{"id":"https://openalex.org/W3116922584","doi":"https://doi.org/10.1109/rcar49640.2020.9303309","title":"Three-Dimensional Path Following Control of an Underactuated Robotic Dolphin Using Deep Reinforcement Learning","display_name":"Three-Dimensional Path Following Control of an Underactuated Robotic Dolphin Using Deep Reinforcement Learning","publication_year":2020,"publication_date":"2020-09-28","ids":{"openalex":"https://openalex.org/W3116922584","doi":"https://doi.org/10.1109/rcar49640.2020.9303309","mag":"3116922584"},"language":"en","primary_location":{"id":"doi:10.1109/rcar49640.2020.9303309","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar49640.2020.9303309","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5011189615","display_name":"Jincun Liu","orcid":"https://orcid.org/0000-0002-2872-4911"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jincun Liu","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, BIC-ESAT, College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, BIC-ESAT, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085534014","display_name":"Zhenna Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhenna Liu","raw_affiliation_strings":["Shandong Labor Vocational and Technical College, Jinan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong Labor Vocational and Technical College, Jinan, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001123312","display_name":"Zhengxing Wu","orcid":"https://orcid.org/0000-0003-2338-5217"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengxing Wu","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073958329","display_name":"Junzhi Yu","orcid":"https://orcid.org/0000-0002-6347-572X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzhi Yu","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, BIC-ESAT, College of Engineering, Peking University, Beijing, China","State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, BIC-ESAT, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"7","issue":null,"first_page":"315","last_page":"320"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994999766349792,"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":0.9994999766349792,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9980000257492065,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8420913815498352},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7720088958740234},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6934915781021118},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.6270542144775391},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5328728556632996},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5262381434440613},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47858428955078125},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4713541865348816},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.42680633068084717},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3594563603401184},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2040865123271942},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19213387370109558}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8420913815498352},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7720088958740234},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6934915781021118},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.6270542144775391},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5328728556632996},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5262381434440613},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47858428955078125},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4713541865348816},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.42680633068084717},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3594563603401184},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2040865123271942},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19213387370109558},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar49640.2020.9303309","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar49640.2020.9303309","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1564791480","https://openalex.org/W2147137560","https://openalex.org/W2419178300","https://openalex.org/W2568019971","https://openalex.org/W2622106568","https://openalex.org/W2782308144","https://openalex.org/W2809575842","https://openalex.org/W2897767831","https://openalex.org/W2903078945","https://openalex.org/W2908536213","https://openalex.org/W2908658035","https://openalex.org/W2911301968","https://openalex.org/W2923115009","https://openalex.org/W2943411039","https://openalex.org/W2946449831","https://openalex.org/W2948686970","https://openalex.org/W2963729305","https://openalex.org/W2963917788","https://openalex.org/W2973840551","https://openalex.org/W2992772198","https://openalex.org/W7066552223"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W4313405128","https://openalex.org/W2350319669","https://openalex.org/W2387672602"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,36,63,72,131],"novel":[4,64,87],"improved":[5],"deep":[6,73],"reinforcement":[7],"learning":[8],"(DRL)":[9],"strategy":[10],"is":[11,56,84,94,123],"utilized":[12],"to":[13,27,96,101],"solve":[14],"the":[15,29,40,51,80,81,98,102,117,120,137],"three-dimensional":[16],"path-following":[17,60],"control":[18],"problem":[19],"for":[20,136],"an":[21],"underactuated":[22],"robotic":[23,42],"dolphin":[24,43],"in":[25,141],"order":[26],"meet":[28],"complex":[30],"and":[31,50,71,105,112],"intractable":[32],"hydrodynamic":[33],"model.":[34],"Firstly,":[35],"brief":[37],"overview":[38],"of":[39,45,119,134],"developed":[41],"consisting":[44],"two-degree-of-freedom":[46],"paired":[47],"pectoral":[48],"fins":[49],"slider-crank-based":[52],"flapping":[53],"two-joint":[54],"tail":[55],"introduced.":[57],"After":[58],"that,":[59],"controller":[61,122],"includes":[62],"lookahead-based":[65],"guidance":[66,92],"law,":[67],"decoupling":[68],"motion":[69],"strategy,":[70],"deterministic":[74],"policy":[75],"gradient":[76],"algorithm":[77],"based":[78,89],"on":[79],"prior":[82],"knowledge":[83],"proposed.":[85],"The":[86],"lookahead":[88],"3-D":[90,99],"LOS":[91],"law":[93],"employed":[95],"transform":[97],"waypoints":[100],"desired":[103],"heading":[104],"pitch":[106],"angles":[107],"with":[108],"its":[109],"simplicity,":[110],"intuitiveness,":[111],"small":[113],"computational":[114],"footprint.":[115],"Finally,":[116],"effectiveness":[118],"proposed":[121],"demonstrated":[124],"after":[125],"numerous":[126],"simulations.":[127],"It":[128],"will":[129],"offer":[130],"rich":[132],"vein":[133],"insight":[135],"real-time":[138],"task":[139],"execution":[140],"bioinspired":[142],"underwater":[143],"robots.":[144]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}