{"id":"https://openalex.org/W2811227134","doi":"https://doi.org/10.1109/tnnls.2018.2844466","title":"Hierarchical Decision and Control for Continuous Multitarget Problem: Policy Evaluation With Action Delay","display_name":"Hierarchical Decision and Control for Continuous Multitarget Problem: Policy Evaluation With Action Delay","publication_year":2018,"publication_date":"2018-07-02","ids":{"openalex":"https://openalex.org/W2811227134","doi":"https://doi.org/10.1109/tnnls.2018.2844466","mag":"2811227134","pmid":"https://pubmed.ncbi.nlm.nih.gov/29994732"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2018.2844466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2018.2844466","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5102713772","display_name":"Jiangcheng Zhu","orcid":"https://orcid.org/0000-0002-6610-721X"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"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":true,"raw_author_name":"Jiangcheng Zhu","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100686243","display_name":"Jun Zhu","orcid":"https://orcid.org/0000-0003-2304-3671"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"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":"Jun Zhu","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000750647","display_name":"Zhepei Wang","orcid":"https://orcid.org/0000-0002-2032-258X"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"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":"Zhepei Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100976379","display_name":"Shan Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shan Guo","raw_affiliation_strings":["School of Mathematical Sciences, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Mathematical Sciences, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050543156","display_name":"Chao Xu","orcid":"https://orcid.org/0000-0002-2759-6364"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"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":"Chao Xu","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102713772"],"corresponding_institution_ids":["https://openalex.org/I4391767838","https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":0.6769,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.77361436,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"30","issue":"2","first_page":"464","last_page":"473"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9936000108718872,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6773016452789307},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6163818836212158},{"id":"https://openalex.org/keywords/table","display_name":"Table (database)","score":0.6014788150787354},{"id":"https://openalex.org/keywords/multirotor","display_name":"Multirotor","score":0.5942049622535706},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5782904624938965},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5401818156242371},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5386592745780945},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47428470849990845},{"id":"https://openalex.org/keywords/duration","display_name":"Duration (music)","score":0.46373075246810913},{"id":"https://openalex.org/keywords/lookup-table","display_name":"Lookup table","score":0.4244704842567444},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.4171750247478485},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.410225510597229},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3728829026222229},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20930325984954834},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1829523742198944},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.11389979720115662}],"concepts":[{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6773016452789307},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6163818836212158},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.6014788150787354},{"id":"https://openalex.org/C2781351190","wikidata":"https://www.wikidata.org/wiki/Q3772377","display_name":"Multirotor","level":2,"score":0.5942049622535706},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5782904624938965},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5401818156242371},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5386592745780945},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47428470849990845},{"id":"https://openalex.org/C112758219","wikidata":"https://www.wikidata.org/wiki/Q16038819","display_name":"Duration (music)","level":2,"score":0.46373075246810913},{"id":"https://openalex.org/C134835016","wikidata":"https://www.wikidata.org/wiki/Q690265","display_name":"Lookup table","level":2,"score":0.4244704842567444},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.4171750247478485},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.410225510597229},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3728829026222229},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20930325984954834},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1829523742198944},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.11389979720115662},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tnnls.2018.2844466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2018.2844466","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},{"id":"pmid:29994732","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29994732","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 neural networks and learning systems","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8100000023841858}],"awards":[{"id":"https://openalex.org/G5217980450","display_name":null,"funder_award_id":"61473253","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/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1536997931","https://openalex.org/W1613865483","https://openalex.org/W1757796397","https://openalex.org/W1771410628","https://openalex.org/W1949804828","https://openalex.org/W1970127232","https://openalex.org/W2014729048","https://openalex.org/W2026659355","https://openalex.org/W2076337359","https://openalex.org/W2077195478","https://openalex.org/W2091565802","https://openalex.org/W2098432798","https://openalex.org/W2107674817","https://openalex.org/W2113286054","https://openalex.org/W2137092694","https://openalex.org/W2145339207","https://openalex.org/W2152161277","https://openalex.org/W2162991084","https://openalex.org/W2165726932","https://openalex.org/W2167697140","https://openalex.org/W2169209873","https://openalex.org/W2169294731","https://openalex.org/W2173248099","https://openalex.org/W2342840547","https://openalex.org/W2736601468","https://openalex.org/W2766447205","https://openalex.org/W2767768680","https://openalex.org/W2950872548","https://openalex.org/W2962894046","https://openalex.org/W2963864421","https://openalex.org/W2963921033","https://openalex.org/W4298857966","https://openalex.org/W6638018090","https://openalex.org/W6685331716"],"related_works":["https://openalex.org/W2728521155","https://openalex.org/W2556504211","https://openalex.org/W2810775292","https://openalex.org/W3150660900","https://openalex.org/W2625580943","https://openalex.org/W2914097399","https://openalex.org/W3212684323","https://openalex.org/W3151488434","https://openalex.org/W3155344697","https://openalex.org/W4388145564"],"abstract_inverted_index":{"This":[0,163],"paper":[1,164],"proposes":[2],"a":[3,44,78,117,142],"hierarchical":[4],"decision-making":[5],"and":[6,40,70,97,129,156,175],"control":[7],"algorithm":[8],"for":[9],"the":[10,13,17,26,51,56,67,73,101,105,110,137,148,151,154,169,177],"shepherd":[11,152],"game,":[12,25,153],"seventh":[14],"mission":[15,182],"in":[16,89,136,172,187],"International":[18],"Aerial":[19],"Robotics":[20],"Competition":[21],"(IARC).":[22],"In":[23],"this":[24,90,92,122,159,181],"agent":[27,57,111],"(a":[28],"multirotor":[29],"aerial":[30],"robot)":[31],"is":[32,95,98,108,139],"required":[33],"to":[34,43,47,82,100],"contact":[35],"targets":[36],"(ground":[37],"vehicles)":[38],"sequentially":[39],"drive":[41],"them":[42],"certain":[45,118],"boundary":[46],"earn":[48],"score.":[49],"During":[50],"game":[52],"of":[53,72,80,113,150,158,180],"10":[54],"min,":[55],"should":[58],"be":[59],"fully":[60],"autonomous":[61],"without":[62],"any":[63],"human":[64],"interference.":[65],"Regarding":[66],"lower-level":[68,143],"controller":[69],"dynamics":[71],"agent,":[74],"each":[75],"action":[76,87,93,133],"takes":[77],"duration":[79,94],"time":[81],"accomplish.":[83],"Denoted":[84],"as":[85],"an":[86],"delay,":[88],"paper,":[91],"nonconstant":[96],"related":[99],"final":[102],"reward.":[103],"Therefore,":[104],"challenging":[106],"point":[107],"making":[109],"\"aware":[112],"time\"":[114],"when":[115],"applying":[116],"action.":[119],"We":[120],"solve":[121],"problem":[123],"by":[124,141,147],"two":[125],"approaches:":[126],"deep":[127],"Q-networks":[128],"lookup":[130],"table.":[131],"The":[132],"delay":[134],"predictor":[135],"decision-level":[138],"fitted":[140],"controller.":[144],"Through":[145],"simulations":[146],"example":[149],"effectiveness":[155],"efficiency":[157],"approach":[160],"are":[161],"validated.":[162],"helps":[165],"our":[166],"team":[167],"winning":[168],"first":[170],"prize":[171],"IARC":[173],"2017,":[174],"keeps":[176],"best":[178],"record":[179],"since":[183],"it":[184],"was":[185],"released":[186],"2013.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
