{"id":"https://openalex.org/W4206186127","doi":"https://doi.org/10.1109/tsmc.2021.3129534","title":"Integrated Localization and Tracking for AUV With Model Uncertainties via Scalable Sampling-Based Reinforcement Learning Approach","display_name":"Integrated Localization and Tracking for AUV With Model Uncertainties via Scalable Sampling-Based Reinforcement Learning Approach","publication_year":2021,"publication_date":"2021-12-02","ids":{"openalex":"https://openalex.org/W4206186127","doi":"https://doi.org/10.1109/tsmc.2021.3129534"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2021.3129534","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tsmc.2021.3129534","pdf_url":"https://ieeexplore.ieee.org/ielx7/6221021/9919318/09633120.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/6221021/9919318/09633120.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101511054","display_name":"Jing Yan","orcid":"https://orcid.org/0000-0001-7768-5720"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Yan","raw_affiliation_strings":["Department of Automation, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0001-7768-5720","affiliations":[{"raw_affiliation_string":"Department of Automation, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101852973","display_name":"Xin Li","orcid":"https://orcid.org/0000-0001-8837-9294"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Li","raw_affiliation_strings":["Department of Automation, Yanshan University, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107482685","display_name":"Xian Yang","orcid":"https://orcid.org/0000-0002-9595-7280"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xian Yang","raw_affiliation_strings":["Institute of Information Science and Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0002-9595-7280","affiliations":[{"raw_affiliation_string":"Institute of Information Science and Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064776495","display_name":"Xiaoyuan Luo","orcid":"https://orcid.org/0000-0003-0404-9533"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyuan Luo","raw_affiliation_strings":["Department of Automation, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0003-0404-9533","affiliations":[{"raw_affiliation_string":"Department of Automation, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100380201","display_name":"Changchun Hua","orcid":"https://orcid.org/0000-0001-6311-2112"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changchun Hua","raw_affiliation_strings":["Department of Automation, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0001-6311-2112","affiliations":[{"raw_affiliation_string":"Department of Automation, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100690710","display_name":"Xinping Guan","orcid":"https://orcid.org/0000-0003-1858-8538"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinping Guan","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-1858-8538","affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.2883,"has_fulltext":true,"cited_by_count":59,"citation_normalized_percentile":{"value":0.98010276,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"52","issue":"11","first_page":"6952","last_page":"6967"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"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":0.9998999834060669,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9977999925613403,"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"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.6801614165306091},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.6230803728103638},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6064599752426147},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5939145088195801},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5022623538970947},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.46932336688041687},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4658523499965668},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42436331510543823},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.398812472820282},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3250100910663605},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2454250454902649},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20762205123901367}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6801614165306091},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.6230803728103638},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6064599752426147},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5939145088195801},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5022623538970947},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.46932336688041687},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4658523499965668},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42436331510543823},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.398812472820282},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3250100910663605},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2454250454902649},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20762205123901367},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2021.3129534","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tsmc.2021.3129534","pdf_url":"https://ieeexplore.ieee.org/ielx7/6221021/9919318/09633120.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":{"id":"doi:10.1109/tsmc.2021.3129534","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tsmc.2021.3129534","pdf_url":"https://ieeexplore.ieee.org/ielx7/6221021/9919318/09633120.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8999999761581421}],"awards":[{"id":"https://openalex.org/G1772506795","display_name":null,"funder_award_id":"61873345","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2749221344","display_name":null,"funder_award_id":"62033011","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2909016857","display_name":null,"funder_award_id":"61973263","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"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4206186127.pdf","grobid_xml":"https://content.openalex.org/works/W4206186127.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1882865918","https://openalex.org/W2025007236","https://openalex.org/W2040135213","https://openalex.org/W2044221688","https://openalex.org/W2046220682","https://openalex.org/W2069744451","https://openalex.org/W2099052762","https://openalex.org/W2099983996","https://openalex.org/W2110682481","https://openalex.org/W2146480545","https://openalex.org/W2163551671","https://openalex.org/W2164313740","https://openalex.org/W2245365159","https://openalex.org/W2463523319","https://openalex.org/W2568019971","https://openalex.org/W2581111877","https://openalex.org/W2595092153","https://openalex.org/W2605035932","https://openalex.org/W2607445839","https://openalex.org/W2610754607","https://openalex.org/W2611874544","https://openalex.org/W2618993261","https://openalex.org/W2754000639","https://openalex.org/W2759084312","https://openalex.org/W2765614438","https://openalex.org/W2768346232","https://openalex.org/W2772589676","https://openalex.org/W2774922731","https://openalex.org/W2804792778","https://openalex.org/W2807402986","https://openalex.org/W2888070266","https://openalex.org/W2899654523","https://openalex.org/W2911022666","https://openalex.org/W2912259603","https://openalex.org/W2927314564","https://openalex.org/W2944972447","https://openalex.org/W2963729305","https://openalex.org/W3037849017","https://openalex.org/W3093019522","https://openalex.org/W3118499545","https://openalex.org/W3126763268","https://openalex.org/W4248049034","https://openalex.org/W6683881770","https://openalex.org/W6784263007","https://openalex.org/W6790062591"],"related_works":["https://openalex.org/W2116677773","https://openalex.org/W2155261584","https://openalex.org/W2584231425","https://openalex.org/W2150611273","https://openalex.org/W4306904969","https://openalex.org/W4207086172","https://openalex.org/W2042919702","https://openalex.org/W4225981436","https://openalex.org/W2156185805","https://openalex.org/W2770353918"],"abstract_inverted_index":{"This":[0],"article":[1],"studies":[2],"the":[3,10,16,43,48,61,66,88,107,113,117,125,134,147,153,158,163,172,182,189,197,202],"joint":[4],"localization":[5,39,136,167,184],"and":[6,24,156,161,168,178,194],"tracking":[7,99,169,204],"issue":[8],"for":[9,116],"autonomous":[11],"underwater":[12],"vehicle":[13],"(AUV),":[14],"with":[15,60,78,211],"constraints":[17],"of":[18,45,51,93,127,166,191,199],"asynchronous":[19,38,192],"time":[20,49],"clock":[21,50],"in":[22,27,142,201],"cyberchannels":[23],"model":[25,91,154],"uncertainty":[26,155],"physical":[28],"channels.":[29],"More":[30],"specifically,":[31],"we":[32],"develop":[33],"a":[34,69],"reinforcement":[35],"learning":[36],"(RL)-based":[37],"algorithm":[40,137,185],"to":[41,56,86,103,106],"localize":[42],"position":[44],"AUV,":[46],"where":[47],"AUV":[52,105],"is":[53,84,101],"not":[54],"required":[55],"be":[57],"well":[58],"synchronized":[59],"real":[62],"time.":[63],"Based":[64],"on":[65],"estimated":[67],"position,":[68],"scalable":[70],"sampling":[71,149],"strategy":[72,150],"called":[73],"multivariate":[74],"probabilistic":[75],"collocation":[76],"method":[77],"orthogonal":[79],"fractional":[80],"factorial":[81],"design":[82,165],"(M-PCM-OFFD)":[83],"employed":[85],"evaluate":[87],"time-varying":[89],"uncertain":[90],"parameters":[92],"AUV.":[94],"After":[95],"that,":[96,112],"an":[97],"RL-based":[98,135,203],"controller":[100,205],"designed":[102],"drive":[104],"desired":[108],"target":[109],"point.":[110],"Besides":[111],"performance":[114],"analyses":[115],"integration":[118,164,198],"solution":[119,129],"are":[120,130],"also":[121],"presented.":[122],"Of":[123],"note,":[124],"advantages":[126],"our":[128],"highlighted":[131],"as:":[132],"1)":[133],"can":[138,151,170,186,206],"avoid":[139],"local":[140],"optimal":[141],"traditional":[143],"least-square":[144],"methods;":[145],"2)":[146],"M-PCM-OFFD-based":[148],"address":[152],"reduce":[157,171],"computational":[159,213],"cost;":[160],"3)":[162],"communication":[173],"energy":[174],"consumption.":[175],"Finally,":[176],"simulation":[177],"experiment":[179],"demonstrate":[180],"that":[181],"proposed":[183],"effectively":[187],"eliminate":[188],"impact":[190],"clock,":[193],"more":[195],"importantly,":[196],"M-PCM-OFFD":[200],"find":[207],"accurate":[208],"optimization":[209],"solutions":[210],"limited":[212],"costs.":[214]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}