{"id":"https://openalex.org/W3129584569","doi":"https://doi.org/10.1109/tsmc.2021.3050960","title":"Asynchronous Multithreading Reinforcement-Learning-Based Path Planning and Tracking for Unmanned Underwater Vehicle","display_name":"Asynchronous Multithreading Reinforcement-Learning-Based Path Planning and Tracking for Unmanned Underwater Vehicle","publication_year":2021,"publication_date":"2021-02-12","ids":{"openalex":"https://openalex.org/W3129584569","doi":"https://doi.org/10.1109/tsmc.2021.3050960","mag":"3129584569"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2021.3050960","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2021.3050960","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: 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/A5061655810","display_name":"Zichen He","orcid":"https://orcid.org/0000-0001-8315-9882"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zichen He","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088413924","display_name":"Lu Dong","orcid":"https://orcid.org/0000-0001-6737-1381"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lu Dong","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019248683","display_name":"Changyin Sun","orcid":"https://orcid.org/0000-0001-9269-334X"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changyin Sun","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China","School of Automation, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-9269-334X","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100388745","display_name":"Jiawei Wang","orcid":"https://orcid.org/0000-0001-5037-4658"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiawei Wang","raw_affiliation_strings":["College of Electronics and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.2762,"has_fulltext":false,"cited_by_count":86,"citation_normalized_percentile":{"value":0.96695944,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"52","issue":"5","first_page":"2757","last_page":"2769"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9983999729156494,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9898999929428101,"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/computer-science","display_name":"Computer science","score":0.7321876883506775},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7171539068222046},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7130305767059326},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.644223153591156},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5716108083724976},{"id":"https://openalex.org/keywords/multithreading","display_name":"Multithreading","score":0.5393955111503601},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.47943300008773804},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4376031160354614},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4357580244541168},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.43246549367904663},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4197462201118469},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4129111170768738},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.40857839584350586},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33403635025024414},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22034183144569397},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2108353078365326},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1916777789592743},{"id":"https://openalex.org/keywords/thread","display_name":"Thread (computing)","score":0.09869137406349182},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.07794034481048584}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7321876883506775},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7171539068222046},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7130305767059326},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.644223153591156},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5716108083724976},{"id":"https://openalex.org/C201410400","wikidata":"https://www.wikidata.org/wiki/Q1064412","display_name":"Multithreading","level":3,"score":0.5393955111503601},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.47943300008773804},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4376031160354614},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4357580244541168},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.43246549367904663},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4197462201118469},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4129111170768738},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.40857839584350586},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33403635025024414},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22034183144569397},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2108353078365326},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1916777789592743},{"id":"https://openalex.org/C138101251","wikidata":"https://www.wikidata.org/wiki/Q213092","display_name":"Thread (computing)","level":2,"score":0.09869137406349182},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.07794034481048584},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2021.3050960","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2021.3050960","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.7900000214576721}],"awards":[{"id":"https://openalex.org/G1586809628","display_name":null,"funder_award_id":"2018AAA0101400","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G1654982242","display_name":null,"funder_award_id":"U1713209","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G357855401","display_name":null,"funder_award_id":"61803085","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5033343354","display_name":null,"funder_award_id":"61921004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7121147207","display_name":null,"funder_award_id":"BK20202006","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W130364663","https://openalex.org/W198732646","https://openalex.org/W1191599655","https://openalex.org/W1777239053","https://openalex.org/W1944029014","https://openalex.org/W1964730156","https://openalex.org/W1971086298","https://openalex.org/W1988484739","https://openalex.org/W1995965025","https://openalex.org/W1997880753","https://openalex.org/W2055169583","https://openalex.org/W2133833812","https://openalex.org/W2137994043","https://openalex.org/W2145339207","https://openalex.org/W2151908411","https://openalex.org/W2155027007","https://openalex.org/W2177274602","https://openalex.org/W2182059131","https://openalex.org/W2241084506","https://openalex.org/W2242021551","https://openalex.org/W2291124468","https://openalex.org/W2319074362","https://openalex.org/W2332672415","https://openalex.org/W2345111710","https://openalex.org/W2388591084","https://openalex.org/W2398078376","https://openalex.org/W2418040783","https://openalex.org/W2492811885","https://openalex.org/W2560445289","https://openalex.org/W2568019971","https://openalex.org/W2619440467","https://openalex.org/W2736601468","https://openalex.org/W2766330333","https://openalex.org/W2772589676","https://openalex.org/W2794046143","https://openalex.org/W2890882597","https://openalex.org/W2906829782","https://openalex.org/W2907217398","https://openalex.org/W2935102017","https://openalex.org/W2936083141","https://openalex.org/W2938321354","https://openalex.org/W2951450828","https://openalex.org/W2955357139","https://openalex.org/W2963645756","https://openalex.org/W2963729305","https://openalex.org/W2963864421","https://openalex.org/W2964043796","https://openalex.org/W2964319688","https://openalex.org/W2969569485","https://openalex.org/W2970020633","https://openalex.org/W2972565985","https://openalex.org/W2979915665","https://openalex.org/W3016661625","https://openalex.org/W4302570325","https://openalex.org/W6608150121","https://openalex.org/W6638088447","https://openalex.org/W6682188171","https://openalex.org/W6683204974","https://openalex.org/W6684205842","https://openalex.org/W6692846177","https://openalex.org/W6754725641"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W4380590094"],"abstract_inverted_index":{"The":[0,77,123],"underwater":[1],"unmanned":[2],"vehicle":[3],"(UUV)":[4],"is":[5,70,102,121,128],"widely":[6],"used":[7,129],"in":[8,12,104,110],"various":[9],"marine":[10],"operations,":[11],"which":[13],"path":[14,41],"planning":[15,42],"and":[16,44,49,88,99,113],"trajectory":[17,45],"tracking":[18,46],"are":[19,140],"the":[20,35,63,65,81,93,97,100,108,115,118,132,153,156],"critical":[21],"technologies":[22],"to":[23,54,72,83,130,144,151],"achieve":[24],"autonomous":[25,85],"motion":[26],"planning.":[27],"Unlike":[28],"previous":[29],"research":[30],"methods,":[31],"this":[32],"article":[33],"proposes":[34],"asynchronous":[36],"multithreading":[37],"proximal":[38],"policy":[39],"optimization-based":[40],"(AMPPO-PP)":[43],"(AMPPO-TT)":[47],"algorithms":[48,79],"applies":[50],"these":[51],"two":[52],"methods":[53],"different":[55],"task":[56],"scenarios":[57],"of":[58,62,96,155],"UUVs.":[59],"Taking":[60],"advantage":[61],"AMPPO,":[64],"expensive":[66],"online":[67],"computational":[68],"procedure":[69],"converted":[71],"an":[73],"offline":[74],"training":[75],"process.":[76],"proposed":[78,157],"enable":[80],"UUV":[82,133],"learn":[84],"planning,":[86],"tracking,":[87],"emergency":[89],"obstacle":[90],"avoiding.":[91],"Besides,":[92],"algorithm":[94],"architecture":[95],"AMPPO-PP":[98],"AMPPO-TT":[101],"described":[103],"detail.":[105],"By":[106],"refining":[107],"reward":[109,119,126],"each":[111],"timestep":[112],"utilizing":[114],"reward-shaping":[116],"trick,":[117],"sparsity":[120],"avoided.":[122],"goal-distance":[124],"heuristic":[125],"function":[127],"make":[131],"explore":[134],"more":[135],"directionally.":[136],"Various":[137],"simulation":[138],"environments":[139],"developed":[141],"from":[142],"simple":[143],"complex,":[145],"along":[146],"with":[147],"multiple":[148],"comparative":[149],"experiments":[150],"verify":[152],"effectiveness":[154],"algorithms.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":11},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":27},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}