{"id":"https://openalex.org/W4402830183","doi":"https://doi.org/10.1109/tits.2024.3459895","title":"MARL-Based AUV Formation for Underwater Intelligent Autonomous Transport Systems Supported by 6G Network","display_name":"MARL-Based AUV Formation for Underwater Intelligent Autonomous Transport Systems Supported by 6G Network","publication_year":2024,"publication_date":"2024-09-25","ids":{"openalex":"https://openalex.org/W4402830183","doi":"https://doi.org/10.1109/tits.2024.3459895"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2024.3459895","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3459895","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation 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/A5005003415","display_name":"Jingyi He","orcid":"https://orcid.org/0000-0003-2817-7396"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingyi He","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-2817-7396","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031593368","display_name":"Meng Xi","orcid":"https://orcid.org/0000-0001-8207-3921"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meng Xi","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-8207-3921","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022939072","display_name":"Jiabao Wen","orcid":"https://orcid.org/0000-0003-2303-9613"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiabao Wen","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-2303-9613","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002735305","display_name":"Shuai Xiao","orcid":"https://orcid.org/0000-0003-4058-8120"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Xiao","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-4058-8120","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066144350","display_name":"Jiachen Yang","orcid":"https://orcid.org/0000-0003-2558-552X"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiachen Yang","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-2558-552X","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":{"value":2495,"currency":"USD","value_usd":2495},"apc_paid":null,"fwci":2.9569,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.91228529,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"26","issue":"10","first_page":"17339","last_page":"17348"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11622","display_name":"Maritime Navigation and Safety","score":0.9595999717712402,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/underwater","display_name":"Underwater","score":0.721327006816864},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.5422137975692749},{"id":"https://openalex.org/keywords/marl","display_name":"Marl","score":0.48957762122154236},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4744837284088135},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4169355034828186},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2693231701850891},{"id":"https://openalex.org/keywords/oceanography","display_name":"Oceanography","score":0.079220712184906}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.721327006816864},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.5422137975692749},{"id":"https://openalex.org/C92927620","wikidata":"https://www.wikidata.org/wiki/Q184053","display_name":"Marl","level":3,"score":0.48957762122154236},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4744837284088135},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4169355034828186},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2693231701850891},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.079220712184906},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C109007969","wikidata":"https://www.wikidata.org/wiki/Q749565","display_name":"Structural basin","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2024.3459895","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2024.3459895","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5282204017","display_name":null,"funder_award_id":"2023M742608","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G6122868372","display_name":null,"funder_award_id":"62271345","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6335071182","display_name":null,"funder_award_id":"22JCQNJC00790","funder_id":"https://openalex.org/F4320323993","funder_display_name":"Natural Science Foundation of Tianjin City"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320323993","display_name":"Natural Science Foundation of Tianjin City","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1092373588","https://openalex.org/W2010303449","https://openalex.org/W2014556603","https://openalex.org/W2021680031","https://openalex.org/W2068093684","https://openalex.org/W2759084312","https://openalex.org/W2802929790","https://openalex.org/W2897447555","https://openalex.org/W2904316432","https://openalex.org/W2906829782","https://openalex.org/W2922163980","https://openalex.org/W2941506149","https://openalex.org/W2962764167","https://openalex.org/W2963917788","https://openalex.org/W2970414985","https://openalex.org/W2976344064","https://openalex.org/W2997070234","https://openalex.org/W3017317138","https://openalex.org/W3034598088","https://openalex.org/W3088751792","https://openalex.org/W3109811682","https://openalex.org/W3132447149","https://openalex.org/W3135269945","https://openalex.org/W3138199322","https://openalex.org/W3173631964","https://openalex.org/W3174538964","https://openalex.org/W3179531143","https://openalex.org/W3197405529","https://openalex.org/W3198069538","https://openalex.org/W4200113878","https://openalex.org/W4214897012","https://openalex.org/W4282598608","https://openalex.org/W4315629725","https://openalex.org/W4319872806","https://openalex.org/W4320005606","https://openalex.org/W4386590770","https://openalex.org/W4390604928","https://openalex.org/W4391936116","https://openalex.org/W4392405597","https://openalex.org/W4392902482"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2126019709","https://openalex.org/W1702901972","https://openalex.org/W4249798507","https://openalex.org/W2069775250","https://openalex.org/W2093541819","https://openalex.org/W2032294417","https://openalex.org/W2152754392","https://openalex.org/W1989172970"],"abstract_inverted_index":{"With":[0],"the":[1,23,28,36,40,81,103,107,131,162,167,198,202,209,213,229],"advancement":[2],"of":[3,35,42,52,67,83,102,201,212,231],"communication":[4,11],"technology":[5],"from":[6],"5G":[7],"to":[8,18,64,78,96,116,129,196],"6G,":[9],"future":[10],"networks":[12,146],"will":[13,25],"no":[14],"longer":[15],"be":[16],"limited":[17],"land":[19],"and":[20,22,70,90,120,139,171,235],"air,":[21],"ocean":[24],"also":[26,91],"become":[27],"battlefield":[29],"for":[30,180],"6G":[31],"networks.":[32],"The":[33,100,205],"expansion":[34],"network":[37],"has":[38,60],"expanded":[39],"scope":[41],"Intelligent":[43,135],"Autonomous":[44,56],"Transport":[45],"Systems":[46],"(IATS).":[47],"As":[48],"a":[49,154,187],"new":[50],"type":[51],"underwater":[53],"transport":[54],"system,":[55],"Underwater":[57],"Vehicle":[58],"(AUV)":[59],"gained":[61],"popularity":[62],"due":[63],"their":[65],"advantages":[66],"autonomy,":[68],"endurance,":[69],"concealment.":[71],"In":[72,127],"practical":[73],"applications,":[74],"it":[75],"is":[76,106,148,165,194],"necessary":[77],"fully":[79],"consider":[80],"impact":[82],"uncertain":[84,178],"marine":[85,157],"environments":[86],"on":[87,144],"AUV\u2019s":[88],"motion,":[89],"design":[92],"stable":[93,181],"control":[94,104,110,141],"unit":[95,105],"achieve":[97],"AUV":[98,108,115],"formation.":[99],"core":[101],"formation":[109,125,140],"algorithm,":[111],"which":[112],"should":[113],"enable":[114],"complete":[117],"path":[118,137],"planning":[119,138],"obstacle":[121],"avoidance":[122],"while":[123],"ensuring":[124],"control.":[126],"order":[128],"solve":[130],"above":[132],"problems,":[133],"an":[134],"Multi-agent":[136],"algorithm":[142],"based":[143,191],"Value-decomposition":[145],"(IMV)":[147],"proposed":[149,203,216],"in":[150,161,217,228],"this":[151,218],"paper.":[152],"Specifically,":[153],"three-dimensional":[155],"high-resolution":[156],"simulation":[158],"environment":[159],"located":[160],"Mariana":[163],"Trench":[164],"established,":[166],"state":[168],"transition":[169],"function":[170,173],"reward":[172],"are":[174],"well":[175],"designed":[176],"under":[177],"conditions":[179],"Multi-Agent":[182],"Reinforcement":[183],"Learning":[184],"(MARL)":[185],"mechanism,":[186],"Value-Decomposition":[188],"Networks":[189],"(VDN)":[190],"training":[192],"framework":[193],"constructed":[195],"improve":[197],"convergence":[199],"speed":[200],"method.":[204],"experimental":[206],"results":[207],"verify":[208],"excellent":[210],"performance":[211],"IMV":[214],"method":[215,223],"paper,":[219],"demonstrating":[220],"that":[221],"our":[222],"can":[224],"outperform":[225],"other":[226],"methods":[227],"aspect":[230],"stability,":[232],"adaptability,":[233],"intelligence,":[234],"timeliness.":[236]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":11}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}