiff, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cardiff University,School of Engineering,Cardiff,UK","institution_ids":["https://openalex.org/I79510175"]},{"raw_affiliation_string":"School of Engineering, Cardiff University, Cardiff, UK","institution_ids":["https://openalex.org/I79510175"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101895660"],"corresponding_institution_ids":["https://openalex.org/I163340411","https://openalex.org/I4210124032"],"apc_list":null,"apc_paid":null,"fwci":0.2825,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.64236651,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.7513999938964844,"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"}},"topics":[{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.7513999938964844,"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"}},{"id":"https://openalex.org/T13717","display_name":"Advanced Algorithms and Applications","score":0.6766999959945679,"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/T14225","display_name":"Advanced Sensor and Control Systems","score":0.6615999937057495,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8421255350112915},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6834580302238464},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6593260765075684},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6307091116905212},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4004178047180176},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07761964201927185}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8421255350112915},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6834580302238464},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6593260765075684},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6307091116905212},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4004178047180176},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07761964201927185},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/m2vip62491.2024.10746058","is_oa":false,"landing_page_url":"https://doi.org/10.1109/m2vip62491.2024.10746058","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 30th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","raw_type":"proceedings-article"},{"id":"pmh:oai:https://orca.cardiff.ac.uk:172149","is_oa":true,"landing_page_url":"https://orca.cardiff.ac.uk/view/cardiffauthors/A24882931.html>","pdf_url":"https://orca.cardiff.ac.uk/id/eprint/172149/1/quadrotor_tracking__Copy_.pdf","source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference or Workshop Item"}],"best_oa_location":{"id":"pmh:oai:https://orca.cardiff.ac.uk:172149","is_oa":true,"landing_page_url":"https://orca.cardiff.ac.uk/view/cardiffauthors/A24882931.html>","pdf_url":"https://orca.cardiff.ac.uk/id/eprint/172149/1/quadrotor_tracking__Copy_.pdf","source":{"id":"https://openalex.org/S4306401195","display_name":"ORCA Online Research @Cardiff (Cardiff University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79510175","host_organization_name":"Cardiff University","host_organization_lineage":["https://openalex.org/I79510175"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference or Workshop Item"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4404294694.pdf"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W2007727867","https://openalex.org/W2044462915","https://openalex.org/W2563464808","https://openalex.org/W2613683354","https://openalex.org/W2736601468","https://openalex.org/W2883162277","https://openalex.org/W2963796870","https://openalex.org/W2968678044","https://openalex.org/W3004013996","https://openalex.org/W3005243570","https://openalex.org/W3090609657","https://openalex.org/W3134969093","https://openalex.org/W3152678664","https://openalex.org/W3161040011","https://openalex.org/W3202883604","https://openalex.org/W3205649931","https://openalex.org/W4206953024","https://openalex.org/W4226059895","https://openalex.org/W4285102199","https://openalex.org/W4382135822","https://openalex.org/W4386285856","https://openalex.org/W4389665475","https://openalex.org/W6741002519","https://openalex.org/W6782364735"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"In":[0,54],"this":[1,19],"paper,":[2],"we":[3,21,60,68,89],"propose":[4],"a":[5,23,63,71,91],"deep":[6],"reinforcement":[7],"learning-based":[8],"method":[9],"for":[10],"quadrotors":[11],"to":[12,31,42,56,116],"learn":[13],"depth-based":[14],"tracking":[15],"policies":[16],"autonomously.":[17],"To":[18],"end,":[20],"present":[22],"novel":[24],"reward":[25],"function":[26],"that":[27],"guides":[28,81],"the":[29,33,39,43,46,82,94,101,107,113,125],"quadrotor":[30],"follow":[32],"target,":[34],"avoid":[35],"collisions,":[36],"and":[37,111],"keep":[38],"target":[40],"close":[41],"centre":[44],"of":[45,50,93,128],"onboard":[47],"camera\u2019s":[48],"field":[49],"view":[51],"without":[52],"occlusions.":[53],"addition,":[55],"improve":[57],"learning":[58,65,109],"efficiency,":[59],"suggest":[61],"using":[62],"teacher-student":[64,108],"strategy.":[66],"Specifically,":[67],"first":[69],"train":[70],"state-based":[72],"teacher":[73],"policy":[74,85],"encoding":[75],"low-dimensional":[76],"obstacle":[77],"information,":[78],"which":[79],"then":[80],"vision-based":[83,114],"student":[84],"during":[86],"training.":[87],"Moreover,":[88],"introduce":[90],"variant":[92],"Proximal":[95],"Policy":[96],"Optimisation":[97],"algorithm":[98],"based":[99],"on":[100],"importance":[102],"sampling":[103],"algorithm.":[104],"It":[105],"facilitates":[106],"process":[110],"enables":[112],"agent":[115],"escape":[117],"local":[118],"minima.":[119],"The":[120],"experimental":[121],"results":[122],"have":[123],"demonstrated":[124],"satisfactory":[126],"performance":[127],"our":[129],"proposed":[130],"method.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
