{"id":"https://openalex.org/W2990198657","doi":"https://doi.org/10.1145/3366194.3366251","title":"Real-time obstacle avoidance with deep reinforcement learning Three-Dimensional Autonomous Obstacle Avoidance for UAV","display_name":"Real-time obstacle avoidance with deep reinforcement learning Three-Dimensional Autonomous Obstacle Avoidance for UAV","publication_year":2019,"publication_date":"2019-09-20","ids":{"openalex":"https://openalex.org/W2990198657","doi":"https://doi.org/10.1145/3366194.3366251","mag":"2990198657"},"language":"en","primary_location":{"id":"doi:10.1145/3366194.3366251","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3366194.3366251","pdf_url":null,"source":{"id":"https://openalex.org/S4306523677","display_name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","raw_type":"proceedings-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/A5029544757","display_name":"Songyue Yang","orcid":"https://orcid.org/0000-0003-0758-7951"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Songyue Yang","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100437732","display_name":"Zhijun Meng","orcid":"https://orcid.org/0000-0002-2769-4343"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Meng","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003436277","display_name":"Xuzhi Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuzhi Chen","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080616056","display_name":"Ronglei Xie","orcid":"https://orcid.org/0000-0001-5762-5093"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ronglei Xie","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5029544757"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.9841,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.82697023,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"324","last_page":"329"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.9324063062667847},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.8371129035949707},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8101297616958618},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7598549127578735},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.7061959505081177},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6906065940856934},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.626244068145752},{"id":"https://openalex.org/keywords/aviation","display_name":"Aviation","score":0.5870153903961182},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5354365110397339},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5102827548980713},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32013845443725586},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24104684591293335},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22378581762313843},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18478044867515564},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1522313952445984},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08295491337776184}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.9324063062667847},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.8371129035949707},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8101297616958618},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7598549127578735},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.7061959505081177},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6906065940856934},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.626244068145752},{"id":"https://openalex.org/C74448152","wikidata":"https://www.wikidata.org/wiki/Q765633","display_name":"Aviation","level":2,"score":0.5870153903961182},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5354365110397339},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5102827548980713},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32013845443725586},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24104684591293335},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22378581762313843},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18478044867515564},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1522313952445984},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08295491337776184},{"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3366194.3366251","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3366194.3366251","pdf_url":null,"source":{"id":"https://openalex.org/S4306523677","display_name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.5099999904632568,"id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G547615222","display_name":null,"funder_award_id":"No. 61702023, No. 91538204","funder_id":"https://openalex.org/F4320327720","funder_display_name":"Foundation for Innovative Research Groups of the National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320327720","display_name":"Foundation for Innovative Research Groups of the National Natural Science Foundation of China","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W166862392","https://openalex.org/W1498436455","https://openalex.org/W1612997784","https://openalex.org/W1934909785","https://openalex.org/W1982865616","https://openalex.org/W2104154890","https://openalex.org/W2110946546","https://openalex.org/W2121092017","https://openalex.org/W2127723020","https://openalex.org/W2139418546","https://openalex.org/W2145339207","https://openalex.org/W2154997814","https://openalex.org/W2155968351","https://openalex.org/W2173564293","https://openalex.org/W2201581102","https://openalex.org/W2290874868","https://openalex.org/W2312998612","https://openalex.org/W2522489477","https://openalex.org/W2782108898","https://openalex.org/W2951799221","https://openalex.org/W2952523895","https://openalex.org/W2962938178","https://openalex.org/W2963959137","https://openalex.org/W3103648783","https://openalex.org/W4205616158","https://openalex.org/W6687681856","https://openalex.org/W6727252785"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2913749762","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W3043170174","https://openalex.org/W1971413691"],"abstract_inverted_index":{"At":[0],"present,":[1],"drones":[2,20],"are":[3,11],"rapidly":[4],"developing":[5],"in":[6,96],"the":[7,26,37,48,55,60,71,86,92,97],"aviation":[8,31],"industry":[9],"and":[10,75,91],"applied":[12],"to":[13,46,62,79],"all":[14],"aspects":[15],"of":[16,28,52],"life.":[17],"However,":[18,36],"letting":[19],"autonomously":[21],"avoid":[22,63],"obstacles":[23],"is":[24,40,65,94],"still":[25],"focus":[27],"research":[29],"by":[30],"scholars":[32],"at":[33],"this":[34,69],"stage.":[35],"current":[38],"automation":[39],"mostly":[41],"based":[42],"on":[43,59],"human":[44],"experience":[45],"determine":[47],"obstacle":[49,64,82],"avoidance":[50,83],"strategy":[51],"UAV.":[53],"And":[54],"method":[56],"only":[57],"rely":[58],"machine":[61],"very":[66],"few.":[67],"In":[68],"paper,":[70],"UAV":[72],"collect":[73],"visual":[74],"distance":[76],"sensor":[77],"information":[78],"make":[80],"autonomous":[81],"decision":[84],"through":[85],"deep":[87],"reinforcement":[88],"learning":[89],"algorithm,":[90],"algorithm":[93],"tested":[95],"v-rep":[98],"simulation":[99],"environment.":[100]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}