{"id":"https://openalex.org/W4323644326","doi":"https://doi.org/10.1109/tcyb.2023.3246985","title":"Learning-Based Multi-UAV Flocking Control With Limited Visual Field and Instinctive Repulsion","display_name":"Learning-Based Multi-UAV Flocking Control With Limited Visual Field and Instinctive Repulsion","publication_year":2023,"publication_date":"2023-03-08","ids":{"openalex":"https://openalex.org/W4323644326","doi":"https://doi.org/10.1109/tcyb.2023.3246985","pmid":"https://pubmed.ncbi.nlm.nih.gov/37028361"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2023.3246985","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2023.3246985","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repository.tudelft.nl/file/File_623a1586-3d49-4c55-81d7-8609ec171662","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073181963","display_name":"Chengchao Bai","orcid":"https://orcid.org/0000-0002-0349-9869"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengchao Bai","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-0349-9869","affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101997595","display_name":"Yan Peng","orcid":"https://orcid.org/0000-0003-2928-8987"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Yan","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-2928-8987","affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004540162","display_name":"Haiyin Piao","orcid":"https://orcid.org/0000-0002-8519-4750"},"institutions":[{"id":"https://openalex.org/I108904480","display_name":"Shenyang Institute of Engineering","ror":"https://ror.org/02pfsj857","country_code":"CN","type":"education","lineage":["https://openalex.org/I108904480"]},{"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":"Haiyin Piao","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xian, China","AI Center, SADRI Institute, Shenyang, China"],"raw_orcid":"https://orcid.org/0000-0002-8519-4750","affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xian, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"AI Center, SADRI Institute, Shenyang, China","institution_ids":["https://openalex.org/I108904480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100721259","display_name":"Wei Pan","orcid":"https://orcid.org/0000-0003-1121-9879"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["GB","NL"],"is_corresponding":false,"raw_author_name":"Wei Pan","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, CD, The Netherlands","Department of Computer Science, University of Manchester, Manchester, U.K"],"raw_orcid":"https://orcid.org/0000-0003-1121-9879","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Department of Computer Science, University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101455523","display_name":"Jifeng Guo","orcid":"https://orcid.org/0000-0003-2840-9820"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jifeng Guo","raw_affiliation_strings":["School of Astronautics, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-2840-9820","affiliations":[{"raw_affiliation_string":"School of Astronautics, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.9139,"has_fulltext":true,"cited_by_count":47,"citation_normalized_percentile":{"value":0.98203106,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"54","issue":"1","first_page":"462","last_page":"475"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9898999929428101,"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":0.9898999929428101,"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":0.984000027179718,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9624000191688538,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/flocking","display_name":"Flocking (texture)","score":0.9604454040527344},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6719384789466858},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6522107124328613},{"id":"https://openalex.org/keywords/instinct","display_name":"Instinct","score":0.5874929428100586},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5546584725379944},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5077084302902222}],"concepts":[{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.9604454040527344},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6719384789466858},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6522107124328613},{"id":"https://openalex.org/C3232509","wikidata":"https://www.wikidata.org/wiki/Q18237","display_name":"Instinct","level":2,"score":0.5874929428100586},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5546584725379944},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5077084302902222},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tcyb.2023.3246985","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2023.3246985","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:37028361","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37028361","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null},{"id":"pmh:oai:pure.atira.dk:publications/7dc6f718-6538-41ba-8397-9425e8e6150c","is_oa":false,"landing_page_url":"https://research.manchester.ac.uk/en/publications/7dc6f718-6538-41ba-8397-9425e8e6150c","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Bai, C, Yan, P, Piao, H, Pan, W & Guo, J 2024, 'Learning-Based Multi-UAV Flocking Control With Limited Visual Field and Instinctive Repulsion', IEEE Transactions on Cybernetics, vol. 54, no. 1, pp. 462-475. https://doi.org/10.1109/TCYB.2023.3246985","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:tudelft.nl:uuid:9c9e7446-41fa-4ba4-84c3-03575873e5b0","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:9c9e7446-41fa-4ba4-84c3-03575873e5b0","pdf_url":"https://repository.tudelft.nl/file/File_623a1586-3d49-4c55-81d7-8609ec171662","source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"}],"best_oa_location":{"id":"pmh:oai:tudelft.nl:uuid:9c9e7446-41fa-4ba4-84c3-03575873e5b0","is_oa":true,"landing_page_url":"http://resolver.tudelft.nl/uuid:9c9e7446-41fa-4ba4-84c3-03575873e5b0","pdf_url":"https://repository.tudelft.nl/file/File_623a1586-3d49-4c55-81d7-8609ec171662","source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1215181991","display_name":null,"funder_award_id":"20180577005","funder_id":"https://openalex.org/F4320322857","funder_display_name":"Aeronautical Science Foundation of China"},{"id":"https://openalex.org/G409998870","display_name":null,"funder_award_id":"2021QNRC001","funder_id":"https://openalex.org/F4320330170","funder_display_name":"Young Elite Scientists Sponsorship Program by Tianjin"},{"id":"https://openalex.org/G4801621766","display_name":null,"funder_award_id":"61973101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6665774762","display_name":null,"funder_award_id":"2021QNRC001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322857","display_name":"Aeronautical Science Foundation of China","ror":"https://ror.org/02wq41p38"},{"id":"https://openalex.org/F4320330170","display_name":"Young Elite Scientists Sponsorship Program by Tianjin","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4323644326.pdf","grobid_xml":"https://content.openalex.org/works/W4323644326.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W2014556603","https://openalex.org/W2105850748","https://openalex.org/W2150312211","https://openalex.org/W2254248904","https://openalex.org/W2284321972","https://openalex.org/W2323417403","https://openalex.org/W2345097924","https://openalex.org/W2768629321","https://openalex.org/W2796483014","https://openalex.org/W2806824292","https://openalex.org/W2811487153","https://openalex.org/W2859741348","https://openalex.org/W2884236119","https://openalex.org/W2908261578","https://openalex.org/W2915708926","https://openalex.org/W2918849077","https://openalex.org/W2926397355","https://openalex.org/W2954085204","https://openalex.org/W2957456202","https://openalex.org/W2981655159","https://openalex.org/W3001635519","https://openalex.org/W3003467142","https://openalex.org/W3004326754","https://openalex.org/W3035458768","https://openalex.org/W3166195560","https://openalex.org/W3181978631","https://openalex.org/W3183210514","https://openalex.org/W3203218610","https://openalex.org/W4200000120","https://openalex.org/W4223588502","https://openalex.org/W6631190155","https://openalex.org/W6684921986","https://openalex.org/W6738796088","https://openalex.org/W6741002519","https://openalex.org/W6747473740","https://openalex.org/W6748839928","https://openalex.org/W6757592117","https://openalex.org/W6772803655"],"related_works":["https://openalex.org/W2002188687","https://openalex.org/W2142589698","https://openalex.org/W2794811781","https://openalex.org/W4327740834","https://openalex.org/W4389665619","https://openalex.org/W2166744572","https://openalex.org/W2138105113","https://openalex.org/W4387445286","https://openalex.org/W1596835606","https://openalex.org/W2182108128"],"abstract_inverted_index":{"This":[0],"article":[1],"explores":[2],"deep":[3],"reinforcement":[4],"learning":[5,46,50],"(DRL)":[6],"for":[7],"the":[8,38,66,70,82,100,104,146,150],"flocking":[9,18,89],"control":[10,19,90],"of":[11,49,72,84,115,127,136],"unmanned":[12],"aerial":[13],"vehicle":[14],"(UAV)":[15],"swarms.":[16],"The":[17],"policy":[20,102],"is":[21,42,58,91,97],"trained":[22],"using":[23],"a":[24,29,55,112,124,133],"centralized-learning-decentralized-execution":[25],"(CTDE)":[26],"paradigm,":[27],"where":[28],"centralized":[30],"critic":[31],"network":[32],"augmented":[33],"with":[34,103,123,132,142],"additional":[35],"information":[36],"about":[37],"entire":[39],"UAV":[40],"swarm":[41],"utilized":[43],"to":[44],"improve":[45],"efficiency.":[47],"Instead":[48],"inter-UAV":[51],"collision":[52],"avoidance":[53],"capabilities,":[54],"repulsion":[56,105],"function":[57,106],"encoded":[59],"as":[60],"an":[61],"inner-UAV":[62],"\"instinct.\"":[63],"In":[64],"addition,":[65],"UAVs":[67,74],"can":[68],"obtain":[69],"states":[71],"other":[73],"through":[75],"onboard":[76],"sensors":[77],"in":[78,117,121,130,140,160],"communication-denied":[79],"environments,":[80,119],"and":[81,107,138],"impact":[83],"varying":[85],"visual":[86,109],"fields":[87],"on":[88],"analyzed.":[92],"Through":[93],"extensive":[94],"simulations,":[95],"it":[96],"shown":[98],"that":[99,149],"proposed":[101,151],"limited":[108],"field":[110],"has":[111],"success":[113],"rate":[114],"93.8%":[116],"training":[118],"85.6%":[120],"environments":[122,131,141],"high":[125,134],"number":[126,135],"UAVs,":[128],"91.2%":[129],"obstacles,":[137],"82.2%":[139],"dynamic":[143],"obstacles.":[144],"Furthermore,":[145],"results":[147],"indicate":[148],"learning-based":[152],"methods":[153,159],"are":[154],"more":[155],"suitable":[156],"than":[157],"traditional":[158],"cluttered":[161],"environments.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":26},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
