{"id":"https://openalex.org/W4388838093","doi":"https://doi.org/10.1109/tnnls.2023.3331370","title":"Collaborative Target Search With a Visual Drone Swarm: An Adaptive Curriculum Embedded Multistage Reinforcement Learning Approach","display_name":"Collaborative Target Search With a Visual Drone Swarm: An Adaptive Curriculum Embedded Multistage Reinforcement Learning Approach","publication_year":2023,"publication_date":"2023-11-20","ids":{"openalex":"https://openalex.org/W4388838093","doi":"https://doi.org/10.1109/tnnls.2023.3331370","pmid":"https://pubmed.ncbi.nlm.nih.gov/37983144"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2023.3331370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2023.3331370","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/A5010223627","display_name":"Jiaping Xiao","orcid":"https://orcid.org/0000-0003-2888-5210"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Jiaping Xiao","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Jurong West, Singapore","School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045678893","display_name":"Phumrapee Pisutsin","orcid":"https://orcid.org/0000-0003-1614-4087"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Phumrapee Pisutsin","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Jurong West, Singapore","School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026643234","display_name":"Mir Feroskhan","orcid":"https://orcid.org/0000-0002-2889-7222"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Mir Feroskhan","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Nanyang Technological University, Jurong West, Singapore","School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5010223627"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":27.1968,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.99531921,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"36","issue":"1","first_page":"313","last_page":"327"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9934999942779541,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9934999942779541,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9919000267982483,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9833999872207642,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.7833476066589355},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7795199155807495},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7334674596786499},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6754679679870605},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6458267569541931},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5960536599159241},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5779815912246704},{"id":"https://openalex.org/keywords/visual-search","display_name":"Visual search","score":0.48938578367233276},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.46693864464759827},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.43103355169296265},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.41260552406311035},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33250975608825684},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17621219158172607},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.16105923056602478},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.07842963933944702},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07842925190925598}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.7833476066589355},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7795199155807495},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7334674596786499},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6754679679870605},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6458267569541931},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5960536599159241},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5779815912246704},{"id":"https://openalex.org/C158495155","wikidata":"https://www.wikidata.org/wiki/Q2369151","display_name":"Visual search","level":2,"score":0.48938578367233276},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.46693864464759827},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.43103355169296265},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.41260552406311035},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33250975608825684},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17621219158172607},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.16105923056602478},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.07842963933944702},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07842925190925598},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tnnls.2023.3331370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2023.3331370","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:37983144","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37983144","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":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.8199999928474426}],"awards":[{"id":"https://openalex.org/G7002477465","display_name":null,"funder_award_id":"RIE2025","funder_id":"https://openalex.org/F4320320696","funder_display_name":"Agency for Science, Technology and Research"}],"funders":[{"id":"https://openalex.org/F4320320696","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W1599462503","https://openalex.org/W1970524896","https://openalex.org/W2076422387","https://openalex.org/W2125188427","https://openalex.org/W2145339207","https://openalex.org/W2296073425","https://openalex.org/W2479429355","https://openalex.org/W2590822257","https://openalex.org/W2605102758","https://openalex.org/W2617547828","https://openalex.org/W2738842532","https://openalex.org/W2754517384","https://openalex.org/W2892258706","https://openalex.org/W2940459376","https://openalex.org/W2940740645","https://openalex.org/W2956022080","https://openalex.org/W2962824755","https://openalex.org/W2962887844","https://openalex.org/W2963521811","https://openalex.org/W2964536243","https://openalex.org/W2969167400","https://openalex.org/W2994707981","https://openalex.org/W2996037775","https://openalex.org/W2998573272","https://openalex.org/W3089856079","https://openalex.org/W3092786062","https://openalex.org/W3095315965","https://openalex.org/W3096193467","https://openalex.org/W3096656822","https://openalex.org/W3118665117","https://openalex.org/W3155402581","https://openalex.org/W3156623547","https://openalex.org/W3158757609","https://openalex.org/W3184384085","https://openalex.org/W3198125712","https://openalex.org/W3202883604","https://openalex.org/W4206742276","https://openalex.org/W4214717370","https://openalex.org/W4226051630","https://openalex.org/W4226476585","https://openalex.org/W4229014698","https://openalex.org/W4285133330","https://openalex.org/W4288049695","https://openalex.org/W4319460065","https://openalex.org/W6678214046","https://openalex.org/W6683195989","https://openalex.org/W6683204974","https://openalex.org/W6734678876","https://openalex.org/W6741002519","https://openalex.org/W6747473740","https://openalex.org/W6748638692","https://openalex.org/W6753526802","https://openalex.org/W6754689381","https://openalex.org/W6840380725"],"related_works":["https://openalex.org/W3045722011","https://openalex.org/W2913749762","https://openalex.org/W2321940404","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2624388109"],"abstract_inverted_index":{"Equipping":[0],"drones":[1,21],"with":[2,25,59,94,125],"target":[3,48,53,115],"search":[4,49],"capabilities":[5],"is":[6,55,134,201],"highly":[7],"desirable":[8],"for":[9,163],"applications":[10],"in":[11,35,38,153],"disaster":[12],"rescue":[13],"and":[14,28,98,117,120,159,180,188,195],"smart":[15],"warehouse":[16],"delivery":[17],"systems.":[18],"Multiple":[19],"intelligent":[20],"that":[22],"can":[23,142],"collaborate":[24],"each":[26],"other":[27],"maneuver":[29],"among":[30],"obstacles":[31],"show":[32],"more":[33],"effectiveness":[34,194],"accomplishing":[36],"tasks":[37],"a":[39,60,69,175],"shorter":[40],"amount":[41],"of":[42,197],"time.":[43],"However,":[44],"carrying":[45],"out":[46],"collaborative":[47,99],"(CTS)":[50],"without":[51,184],"prior":[52],"information":[54],"extremely":[56],"challenging,":[57],"especially":[58],"visual":[61,96,165,177],"drone":[62,166,178],"swarm.":[63,167],"In":[64],"this":[65],"work,":[66],"we":[67,103,169],"propose":[68],"novel":[70],"data-efficient":[71,157],"deep":[72],"reinforcement":[73],"learning":[74,82],"(DRL)":[75],"approach":[76],"called":[77],"adaptive":[78,130],"curriculum":[79,132],"embedded":[80,131],"multistage":[81,126],"(ACEMSL)":[83],"to":[84],"address":[85],"these":[86],"challenges,":[87],"mainly":[88],"3-D":[89],"sparse":[90],"reward":[91,161],"space":[92],"exploration":[93],"limited":[95],"perception":[97],"behavior":[100],"requirements.":[101],"Specifically,":[102],"decompose":[104],"the":[105,123,137,148,164,171,193],"CTS":[106,182],"task":[107,138],"into":[108],"several":[109],"subtasks":[110],"including":[111],"individual":[112],"obstacle":[113],"avoidance,":[114],"search,":[116],"inter-agent":[118],"collaboration,":[119],"progressively":[121],"train":[122],"agents":[124],"learning.":[127],"Meanwhile,":[128],"an":[129],"(AEC)":[133],"designed,":[135],"where":[136],"difficulty":[139],"level":[140],"(TDL)":[141],"be":[143],"adaptively":[144],"adjusted":[145],"based":[146],"on":[147],"success":[149],"rate":[150],"(SR)":[151],"achieved":[152],"training.":[154],"ACEMSL":[155],"allows":[156],"training":[158],"individual-team":[160],"allocation":[162],"Furthermore,":[168],"deploy":[170],"trained":[172],"model":[173],"over":[174],"real":[176],"swarm":[179],"perform":[181],"operations":[183],"fine-tuning.":[185],"Extensive":[186],"simulations":[187],"real-world":[189],"flight":[190],"tests":[191],"validate":[192],"generalizability":[196],"ACEMSL.":[198],"The":[199],"project":[200],"available":[202],"at":[203],"https://github.com/NTU-UAVG/CTS-visual-drone-swarm.git.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":25},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}