{"id":"https://openalex.org/W4403534310","doi":"https://doi.org/10.1109/tnnls.2024.3474289","title":"Adaptive Optimal Surrounding Control of Multiple Unmanned Surface Vessels via Actor-Critic Reinforcement Learning","display_name":"Adaptive Optimal Surrounding Control of Multiple Unmanned Surface Vessels via Actor-Critic Reinforcement Learning","publication_year":2024,"publication_date":"2024-10-18","ids":{"openalex":"https://openalex.org/W4403534310","doi":"https://doi.org/10.1109/tnnls.2024.3474289","pmid":"https://pubmed.ncbi.nlm.nih.gov/39423077"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2024.3474289","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2024.3474289","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/A5087579932","display_name":"Renzhi Lu","orcid":"https://orcid.org/0000-0001-6845-1711"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Renzhi Lu","raw_affiliation_strings":["Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","School of Artificial Intelligence and Automation, Key Laboratory of Image Processing and Intelligent Control, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-6845-1711","affiliations":[{"raw_affiliation_string":"Key Laboratory of Image Processing and Intelligent Control, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]},{"raw_affiliation_string":"School of Artificial Intelligence and Automation, Key Laboratory of Image Processing and Intelligent Control, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100695220","display_name":"Xiaotao Wang","orcid":"https://orcid.org/0000-0002-4131-7763"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaotao Wang","raw_affiliation_strings":["School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048160959","display_name":"Yiyu Ding","orcid":"https://orcid.org/0000-0001-7944-5149"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiyu Ding","raw_affiliation_strings":["School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hai-Tao Zhang","orcid":"https://orcid.org/0000-0002-8819-8829"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hai-Tao Zhang","raw_affiliation_strings":["School of Artificial Intelligence and Automation, Institute of Artificial Intelligence, MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","Institute of Artificial Intelligence, MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems, State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-8819-8829","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Automation, Institute of Artificial Intelligence, MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems, State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I4210100255"]},{"raw_affiliation_string":"Institute of Artificial Intelligence, MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems, State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058525596","display_name":"Feng Zhao","orcid":"https://orcid.org/0009-0009-0837-3497"},"institutions":[{"id":"https://openalex.org/I4210129465","display_name":"Wuhan Ship Development & Design Institute","ror":"https://ror.org/02mcdae06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210129465"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Zhao","raw_affiliation_strings":["China Ship Scientific Research Center, Wuxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Ship Scientific Research Center, Wuxi, China","institution_ids":["https://openalex.org/I4210129465"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070487709","display_name":"Lijun Zhu","orcid":"https://orcid.org/0000-0002-2655-1818"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijun Zhu","raw_affiliation_strings":["School of Artificial Intelligence and Automation and the MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-2655-1818","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Automation and the MOE Engineering Research Center of Autonomous Intelligent Unmanned Systems, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":null,"display_name":"Yong He","orcid":"https://orcid.org/0000-0001-5691-9663"},"institutions":[{"id":"https://openalex.org/I3124059619","display_name":"China University of Geosciences","ror":"https://ror.org/04gcegc37","country_code":"CN","type":"education","lineage":["https://openalex.org/I3124059619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong He","raw_affiliation_strings":["School of Automation, Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, and the Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, China University of Geosciences, Wuhan, China","Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, and the Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, School of Automation, China University of Geosciences, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0001-5691-9663","affiliations":[{"raw_affiliation_string":"School of Automation, Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, and the Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]},{"raw_affiliation_string":"Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, and the Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, School of Automation, China University of Geosciences, Wuhan, China","institution_ids":["https://openalex.org/I3124059619"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.195,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.95302277,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"36","issue":"7","first_page":"12173","last_page":"12186"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9045000076293945,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9045000076293945,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/unmanned-surface-vehicle","display_name":"Unmanned surface vehicle","score":0.8106842041015625},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7916523814201355},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.5082933306694031},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4418604373931885},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4181016683578491},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4153619408607483},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29746538400650024},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.23017537593841553},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2197612226009369},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.12075161933898926},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07446873188018799},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.07091602683067322}],"concepts":[{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.8106842041015625},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7916523814201355},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.5082933306694031},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4418604373931885},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4181016683578491},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4153619408607483},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29746538400650024},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.23017537593841553},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2197612226009369},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.12075161933898926},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07446873188018799},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.07091602683067322},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tnnls.2024.3474289","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2024.3474289","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:39423077","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39423077","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":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.4699999988079071}],"awards":[{"id":"https://openalex.org/G1867760283","display_name":null,"funder_award_id":"62373158","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G26576258","display_name":null,"funder_award_id":"B17040","funder_id":"https://openalex.org/F4320327912","funder_display_name":"Higher Education Discipline Innovation Project"},{"id":"https://openalex.org/G4119304363","display_name":null,"funder_award_id":"62225306","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G579733281","display_name":null,"funder_award_id":"2022ZD0119601","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6380561929","display_name":null,"funder_award_id":"Scip202211","funder_id":"https://openalex.org/F4320335669","funder_display_name":"Key Laboratory of System Control and Information Processing"},{"id":"https://openalex.org/G7056022014","display_name":null,"funder_award_id":"2022CFB041","funder_id":"https://openalex.org/F4320322186","funder_display_name":"Natural Science Foundation of Hubei Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322186","display_name":"Natural Science Foundation of Hubei Province","ror":null},{"id":"https://openalex.org/F4320327912","display_name":"Higher Education Discipline Innovation Project","ror":null},{"id":"https://openalex.org/F4320335669","display_name":"Key Laboratory of System Control and Information Processing","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1983523797","https://openalex.org/W2073665503","https://openalex.org/W2092215165","https://openalex.org/W2122836694","https://openalex.org/W2372306012","https://openalex.org/W2404985975","https://openalex.org/W2765454702","https://openalex.org/W2811002385","https://openalex.org/W2822752092","https://openalex.org/W2908261578","https://openalex.org/W2913048170","https://openalex.org/W2915378797","https://openalex.org/W2940885290","https://openalex.org/W2966893381","https://openalex.org/W2971969325","https://openalex.org/W3011814489","https://openalex.org/W3016388463","https://openalex.org/W3021399679","https://openalex.org/W3023077548","https://openalex.org/W3030733565","https://openalex.org/W3034625574","https://openalex.org/W3040994746","https://openalex.org/W3084331446","https://openalex.org/W3119188238","https://openalex.org/W3133357144","https://openalex.org/W3134710221","https://openalex.org/W3138273333","https://openalex.org/W3159925672","https://openalex.org/W3174955147","https://openalex.org/W3194824107","https://openalex.org/W3202758697","https://openalex.org/W3209777177","https://openalex.org/W3210830506","https://openalex.org/W3217449891","https://openalex.org/W4210936257","https://openalex.org/W4285291487","https://openalex.org/W4306831986","https://openalex.org/W4310467047","https://openalex.org/W4312829963","https://openalex.org/W4312940074","https://openalex.org/W4376481131","https://openalex.org/W4388579659","https://openalex.org/W4389319260","https://openalex.org/W4391020334","https://openalex.org/W4391547672","https://openalex.org/W4392607791","https://openalex.org/W4400678942"],"related_works":["https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255","https://openalex.org/W2106552856","https://openalex.org/W2145821588","https://openalex.org/W2086122291","https://openalex.org/W1987513656"],"abstract_inverted_index":{"In":[0,115],"this":[1],"article,":[2],"an":[3,89],"optimal":[4,32,65,107],"surrounding":[5,33,100,108,141,146],"control":[6,34,57,101,109],"algorithm":[7],"is":[8,22,36,45,59,73,113,123],"proposed":[9,61,121,138],"for":[10,103],"multiple":[11],"unmanned":[12],"surface":[13],"vessels":[14],"(USVs),":[15],"in":[16,159],"which":[17,44],"actor-critic":[18,55,139],"reinforcement":[19],"learning":[20],"(RL)":[21],"utilized":[23,74],"to":[24,47,50,62,75],"optimize":[25],"the":[26,30,40,64,69,77,111,117,120,137,145,150,167],"merging":[27],"process.":[28],"Specifically,":[29],"multiple-USV":[31],"problem":[35],"first":[37],"transformed":[38],"into":[39],"Hamilton-Jacobi-Bellman":[41],"(HJB)":[42],"equation,":[43],"difficult":[46],"solve":[48],"due":[49],"its":[51],"nonlinearity.":[52],"An":[53],"adaptive":[54],"RL":[56],"paradigm":[58],"then":[60],"obtain":[63],"surround":[66],"strategy,":[67],"wherein":[68],"Bellman":[70],"residual":[71],"error":[72],"construct":[76],"network":[78],"update":[79],"laws.":[80],"Particularly,":[81],"a":[82,94],"virtual":[83],"controller":[84,91,122,142],"representing":[85],"intermediate":[86],"transitions":[87],"and":[88,153,156,162],"actual":[90],"operating":[92],"on":[93],"dynamics":[95],"model":[96],"are":[97],"employed":[98],"as":[99],"solutions":[102],"second-order":[104],"USVs;":[105],"thus,":[106],"of":[110,119,127],"USVs":[112],"guaranteed.":[114],"addition,":[116],"stability":[118],"analyzed":[124],"by":[125],"means":[126],"Lyapunov":[128],"theory":[129],"functions.":[130],"Finally,":[131],"numerical":[132],"simulation":[133],"results":[134],"demonstrate":[135],"that":[136],"RL-based":[140],"can":[143],"achieve":[144],"objective":[147],"while":[148],"optimizing":[149],"evolution":[151],"process":[152],"obtains":[154],"9.76%":[155],"20.85%":[157],"reduction":[158],"trajectory":[160],"length":[161],"energy":[163],"consumption":[164],"compared":[165],"with":[166],"existing":[168],"controller.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}