{"id":"https://openalex.org/W3126840281","doi":"https://doi.org/10.1109/tie.2021.3057005","title":"Policy-Based Deep Reinforcement Learning for Visual Servoing Control of Mobile Robots With Visibility Constraints","display_name":"Policy-Based Deep Reinforcement Learning for Visual Servoing Control of Mobile Robots With Visibility Constraints","publication_year":2021,"publication_date":"2021-02-10","ids":{"openalex":"https://openalex.org/W3126840281","doi":"https://doi.org/10.1109/tie.2021.3057005","mag":"3126840281"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2021.3057005","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3057005","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial 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/A5001463491","display_name":"Zhehao Jin","orcid":"https://orcid.org/0000-0002-0871-9779"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhehao Jin","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0871-9779","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102505767","display_name":"Jinhui Wu","orcid":"https://orcid.org/0000-0002-1012-0319"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinhui Wu","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062282176","display_name":"Andong Liu","orcid":"https://orcid.org/0000-0003-2445-8457"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Andong Liu","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-2445-8457","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019060617","display_name":"Wen\u2010An Zhang","orcid":"https://orcid.org/0000-0002-4355-2783"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen-An Zhang","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4355-2783","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100702456","display_name":"Li Yu","orcid":"https://orcid.org/0000-0003-3889-3863"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Yu","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-3889-3863","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":4.5605,"has_fulltext":false,"cited_by_count":68,"citation_normalized_percentile":{"value":0.95812371,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"69","issue":"2","first_page":"1898","last_page":"1908"},"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/T11019","display_name":"Image Enhancement Techniques","score":0.9865000247955322,"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/T10170","display_name":"Retinal Diseases and Treatments","score":0.9836999773979187,"subfield":{"id":"https://openalex.org/subfields/2731","display_name":"Ophthalmology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.9450008869171143},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7656452059745789},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.7214398980140686},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6701714396476746},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6209942698478699},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6191960573196411},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.617472767829895},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5825735926628113},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5459077954292297},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5374454259872437},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.515687108039856},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5116865634918213},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.48703843355178833},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.4795127213001251},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4545646011829376},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4120092988014221},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2566027045249939},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2545292377471924},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.13979190587997437},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07241952419281006}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9450008869171143},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7656452059745789},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.7214398980140686},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6701714396476746},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6209942698478699},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6191960573196411},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.617472767829895},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5825735926628113},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5459077954292297},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5374454259872437},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.515687108039856},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5116865634918213},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.48703843355178833},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.4795127213001251},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4545646011829376},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4120092988014221},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2566027045249939},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2545292377471924},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.13979190587997437},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07241952419281006},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2021.3057005","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2021.3057005","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G4626531281","display_name":null,"funder_award_id":"61973275","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1524125192","https://openalex.org/W1757796397","https://openalex.org/W1947042440","https://openalex.org/W1990445868","https://openalex.org/W2032185879","https://openalex.org/W2059007332","https://openalex.org/W2064355448","https://openalex.org/W2074152015","https://openalex.org/W2082991751","https://openalex.org/W2095035710","https://openalex.org/W2098658432","https://openalex.org/W2099512252","https://openalex.org/W2100249329","https://openalex.org/W2105582660","https://openalex.org/W2110461435","https://openalex.org/W2121863487","https://openalex.org/W2122410182","https://openalex.org/W2125627762","https://openalex.org/W2132043626","https://openalex.org/W2135386771","https://openalex.org/W2137044675","https://openalex.org/W2168947801","https://openalex.org/W2216417111","https://openalex.org/W2285870816","https://openalex.org/W2295524408","https://openalex.org/W2471783715","https://openalex.org/W2522028907","https://openalex.org/W2530520848","https://openalex.org/W2625627646","https://openalex.org/W2736728332","https://openalex.org/W2751318774","https://openalex.org/W2769677668","https://openalex.org/W2935417428","https://openalex.org/W2936244770","https://openalex.org/W2963864421","https://openalex.org/W2967570653","https://openalex.org/W2970057896","https://openalex.org/W3037926102","https://openalex.org/W3089091488","https://openalex.org/W3126662726","https://openalex.org/W6637967152","https://openalex.org/W6684205842","https://openalex.org/W6684921986"],"related_works":["https://openalex.org/W2325567779","https://openalex.org/W2133614587","https://openalex.org/W4236881204","https://openalex.org/W2045478930","https://openalex.org/W2382504547","https://openalex.org/W2360974923","https://openalex.org/W1490629594","https://openalex.org/W2384182507","https://openalex.org/W2378363272","https://openalex.org/W2384578230"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"the":[3,27,47,52,55,58,64,69,86,90,96,99,102,105,111,115,118],"image-based":[4],"visual":[5],"servoing":[6],"(IBVS)":[7],"problem":[8,35,49],"for":[9,84],"mobile":[10],"robots":[11],"with":[12],"visibility":[13],"constraints":[14],"is":[15,43,61,77,121],"studied":[16],"by":[17,63,123],"using":[18],"a":[19,39,73],"policy-based":[20,74],"deep":[21],"reinforcement":[22],"learning":[23],"(DRL)":[24],"approach.":[25],"First,":[26],"classical":[28],"IBVS":[29,41],"(C-IBVS)":[30],"method":[31,42,120],"and":[32,50,72],"its":[33],"feature-loss":[34,48],"are":[36],"introduced.":[37],"Then,":[38],"DRL-based":[40],"presented":[44],"to":[45,67,79],"solve":[46],"improve":[51],"servo":[53,112],"efficiency.Specifically,":[54],"formulation":[56],"of":[57,101,104,117],"C-IBVS":[59],"controller":[60,66,87],"inherited":[62],"designed":[65],"ensure":[68],"analytical":[70],"stability,":[71],"DRL":[75],"algorithm":[76],"proposed":[78,119],"design":[80],"an":[81],"adaptive":[82],"law":[83],"tuning":[85],"gain":[88],"in":[89,98],"continuous":[91],"space,":[92],"which":[93],"can":[94],"maintain":[95],"feature":[97],"field":[100],"view":[103],"camera":[106],"as":[107,109],"well":[108],"improving":[110],"efficiency.":[113],"Finally,":[114],"effectiveness":[116],"demonstrated":[122],"various":[124],"comparative":[125],"experiments.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}