{"id":"https://openalex.org/W2935417428","doi":"https://doi.org/10.1109/tcds.2019.2908923","title":"Adaptive Image-Based Visual Servoing for Hovering Control of Quad-Rotor","display_name":"Adaptive Image-Based Visual Servoing for Hovering Control of Quad-Rotor","publication_year":2019,"publication_date":"2019-04-02","ids":{"openalex":"https://openalex.org/W2935417428","doi":"https://doi.org/10.1109/tcds.2019.2908923","mag":"2935417428"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2019.2908923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2019.2908923","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Transactions on Cognitive and Developmental Systems","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/A5013665827","display_name":"Haobin Shi","orcid":"https://orcid.org/0000-0003-2180-8941"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haobin Shi","raw_affiliation_strings":["School of Computer Science, Northwestern Polytechnical University, Xi\u2019an, China"],"raw_orcid":"https://orcid.org/0000-0003-2180-8941","affiliations":[{"raw_affiliation_string":"School of Computer Science, Northwestern Polytechnical University, Xi\u2019an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102955005","display_name":"Lin Shi","orcid":"https://orcid.org/0000-0002-9245-3466"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Shi","raw_affiliation_strings":["School of Software and Microelectronics, Northwestern Polytechnical University, Xi\u2019an, China"],"raw_orcid":"https://orcid.org/0000-0002-9245-3466","affiliations":[{"raw_affiliation_string":"School of Software and Microelectronics, Northwestern Polytechnical University, Xi\u2019an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085046132","display_name":"Gang Sun","orcid":"https://orcid.org/0000-0002-4351-2896"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Sun","raw_affiliation_strings":["School of Software and Microelectronics, Northwestern Polytechnical University, Xi\u2019an, China"],"raw_orcid":"https://orcid.org/0000-0002-4351-2896","affiliations":[{"raw_affiliation_string":"School of Software and Microelectronics, Northwestern Polytechnical University, Xi\u2019an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061189209","display_name":"Kao\u2010Shing Hwang","orcid":"https://orcid.org/0000-0001-9234-4836"},"institutions":[{"id":"https://openalex.org/I142974352","display_name":"National Sun Yat-sen University","ror":"https://ror.org/00mjawt10","country_code":"TW","type":"education","lineage":["https://openalex.org/I142974352"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Kao-Shing Hwang","raw_affiliation_strings":["Electrical Engineering Department, National Sun Yat-sen University, Kaohsiung, Taiwan"],"raw_orcid":"https://orcid.org/0000-0001-9234-4836","affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, National Sun Yat-sen University, Kaohsiung, Taiwan","institution_ids":["https://openalex.org/I142974352"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5013665827"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":0.8169,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.76691469,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"12","issue":"3","first_page":"417","last_page":"426"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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":0.9832000136375427,"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/T11105","display_name":"Advanced Image Processing Techniques","score":0.9787999987602234,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.9130213260650635},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7213000059127808},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7130063772201538},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6272026896476746},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5783751606941223},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4923447370529175},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44924139976501465},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44060418009757996},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17846021056175232},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.12320122122764587}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9130213260650635},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7213000059127808},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7130063772201538},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6272026896476746},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5783751606941223},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4923447370529175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44924139976501465},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44060418009757996},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17846021056175232},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.12320122122764587},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcds.2019.2908923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2019.2908923","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2514696876","display_name":null,"funder_award_id":"2016ZC53022","funder_id":"https://openalex.org/F4320322857","funder_display_name":"Aeronautical Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320322857","display_name":"Aeronautical Science Foundation of China","ror":"https://ror.org/02wq41p38"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1490468191","https://openalex.org/W1527987541","https://openalex.org/W1706571876","https://openalex.org/W1964342070","https://openalex.org/W1994543785","https://openalex.org/W1995067233","https://openalex.org/W1995449997","https://openalex.org/W1996964737","https://openalex.org/W2034294515","https://openalex.org/W2066723079","https://openalex.org/W2069202820","https://openalex.org/W2082991751","https://openalex.org/W2091536974","https://openalex.org/W2093048429","https://openalex.org/W2095035710","https://openalex.org/W2101057928","https://openalex.org/W2125148654","https://openalex.org/W2125627762","https://openalex.org/W2127251115","https://openalex.org/W2137740690","https://openalex.org/W2157393084","https://openalex.org/W2161505441","https://openalex.org/W2163410835","https://openalex.org/W2292075756","https://openalex.org/W2345058063","https://openalex.org/W2530520848","https://openalex.org/W2544719997","https://openalex.org/W2610686804","https://openalex.org/W2886946457","https://openalex.org/W4248304976","https://openalex.org/W6667414407"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W2386520554","https://openalex.org/W1520171478","https://openalex.org/W4317830657","https://openalex.org/W3024380338","https://openalex.org/W2127866683","https://openalex.org/W2065095941","https://openalex.org/W110066474"],"abstract_inverted_index":{"Image-based":[0],"visual":[1,16],"servoing":[2,26,62,83],"(IBVS)":[3],"achieves":[4],"precise":[5],"positioning":[6],"and":[7,23,36,153,181,191],"motion":[8],"control":[9,40,165],"for":[10,28,46,68,92,125,144],"a":[11,44,75,122,172],"relatively":[12],"stationary":[13],"target":[14],"by":[15,64],"feedback,":[17],"but":[18,38],"problems":[19],"persist":[20],"with":[21,98],"convergence":[22,35,91,100,195],"stability.":[24],"Appropriate":[25],"gains":[27],"the":[29,34,61,79,82,86,93,114,135,139,146,159,185],"IBVS":[30,48,69,164,187],"are":[31],"critical":[32],"to":[33,77,112,150,157],"stability,":[37],"this":[39],"gain":[41,63,84],"is":[42,101,142,167],"heuristically":[43],"constant":[45],"most":[47],"applications.":[49],"This":[50],"paper":[51],"proposes":[52],"an":[53],"integrated":[54,163,186],"method":[55,73,188],"that":[56,133,184],"allows":[57,127],"adaptive":[58],"adjustment":[59],"of":[60,81,179],"reinforcement":[65],"learning":[66,104,160],"(RL)":[67],"control.":[70,176],"The":[71,162,177],"proposed":[72],"learns":[74],"policy":[76],"determine":[78],"value":[80],"on":[85],"fly.":[87],"To":[88],"ensure":[89],"rapid":[90,194],"RL,":[94],"truncating":[95],"Q-learning":[96],"(TQL)":[97],"faster":[99],"used":[102],"as":[103,121,156],"algorithm,":[105],"which":[106],"uses":[107,134],"truncated":[108],"temporal":[109],"differences":[110],"(TDs)":[111],"update":[113],"TD.":[115],"A":[116,131],"nonuniform":[117],"state":[118,123],"space":[119],"partitioning":[120],"encoder":[124],"RL":[126],"more":[128,193],"efficient":[129],"policy.":[130],"strategy":[132],"Metropolis":[136],"derived":[137],"from":[138],"simulated":[140],"annealing":[141],"introduced":[143],"selecting":[145],"action,":[147],"in":[148],"order":[149],"balance":[151],"exploration":[152],"exploitation":[154],"so":[155],"accelerate":[158],"speed.":[161],"system":[166],"tested":[168],"using":[169],"experiments":[170],"involving":[171],"quad-rotor":[173],"helicopter":[174],"hovering":[175],"results":[178],"simulation":[180],"experiment":[182],"show":[183],"increases":[189],"stability":[190],"ensures":[192],"than":[196],"other":[197],"methods.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}