{"id":"https://openalex.org/W4416366485","doi":"https://doi.org/10.1109/tvt.2025.3634986","title":"Global Feature Enhanced Reinforcement Learning Method for Multi-AUV Cooperative Control","display_name":"Global Feature Enhanced Reinforcement Learning Method for Multi-AUV Cooperative Control","publication_year":2025,"publication_date":"2025-11-19","ids":{"openalex":"https://openalex.org/W4416366485","doi":"https://doi.org/10.1109/tvt.2025.3634986"},"language":null,"primary_location":{"id":"doi:10.1109/tvt.2025.3634986","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3634986","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5084907332","display_name":"Xi Chen","orcid":"https://orcid.org/0000-0002-8344-180X"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xi Chen","raw_affiliation_strings":["State Key Laboratory of Ocean Sensing and Ocean College, Zhejiang University, Zhoushan, China","State Key Laboratory of Ocean Sensing &amp; Ocean College, Zhejiang University, Zhoushan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing and Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]},{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing &amp; Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030847742","display_name":"Shouyin Lv","orcid":"https://orcid.org/0000-0003-1169-2527"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songjian Lv","raw_affiliation_strings":["State Key Laboratory of Ocean Sensing and Ocean College, Zhejiang University, Zhoushan, China","State Key Laboratory of Ocean Sensing &amp; Ocean College, Zhejiang University, Zhoushan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing and Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]},{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing &amp; Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xinren Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinren Jiang","raw_affiliation_strings":["State Key Laboratory of Ocean Sensing and Ocean College, Zhejiang University, Zhoushan, China","State Key Laboratory of Ocean Sensing &amp; Ocean College, Zhejiang University, Zhoushan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing and Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]},{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing &amp; Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016258794","display_name":"Huarong Zheng","orcid":"https://orcid.org/0000-0003-3155-6792"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huarong Zheng","raw_affiliation_strings":["State Key Laboratory of Ocean Sensing and Ocean College, Zhejiang University, Zhoushan, China","State Key Laboratory of Ocean Sensing &amp; Ocean College, Zhejiang University, Zhoushan, China"],"raw_orcid":"https://orcid.org/0000-0003-3155-6792","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing and Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]},{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing &amp; Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024477428","display_name":"Dongfang Ma","orcid":"https://orcid.org/0000-0002-9334-1570"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongfang Ma","raw_affiliation_strings":["State Key Laboratory of Ocean Sensing and Ocean College, Zhejiang University, Zhoushan, China","State Key Laboratory of Ocean Sensing &amp; Ocean College, Zhejiang University, Zhoushan, China"],"raw_orcid":"https://orcid.org/0000-0002-9334-1570","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing and Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]},{"raw_affiliation_string":"State Key Laboratory of Ocean Sensing &amp; Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I31847773"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32716461,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"75","issue":"6","first_page":"8886","last_page":"8901"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.26409998536109924,"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"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.26409998536109924,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.20190000534057617,"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":0.125,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.7562999725341797},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6376000046730042},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5615000128746033},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.5564000010490417},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5324000120162964},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.47360000014305115},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4675999879837036},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4268999993801117},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.41290000081062317}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7562999725341797},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6376000046730042},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5931000113487244},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5615000128746033},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.5564000010490417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5450000166893005},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5324000120162964},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.47360000014305115},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4675999879837036},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4268999993801117},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.41290000081062317},{"id":"https://openalex.org/C82327864","wikidata":"https://www.wikidata.org/wiki/Q835100","display_name":"Intelligent control","level":2,"score":0.3849000036716461},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.3776000142097473},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.34049999713897705},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3319000005722046},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.32580000162124634},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.32510000467300415},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.32030001282691956},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.30489999055862427},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.30480000376701355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30250000953674316},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.2775999903678894},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2720000147819519},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.26809999346733093},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2669000029563904},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.25529998540878296}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2025.3634986","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3634986","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1180317521","display_name":null,"funder_award_id":"52172334","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8223566187","display_name":null,"funder_award_id":"52131202","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":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"underwater":[1],"vehicles":[2],"(AUVs)":[3],"have":[4,42],"gained":[5],"widespread":[6],"attention":[7],"in":[8,31,186,202,216],"the":[9,35,47,57,73,90,97,112,126,130,149,154,162,167,187,203,208,217],"ocean":[10],"exploration":[11],"industry,":[12],"and":[13,22,53,56,101,132,152,173,189,210],"multi-agent":[14,183],"reinforcement":[15],"learning":[16],"(MARL)":[17],"method":[18,88,104,169],"with":[19,108],"centralized":[20],"training":[21,138,150],"decentralized":[23],"execution":[24],"(CTDE)":[25],"strategy":[26],"has":[27],"proved":[28],"its":[29],"utility":[30],"multi-AUV":[32,38,80,145,220],"cooperation.":[33],"However,":[34],"existing":[36,182],"CTDE-based":[37],"cooperation":[39,81],"control":[40],"techniques":[41],"several":[43],"limitations,":[44,64],"such":[45],"as":[46],"dimensionality":[48],"imbalance":[49,128],"problem":[50],"between":[51,129],"global":[52,77,106,117,131],"local":[54],"information,":[55],"slow":[58],"convergence":[59],"speed.":[60],"To":[61],"address":[62,96],"these":[63],"this":[65,103],"paper":[66,204],"proposes":[67],"a":[68,84,116,137],"cooperative":[69,184,221],"framework":[70],"that":[71,161],"enhances":[72],"critic":[74,91],"network":[75,92],"using":[76],"information":[78,107,109],"for":[79,89,144],"scenario.":[82],"First,":[83],"feature":[85,119],"space":[86],"representation":[87],"is":[93,122,141],"developed":[94],"to":[95,111,124,147,177,181,207],"environmental":[98],"non-stationarity":[99],"issue,":[100],"then":[102],"integrates":[105],"specific":[110],"individual":[113,133],"AUV.":[114],"Second,":[115],"state-policy":[118],"alignment":[120],"mechanism":[121,140],"proposed":[123,168],"mitigate":[125],"dimensional":[127],"AUV":[134],"information.":[135],"Last,":[136],"termination":[139],"designed":[142],"specifically":[143],"scenarios":[146],"improve":[148],"quality":[151],"accelerate":[153],"model":[155],"convergence.":[156],"The":[157,193,200],"experimental":[158],"results":[159],"demonstrate":[160],"average":[163],"final":[164],"reward":[165],"of":[166,212,219],"increases":[170],"by":[171],"23.4%":[172],"12.5%":[174],"across":[175],"two":[176],"seven":[178],"AUVs":[179],"compared":[180],"methods":[185],"ideal":[188],"disturbed":[190],"scenarios,":[191],"respectively.":[192],"trajectory":[194],"tracking":[195],"error":[196],"also":[197],"decreases":[198],"significantly.":[199],"findings":[201],"can":[205],"contribute":[206],"application":[209],"development":[211],"artificial":[213],"intelligence":[214],"technology":[215],"field":[218],"operation.":[222]},"counts_by_year":[],"updated_date":"2026-06-23T06:36:01.041984","created_date":"2025-11-19T00:00:00"}
