{"id":"https://openalex.org/W4407457013","doi":"https://doi.org/10.1109/tce.2025.3541747","title":"An End-to-End Flight Control Method for UAVs Based on MD-SAC","display_name":"An End-to-End Flight Control Method for UAVs Based on MD-SAC","publication_year":2025,"publication_date":"2025-02-13","ids":{"openalex":"https://openalex.org/W4407457013","doi":"https://doi.org/10.1109/tce.2025.3541747"},"language":"en","primary_location":{"id":"doi:10.1109/tce.2025.3541747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tce.2025.3541747","pdf_url":null,"source":{"id":"https://openalex.org/S126824455","display_name":"IEEE Transactions on Consumer Electronics","issn_l":"0098-3063","issn":["0098-3063","1558-4127"],"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 Consumer Electronics","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/A5006822572","display_name":"Chao Song","orcid":"https://orcid.org/0009-0003-0328-8740"},"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":"Chao Song","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xi’an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0009-0003-0328-8740","affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008314428","display_name":"Yi Zhang","orcid":"https://orcid.org/0000-0003-4362-3868"},"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":"Yi Zhang","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xi’an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087732551","display_name":"Shuangxia Bai","orcid":"https://orcid.org/0000-0002-3710-9152"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shuangxia Bai","raw_affiliation_strings":["School of Data Science, City University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Data Science, City University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046508099","display_name":"Bo Li","orcid":"https://orcid.org/0000-0002-1415-4444"},"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":"Bo Li","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xi’an, Shaanxi, China"],"raw_orcid":"https://orcid.org/0000-0002-1415-4444","affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi’an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhigang Gan","orcid":null},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]},{"id":"https://openalex.org/I4210159565","display_name":"SAIC Motor (China)","ror":"https://ror.org/051b9ta18","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210159565"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhigang Gan","raw_affiliation_strings":["Intelligent Automotive Solutions Business Unit, Shanghai Huawei Technologies Company Ltd., Shanghai, China","Shanghai Huawei Technologies Co., Ltd, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Automotive Solutions Business Unit, Shanghai Huawei Technologies Company Ltd., Shanghai, China","institution_ids":["https://openalex.org/I4210159565"]},{"raw_affiliation_string":"Shanghai Huawei Technologies Co., Ltd, Shanghai, China","institution_ids":["https://openalex.org/I2250955327"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5116253585","display_name":"Evgeny Neretin Shuangxia Bai is with the School of Data Science","orcid":null},"institutions":[{"id":"https://openalex.org/I45571689","display_name":"Moscow Aviation Institute","ror":"https://ror.org/033zpbv42","country_code":"RU","type":"education","lineage":["https://openalex.org/I45571689"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Evgeny Neretin","raw_affiliation_strings":["School of Robotic and Intelligent Systems, Moscow Aviation Institute, Moscow, Russia","School of Moscow Aviation Institute, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Robotic and Intelligent Systems, Moscow Aviation Institute, Moscow, Russia","institution_ids":["https://openalex.org/I45571689"]},{"raw_affiliation_string":"School of Moscow Aviation Institute, Russia","institution_ids":["https://openalex.org/I45571689"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5006822572"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":7.6992,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.97190865,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"71","issue":"2","first_page":"3641","last_page":"3653"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13717","display_name":"Advanced Algorithms and Applications","score":0.7842000126838684,"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"}},"topics":[{"id":"https://openalex.org/T13717","display_name":"Advanced Algorithms and Applications","score":0.7842000126838684,"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":0.762499988079071,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.715399980545044,"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/end-to-end-principle","display_name":"End-to-end principle","score":0.7500576972961426},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4864508807659149},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4051643908023834},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39226430654525757},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.3681543469429016},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3483225107192993},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.15246057510375977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12843245267868042}],"concepts":[{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.7500576972961426},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4864508807659149},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4051643908023834},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39226430654525757},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3681543469429016},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3483225107192993},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.15246057510375977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12843245267868042}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tce.2025.3541747","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tce.2025.3541747","pdf_url":null,"source":{"id":"https://openalex.org/S126824455","display_name":"IEEE Transactions on Consumer Electronics","issn_l":"0098-3063","issn":["0098-3063","1558-4127"],"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 Consumer Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G1653482754","display_name":null,"funder_award_id":"62003267","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7914649130","display_name":null,"funder_award_id":"2023-GHZD-33","funder_id":"https://openalex.org/F4320327780","funder_display_name":"Key Research and Development Program of Jiangxi Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327780","display_name":"Key Research and Development Program of Jiangxi Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2043624654","https://openalex.org/W2334750579","https://openalex.org/W2569132502","https://openalex.org/W2582119245","https://openalex.org/W2787690100","https://openalex.org/W2898035736","https://openalex.org/W2971481292","https://openalex.org/W2991625383","https://openalex.org/W3034726893","https://openalex.org/W3152640450","https://openalex.org/W3212087381","https://openalex.org/W3217486134","https://openalex.org/W4226455208","https://openalex.org/W4281674575","https://openalex.org/W4306167924","https://openalex.org/W4312946510","https://openalex.org/W4367665843","https://openalex.org/W4384922512","https://openalex.org/W4386131988","https://openalex.org/W4387385885","https://openalex.org/W4387398391","https://openalex.org/W4387790226","https://openalex.org/W4387917801","https://openalex.org/W4388286162","https://openalex.org/W4389252671","https://openalex.org/W4389334348","https://openalex.org/W4390577884","https://openalex.org/W4391096335","https://openalex.org/W4391991732","https://openalex.org/W4392694047","https://openalex.org/W4396982347","https://openalex.org/W4399057826"],"related_works":["https://openalex.org/W2151749779","https://openalex.org/W3179968364","https://openalex.org/W1999612375","https://openalex.org/W2938107654","https://openalex.org/W3196421258","https://openalex.org/W4387301579","https://openalex.org/W1982160337","https://openalex.org/W1971380437","https://openalex.org/W2763956190","https://openalex.org/W3008587939"],"abstract_inverted_index":{"Deep":[0],"reinforcement":[1],"learning":[2],"(DRL)":[3],"allows":[4],"uncrewed":[5],"aerial":[6],"vehicles":[7],"(UAVs)":[8],"to":[9,57,63,140,148,191],"learn":[10],"control":[11,58,75,154,161],"policies":[12],"for":[13,77],"tasks":[14],"in":[15,25,202],"complicated":[16],"and":[17,35,84,109,121,124,144,156,189,197,206,213],"unfamiliar":[18],"environments,":[19,196],"hence":[20],"it":[21],"is":[22,61,89,101,146,163,200],"widely":[23],"employed":[24],"the":[26,33,47,97,105,130,135,141,157,160,167,176,180,198,210,214],"field":[27],"of":[28,38,46,67,132,159,194,204],"UAV":[29,59,98,112,118,120,125,142,152,177],"flight":[30,60,74],"control.":[31],"However,":[32],"model":[34,99],"operational":[36],"environment":[37],"UAVs":[39,78],"are":[40],"typically":[41],"simplified,":[42],"rendering":[43],"them":[44],"unrepresentative":[45],"real":[48,106],"world.":[49],"Furthermore,":[50],"using":[51],"only":[52],"a":[53,111,192],"single":[54],"sensory":[55],"data":[56,82,137],"difficult":[62],"realize":[64],"autonomous":[65,186],"decision-making":[66],"UAVs.":[68],"In":[69],"this":[70,94],"paper,":[71],"an":[72,150],"end-to-end":[73,151],"method":[76,162],"based":[79,165,178],"on":[80,166,179],"multimodal":[81,136],"fusion":[83,114,138],"Soft":[85],"Actor-Critic":[86],"(SAC)":[87],"algorithm":[88,182,212],"proposed,":[90],"named":[91],"MD-SAC.":[92],"First,":[93],"paper":[95],"constructs":[96],"that":[100,175],"basically":[102],"consistent":[103],"with":[104,209],"physical":[107],"model,":[108,155],"forms":[110],"multidata":[113],"state":[115],"space":[116],"including":[117],"information,":[119],"target":[122],"information":[123],"sensor":[126],"sensing":[127],"information.":[128],"Then,":[129],"strategy":[131],"directly":[133],"mapping":[134],"results":[139,173],"torque":[143],"thrust":[145],"proposed":[147],"construct":[149],"hierarchical":[153],"convergence":[158],"accelerated":[164],"empirical":[168],"playback":[169],"mechanism.":[170],"The":[171],"experimental":[172],"show":[174],"MD-SAC":[181],"can":[183],"effectively":[184],"complete":[185],"trajectory":[187],"planning":[188],"adapt":[190],"variety":[193],"complex":[195],"performance":[199],"improved":[201],"terms":[203],"robustness":[205],"generalization":[207],"compared":[208],"PPO":[211],"optimized":[215],"SAC":[216],"algorithm.":[217]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}