{"id":"https://openalex.org/W4391381910","doi":"https://doi.org/10.1109/mwscas57524.2023.10406004","title":"Improving Flight of Crazyflie Quadcopters Using Online Reinforcement Learning","display_name":"Improving Flight of Crazyflie Quadcopters Using Online Reinforcement Learning","publication_year":2023,"publication_date":"2023-08-06","ids":{"openalex":"https://openalex.org/W4391381910","doi":"https://doi.org/10.1109/mwscas57524.2023.10406004"},"language":"en","primary_location":{"id":"doi:10.1109/mwscas57524.2023.10406004","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mwscas57524.2023.10406004","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 66th International Midwest Symposium on Circuits and Systems (MWSCAS)","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/A5093827893","display_name":"Steven Comandini","orcid":null},"institutions":[{"id":"https://openalex.org/I24648388","display_name":"Bradley University","ror":"https://ror.org/04kmeaw70","country_code":"US","type":"education","lineage":["https://openalex.org/I24648388"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Steven Comandini","raw_affiliation_strings":["Bradley University,Department of Electrical and Computer Engineering,Peoria,IL,USA","Department of Electrical and Computer Engineering, Bradley University, Peoria, IL, USA"],"affiliations":[{"raw_affiliation_string":"Bradley University,Department of Electrical and Computer Engineering,Peoria,IL,USA","institution_ids":["https://openalex.org/I24648388"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Bradley University, Peoria, IL, USA","institution_ids":["https://openalex.org/I24648388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093827894","display_name":"Drew Shambaugh","orcid":null},"institutions":[{"id":"https://openalex.org/I24648388","display_name":"Bradley University","ror":"https://ror.org/04kmeaw70","country_code":"US","type":"education","lineage":["https://openalex.org/I24648388"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Drew Shambaugh","raw_affiliation_strings":["Bradley University,Department of Electrical and Computer Engineering,Peoria,IL,USA","Department of Electrical and Computer Engineering, Bradley University, Peoria, IL, USA"],"affiliations":[{"raw_affiliation_string":"Bradley University,Department of Electrical and Computer Engineering,Peoria,IL,USA","institution_ids":["https://openalex.org/I24648388"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Bradley University, Peoria, IL, USA","institution_ids":["https://openalex.org/I24648388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080801699","display_name":"Yufeng Lu","orcid":"https://orcid.org/0000-0003-1797-9377"},"institutions":[{"id":"https://openalex.org/I24648388","display_name":"Bradley University","ror":"https://ror.org/04kmeaw70","country_code":"US","type":"education","lineage":["https://openalex.org/I24648388"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yufeng Lu","raw_affiliation_strings":["Bradley University,Department of Electrical and Computer Engineering,Peoria,IL,USA","Department of Electrical and Computer Engineering, Bradley University, Peoria, IL, USA"],"affiliations":[{"raw_affiliation_string":"Bradley University,Department of Electrical and Computer Engineering,Peoria,IL,USA","institution_ids":["https://openalex.org/I24648388"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Bradley University, Peoria, IL, USA","institution_ids":["https://openalex.org/I24648388"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100378538","display_name":"Jing Wang","orcid":"https://orcid.org/0000-0002-5519-9016"},"institutions":[{"id":"https://openalex.org/I24648388","display_name":"Bradley University","ror":"https://ror.org/04kmeaw70","country_code":"US","type":"education","lineage":["https://openalex.org/I24648388"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jing Wang","raw_affiliation_strings":["Bradley University,Department of Electrical and Computer Engineering,Peoria,IL,USA","Department of Electrical and Computer Engineering, Bradley University, Peoria, IL, USA"],"affiliations":[{"raw_affiliation_string":"Bradley University,Department of Electrical and Computer Engineering,Peoria,IL,USA","institution_ids":["https://openalex.org/I24648388"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Bradley University, Peoria, IL, USA","institution_ids":["https://openalex.org/I24648388"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5093827893"],"corresponding_institution_ids":["https://openalex.org/I24648388"],"apc_list":null,"apc_paid":null,"fwci":0.2009,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.54970603,"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":"6","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9958000183105469,"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":0.9955999851226807,"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/quadcopter","display_name":"Quadcopter","score":0.9864332675933838},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.802363395690918},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7010853290557861},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6863253116607666},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.5030588507652283},{"id":"https://openalex.org/keywords/flight-dynamics","display_name":"Flight dynamics","score":0.48033180832862854},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4746723175048828},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46194013953208923},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3913998007774353},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33004409074783325},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24284440279006958},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.19260266423225403},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11528182029724121}],"concepts":[{"id":"https://openalex.org/C2779199153","wikidata":"https://www.wikidata.org/wiki/Q43965","display_name":"Quadcopter","level":2,"score":0.9864332675933838},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.802363395690918},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7010853290557861},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6863253116607666},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.5030588507652283},{"id":"https://openalex.org/C206923515","wikidata":"https://www.wikidata.org/wiki/Q5459269","display_name":"Flight dynamics","level":3,"score":0.48033180832862854},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4746723175048828},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46194013953208923},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3913998007774353},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33004409074783325},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24284440279006958},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.19260266423225403},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11528182029724121},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mwscas57524.2023.10406004","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mwscas57524.2023.10406004","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 66th International Midwest Symposium on Circuits and Systems (MWSCAS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2949913082","https://openalex.org/W3158183880","https://openalex.org/W3184384085","https://openalex.org/W4214717370","https://openalex.org/W4311413107","https://openalex.org/W6794557364"],"related_works":["https://openalex.org/W4293056360","https://openalex.org/W4386804942","https://openalex.org/W2966028239","https://openalex.org/W2264340699","https://openalex.org/W2909947097","https://openalex.org/W4286283119","https://openalex.org/W2890534329","https://openalex.org/W4293734307","https://openalex.org/W2905865448","https://openalex.org/W3094358462"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"present":[4],"an":[5],"online":[6],"reinforcement":[7],"learning":[8],"control":[9,37,49,100],"strategy":[10],"for":[11,97],"autonomous":[12],"quadcopter":[13,74],"control.":[14],"Our":[15,48,90],"proposed":[16,80],"design":[17,81,95],"aims":[18],"to":[19,63],"enhance":[20],"the":[21,27,41,45,65,73,83,98],"flight":[22,46],"performance":[23],"of":[24,29,72,101],"quadcopters":[25],"in":[26,103],"presence":[28],"model":[30],"and":[31,58],"environment":[32],"uncertainties":[33],"by":[34],"adaptively":[35],"adjusting":[36],"parameters":[38],"while":[39],"minimizing":[40],"cost":[42],"function":[43],"along":[44],"trajectory.":[47],"approach":[50],"is":[51],"based":[52],"on":[53],"a":[54,93],"policy":[55],"gradient":[56],"method":[57],"uses":[59],"collected":[60],"trajectory":[61],"data":[62],"optimize":[64],"parameterized":[66],"control,":[67],"without":[68],"requiring":[69],"prior":[70],"knowledge":[71],"dynamics.":[75],"We":[76],"experimentally":[77],"validate":[78],"our":[79],"using":[82],"Crazyflie":[84],"2.0":[85],"quadrotor":[86],"from":[87],"Bitcraze":[88],"[1].":[89],"research":[91],"provides":[92],"valuable":[94],"guideline":[96],"safe":[99],"UAVs":[102],"real-world":[104],"uncertain":[105],"environments.":[106]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}