{"id":"https://openalex.org/W2797028887","doi":"https://doi.org/10.1145/3301273","title":"Reinforcement Learning for UAV Attitude Control","display_name":"Reinforcement Learning for UAV Attitude Control","publication_year":2019,"publication_date":"2019-02-13","ids":{"openalex":"https://openalex.org/W2797028887","doi":"https://doi.org/10.1145/3301273","mag":"2797028887"},"language":"en","primary_location":{"id":"doi:10.1145/3301273","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3301273","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3301273","source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3301273","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081421204","display_name":"William R. Koch","orcid":"https://orcid.org/0000-0002-3982-482X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"William Koch","raw_affiliation_strings":["Boston University, Boston, MA, USA","Boston University; Boston MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3982-482X","affiliations":[{"raw_affiliation_string":"Boston University, Boston, MA, USA","institution_ids":[]},{"raw_affiliation_string":"Boston University; Boston MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035353750","display_name":"Renato Mancuso","orcid":"https://orcid.org/0000-0003-3558-5216"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Renato Mancuso","raw_affiliation_strings":["Boston University, Boston, MA, USA","Boston University; Boston MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston University, Boston, MA, USA","institution_ids":[]},{"raw_affiliation_string":"Boston University; Boston MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067179420","display_name":"Richard West","orcid":"https://orcid.org/0000-0001-5100-0666"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Richard West","raw_affiliation_strings":["Boston University, Boston, MA, USA","Boston University; Boston MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston University, Boston, MA, USA","institution_ids":[]},{"raw_affiliation_string":"Boston University; Boston MA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101582232","display_name":"Azer Bestavros","orcid":"https://orcid.org/0000-0003-0798-8835"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Azer Bestavros","raw_affiliation_strings":["Boston University, Boston, MA, USA","Boston University; Boston MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston University, Boston, MA, USA","institution_ids":[]},{"raw_affiliation_string":"Boston University; Boston MA, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.7128,"has_fulltext":true,"cited_by_count":19,"citation_normalized_percentile":{"value":0.91764343,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"3","issue":"2","first_page":"1","last_page":"21"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973000288009644,"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/T12158","display_name":"Guidance and Control Systems","score":0.9916999936103821,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/autopilot","display_name":"Autopilot","score":0.902886152267456},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8661608099937439},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.8348067998886108},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.631841242313385},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6114633083343506},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5663169622421265},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5292006731033325},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.5129567980766296},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5008530616760254},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.495961993932724},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4900439977645874},{"id":"https://openalex.org/keywords/inner-loop","display_name":"Inner loop","score":0.46199870109558105},{"id":"https://openalex.org/keywords/trust-region","display_name":"Trust region","score":0.42151764035224915},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.41463959217071533},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32342851161956787},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2651597857475281},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19589510560035706},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.13280105590820312},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.08280563354492188}],"concepts":[{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.902886152267456},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8661608099937439},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.8348067998886108},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.631841242313385},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6114633083343506},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5663169622421265},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5292006731033325},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.5129567980766296},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5008530616760254},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.495961993932724},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4900439977645874},{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.46199870109558105},{"id":"https://openalex.org/C89109886","wikidata":"https://www.wikidata.org/wiki/Q1535924","display_name":"Trust region","level":3,"score":0.42151764035224915},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.41463959217071533},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32342851161956787},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2651597857475281},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19589510560035706},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.13280105590820312},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.08280563354492188},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C178635117","wikidata":"https://www.wikidata.org/wiki/Q747499","display_name":"RADIUS","level":2,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1145/3301273","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3301273","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3301273","source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1804.04154","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1804.04154","pdf_url":"https://arxiv.org/pdf/1804.04154","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2797028887","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1804.04154","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:open.bu.edu:2144/40560","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1804.04154v1","pdf_url":null,"source":{"id":"https://openalex.org/S4306402183","display_name":"OpenBU/Boston University Institutional Repository (Boston University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I111088046","host_organization_name":"Boston University","host_organization_lineage":["https://openalex.org/I111088046"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:open.bu.edu:2144/30036","is_oa":false,"landing_page_url":"https://hdl.handle.net/2144/30036","pdf_url":null,"source":{"id":"https://openalex.org/S4306402183","display_name":"OpenBU/Boston University Institutional Repository (Boston University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I111088046","host_organization_name":"Boston University","host_organization_lineage":["https://openalex.org/I111088046"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"doi:10.48550/arxiv.1804.04154","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1804.04154","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.1145/3301273","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3301273","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3301273","source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1650813891","display_name":"TWC: TTP Option: Frontier: Collaborative: MACS: A Modular Approach to Cloud Security","funder_award_id":"1414119","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G1750479269","display_name":null,"funder_award_id":"1414119,1430145,1718135","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G2035579894","display_name":"SaTC: TTP: Small: Modular Platform for Web-based Secure Multi-Party Analytics","funder_award_id":"1718135","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4878378094","display_name":"PFI:BIC  A Smart-city Cloud-based Open Platform and Ecosystem (SCOPE)","funder_award_id":"1430145","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2797028887.pdf","grobid_xml":"https://content.openalex.org/works/W2797028887.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1757796397","https://openalex.org/W1994030467","https://openalex.org/W2021649429","https://openalex.org/W2027300760","https://openalex.org/W2066260126","https://openalex.org/W2078742006","https://openalex.org/W2096282629","https://openalex.org/W2097457376","https://openalex.org/W2112166125","https://openalex.org/W2121863487","https://openalex.org/W2134790752","https://openalex.org/W2137570966","https://openalex.org/W2143409204","https://openalex.org/W2158025740","https://openalex.org/W2167340365","https://openalex.org/W2173248099","https://openalex.org/W2521497315","https://openalex.org/W2560796797","https://openalex.org/W2561098800","https://openalex.org/W2586878774","https://openalex.org/W2733312032","https://openalex.org/W2736601468","https://openalex.org/W2949608212","https://openalex.org/W2980070341","https://openalex.org/W3106462682"],"related_works":["https://openalex.org/W2962890638","https://openalex.org/W3000320204","https://openalex.org/W3199699084","https://openalex.org/W2145339207","https://openalex.org/W3212204109","https://openalex.org/W3008337835","https://openalex.org/W2907877674","https://openalex.org/W2910912045","https://openalex.org/W3208438150","https://openalex.org/W3108045514","https://openalex.org/W3205490589","https://openalex.org/W2967419209","https://openalex.org/W2782417638","https://openalex.org/W2592434961","https://openalex.org/W318135299","https://openalex.org/W2288406619","https://openalex.org/W3008131776","https://openalex.org/W2557688406","https://openalex.org/W2737641187","https://openalex.org/W3012561447"],"abstract_inverted_index":{"Autopilot":[0,26],"systems":[1,27,64,130],"are":[2,32],"typically":[3],"composed":[4],"of":[5,69,73,81,117,167,183],"an":[6,14,66,154],"\u201cinner":[7],"loop\u201d":[8,16],"providing":[9,122],"stability":[10],"and":[11,58,115,143],"control,":[12],"whereas":[13],"\u201couter":[15],"is":[17,52,65,192],"responsible":[18],"for":[19,28],"mission-level":[20,106],"objectives,":[21],"such":[22,92],"as":[23,93],"way-point":[24],"navigation.":[25],"unmanned":[29],"aerial":[30],"vehicles":[31],"predominately":[33],"implemented":[34],"using":[35,102,126,190],"Proportional-Integral-Derivative":[36],"(PID)":[37],"control":[38,51,63,75,120,124,129,166],"systems,":[39],"which":[40,85],"have":[41],"demonstrated":[42],"exceptional":[43],"performance":[44,114,180],"in":[45,56,89,194],"stable":[46],"environments.":[47,60],"However,":[48],"more":[49],"sophisticated":[50],"required":[53],"to":[54,160,177,181,187],"operate":[55],"unpredictable":[57],"harsh":[59],"Intelligent":[61],"flight":[62,128,163,197],"active":[67],"area":[68],"research":[70],"addressing":[71],"limitations":[72],"PID":[74,185],"most":[76],"recently":[77],"through":[78,170],"the":[79,105,113,118],"use":[80],"reinforcement":[82],"learning":[83],"(RL),":[84],"has":[86,98],"had":[87],"success":[88],"other":[90],"applications,":[91],"robotics.":[94],"Yet":[95],"previous":[96],"work":[97],"focused":[99],"primarily":[100],"on":[101],"RL":[103,134,191],"at":[104],"controller.":[107],"In":[108],"this":[109],"work,":[110],"we":[111,151],"investigate":[112,148],"accuracy":[116],"inner":[119],"loop":[121],"attitude":[123,165],"when":[125],"intelligent":[127],"trained":[131],"with":[132],"state-of-the-art":[133],"algorithms\u2014Deep":[135],"Deterministic":[136],"Policy":[137,141,145],"Gradient,":[138],"Trust":[139],"Region":[140],"Optimization,":[142],"Proximal":[144],"Optimization.":[146],"To":[147],"these":[149],"unknowns,":[150],"first":[152],"developed":[153],"open":[155],"source":[156],"high-fidelity":[157],"simulation":[158],"environment":[159,176],"train":[161],"a":[162,168,184],"controller":[164,186],"quadrotor":[169],"RL.":[171],"We":[172],"then":[173],"used":[174],"our":[175],"compare":[178],"their":[179],"that":[182],"identify":[188],"if":[189],"appropriate":[193],"high-precision,":[195],"time-critical":[196],"control.":[198]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":7}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
