{"id":"https://openalex.org/W4391307399","doi":"https://doi.org/10.1109/smc53992.2023.10394504","title":"MorphoLander: Reinforcement Learning Based Landing of a Group of Drones on the Adaptive Morphogenetic UAV","display_name":"MorphoLander: Reinforcement Learning Based Landing of a Group of Drones on the Adaptive Morphogenetic UAV","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4391307399","doi":"https://doi.org/10.1109/smc53992.2023.10394504"},"language":"en","primary_location":{"id":"doi:10.1109/smc53992.2023.10394504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53992.2023.10394504","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5053158063","display_name":"Sausar Karaf","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123104","display_name":"Russian Space Systems","ror":"https://ror.org/02t41e292","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210123104"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Sausar Karaf","raw_affiliation_strings":["Intelligent Space Robotics Laboratory,Moscow,Russia,121205"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory,Moscow,Russia,121205","institution_ids":["https://openalex.org/I4210123104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052797806","display_name":"Aleksey Fedoseev","orcid":"https://orcid.org/0000-0003-2506-9111"},"institutions":[{"id":"https://openalex.org/I4210123104","display_name":"Russian Space Systems","ror":"https://ror.org/02t41e292","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210123104"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Aleksey Fedoseev","raw_affiliation_strings":["Intelligent Space Robotics Laboratory,Moscow,Russia,121205"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory,Moscow,Russia,121205","institution_ids":["https://openalex.org/I4210123104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003489972","display_name":"Mikhail Martynov","orcid":"https://orcid.org/0000-0001-9529-9786"},"institutions":[{"id":"https://openalex.org/I4210123104","display_name":"Russian Space Systems","ror":"https://ror.org/02t41e292","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210123104"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Mikhail Martynov","raw_affiliation_strings":["Intelligent Space Robotics Laboratory,Moscow,Russia,121205"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory,Moscow,Russia,121205","institution_ids":["https://openalex.org/I4210123104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002411268","display_name":"Zhanibek Darush","orcid":"https://orcid.org/0000-0002-6720-3414"},"institutions":[{"id":"https://openalex.org/I4210123104","display_name":"Russian Space Systems","ror":"https://ror.org/02t41e292","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210123104"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Zhanibek Darush","raw_affiliation_strings":["Intelligent Space Robotics Laboratory,Moscow,Russia,121205"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory,Moscow,Russia,121205","institution_ids":["https://openalex.org/I4210123104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027636063","display_name":"Aleksei Shcherbak","orcid":"https://orcid.org/0000-0003-3573-8139"},"institutions":[{"id":"https://openalex.org/I4210123104","display_name":"Russian Space Systems","ror":"https://ror.org/02t41e292","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210123104"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Aleksei Shcherbak","raw_affiliation_strings":["Intelligent Space Robotics Laboratory,Moscow,Russia,121205"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory,Moscow,Russia,121205","institution_ids":["https://openalex.org/I4210123104"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056458774","display_name":"Dzmitry Tsetserukou","orcid":"https://orcid.org/0000-0001-8055-5345"},"institutions":[{"id":"https://openalex.org/I4210123104","display_name":"Russian Space Systems","ror":"https://ror.org/02t41e292","country_code":"RU","type":"facility","lineage":["https://openalex.org/I4210123104"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dzmitry Tsetserukou","raw_affiliation_strings":["Intelligent Space Robotics Laboratory,Moscow,Russia,121205"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory,Moscow,Russia,121205","institution_ids":["https://openalex.org/I4210123104"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210123104"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2507","last_page":"2512"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987000226974487,"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":0.9986000061035156,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.9437414407730103},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8939594030380249},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.8229352235794067},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6073029637336731},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5814351439476013},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5796595215797424},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.47742757201194763},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.47713279724121094},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.471415251493454},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4504387080669403},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41860732436180115},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36115989089012146},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.34375467896461487},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3373981714248657},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1720079779624939},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12297379970550537},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.08881518244743347}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.9437414407730103},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8939594030380249},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.8229352235794067},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6073029637336731},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5814351439476013},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5796595215797424},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.47742757201194763},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.47713279724121094},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.471415251493454},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4504387080669403},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41860732436180115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36115989089012146},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.34375467896461487},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3373981714248657},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1720079779624939},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12297379970550537},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.08881518244743347},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc53992.2023.10394504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53992.2023.10394504","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2736601468","https://openalex.org/W2889987506","https://openalex.org/W2964315056","https://openalex.org/W2984044401","https://openalex.org/W3006663162","https://openalex.org/W3035036418","https://openalex.org/W3089561366","https://openalex.org/W3091778231","https://openalex.org/W3092163236","https://openalex.org/W3126211537","https://openalex.org/W3136542217","https://openalex.org/W3181586060","https://openalex.org/W3185416958","https://openalex.org/W3193710536","https://openalex.org/W3199440023","https://openalex.org/W4206642135","https://openalex.org/W4288047725","https://openalex.org/W4293428665","https://openalex.org/W4293790449","https://openalex.org/W4304698290","https://openalex.org/W4312262668","https://openalex.org/W4382050690","https://openalex.org/W4385482440"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W4294690775","https://openalex.org/W4200195314","https://openalex.org/W4389574494","https://openalex.org/W2156329176","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4226082913"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2],"on":[3,27,54,72,126],"a":[4,67],"novel":[5],"robotic":[6],"system":[7,115],"MorphoLander":[8,141],"representing":[9],"heterogeneous":[10],"swarm":[11],"of":[12,25,58,70,97,121,150],"drones":[13,39,49,71],"for":[14,40,66],"exploring":[15],"rough":[16],"terrain":[17,107,132,139],"environments.":[18,164],"The":[19,60,109],"morphogenetic":[20],"leader":[21,74,128],"drone":[22,129],"is":[23],"capable":[24],"landing":[26,56,69,100,119,125],"uneven":[28,106,138],"terrain,":[29],"traversing":[30],"it,":[31],"and":[32,51,105,134,156,162],"maintaining":[33],"horizontal":[34],"position":[35],"to":[36,85,93,145],"deploy":[37],"smaller":[38],"extensive":[41],"area":[42],"exploration.":[43],"After":[44],"completing":[45],"their":[46,81],"tasks,":[47],"these":[48],"return":[50],"land":[52],"back":[53],"the":[55,73,86,95,98,113,127,143,148,151],"pads":[57],"MorphoGear.":[59],"reinforcement":[61],"learning":[62],"algorithm":[63,101],"was":[64],"developed":[65,99],"precise":[68],"robot":[75],"that":[76,112],"either":[77],"remains":[78],"static":[79],"during":[80],"mission":[82],"or":[83],"relocates":[84],"new":[87],"position.":[88],"Several":[89],"experiments":[90,110],"were":[91],"conducted":[92],"evaluate":[94],"performance":[96],"under":[102,130,137],"both":[103],"even":[104,131],"conditions.":[108,140],"revealed":[111],"proposed":[114],"results":[116],"in":[117,159],"high":[118],"accuracy":[120],"0.5":[122],"cm":[123,136],"when":[124],"conditions":[133],"2.35":[135],"has":[142],"potential":[144],"significantly":[146],"enhance":[147],"efficiency":[149],"industrial":[152],"inspections,":[153],"seismic":[154],"surveys,":[155],"rescue":[157],"missions":[158],"highly":[160],"cluttered":[161],"unstructured":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
