{"id":"https://openalex.org/W3203498413","doi":"https://doi.org/10.1145/3458380.3459041","title":"AUV Path Following Control using Deep Reinforcement Learning Under the Influence of Ocean Currents","display_name":"AUV Path Following Control using Deep Reinforcement Learning Under the Influence of Ocean Currents","publication_year":2021,"publication_date":"2021-02-26","ids":{"openalex":"https://openalex.org/W3203498413","doi":"https://doi.org/10.1145/3458380.3459041","mag":"3203498413"},"language":"en","primary_location":{"id":"doi:10.1145/3458380.3459041","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3458380.3459041","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 5th International Conference on Digital Signal Processing","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100406931","display_name":"Chao Wang","orcid":"https://orcid.org/0000-0002-0567-6945"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Wang","raw_affiliation_strings":["Tsinghua University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033168204","display_name":"Jun Du","orcid":"https://orcid.org/0000-0002-5213-8808"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Du","raw_affiliation_strings":["Tsinghua University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100426898","display_name":"Jingjing Wang","orcid":"https://orcid.org/0000-0003-3170-8952"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingjing Wang","raw_affiliation_strings":["Tsinghua University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002346706","display_name":"Yong Ren","orcid":"https://orcid.org/0000-0003-0312-9371"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Ren","raw_affiliation_strings":["Tsinghua University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":1.2965,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.75861728,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"225","last_page":"231"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.982699990272522,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9661999940872192,"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":0.6403990983963013},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6394645571708679},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5995804071426392},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5413596034049988},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5052812695503235},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4992704391479492},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41365155577659607},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3864448070526123},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35876035690307617},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3456534147262573},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23359724879264832},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16806045174598694},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08634278178215027}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6403990983963013},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6394645571708679},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5995804071426392},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5413596034049988},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5052812695503235},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4992704391479492},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41365155577659607},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3864448070526123},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35876035690307617},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3456534147262573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23359724879264832},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16806045174598694},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08634278178215027},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3458380.3459041","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3458380.3459041","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 5th International Conference on Digital Signal Processing","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8700000047683716,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W104615141","https://openalex.org/W1975100084","https://openalex.org/W1979483959","https://openalex.org/W2755382889","https://openalex.org/W2782585677","https://openalex.org/W2901836689","https://openalex.org/W2907217398","https://openalex.org/W2908536213","https://openalex.org/W3004006877","https://openalex.org/W3004238231"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999","https://openalex.org/W4293094921"],"abstract_inverted_index":{"Path":[0],"following":[1,47,130],"control":[2,48,61,71,78,106,111,124,174],"of":[3,74,81,90,158,170],"Autonomous":[4],"underwater":[5],"Vehicles":[6],"(AUVs)":[7],"is":[8,68,101,119],"considered":[9],"an":[10,135],"important":[11],"and":[12,26,30,88,113,160,183],"challenging":[13],"task,":[14],"especially":[15],"when":[16],"AUVs":[17],"are":[18,35],"designed":[19],"as":[20],"underactuated":[21],"systems":[22],"with":[23],"saturated":[24],"inputs,":[25],"the":[27,33,58,72,86,94,108,114,122,143,152,168,171],"ocean":[28,161],"currents":[29],"disturbances":[31],"in":[32,107,121,176],"environments":[34],"considered.":[36],"Based":[37],"on":[38,51],"this":[39,41],"premise,":[40],"work":[42],"proposes":[43],"a":[44,146],"novel":[45],"path":[46,129],"approach":[49,79,175],"based":[50],"deep":[52,95],"reinforcement":[53],"learning":[54],"(DRL).":[55],"Different":[56],"from":[57],"existing":[59],"DRL-based":[60],"methods,":[62],"where":[63],"only":[64],"one":[65],"single":[66],"controller":[67],"used":[69],"to":[70,103,126,141,149],"motion":[73],"AUV,":[75,91],"our":[76],"proposed":[77,172],"consists":[80],"two":[82],"subsystems,":[83],"for":[84,151],"controlling":[85],"velocity":[87,110,157],"steering":[89,123],"independently.":[92],"Specifically,":[93],"deterministic":[96],"policy":[97],"gradient":[98],"(DDPG)":[99],"algorithm":[100,118],"adopted":[102],"achieve":[104,127],"satisfactory":[105],"surge":[109],"subsystem,":[112],"soft":[115],"actor-critic":[116],"(SAC)":[117],"employed":[120],"subsystem":[125],"high-accuracy":[128],"control.":[131],"Besides,":[132],"we":[133],"derive":[134],"enhanced":[136],"Line-of-Sight":[137],"(LOS)":[138],"guidance":[139],"method":[140],"make":[142],"AUV":[144,159],"generate":[145],"drift":[147],"angle":[148],"compensate":[150],"sideslip":[153],"induced":[154],"by":[155],"sway":[156],"currents.":[162],"The":[163],"numerical":[164],"simulation":[165],"results":[166],"validate":[167],"advantages":[169],"DDPG-SAC-based":[173],"great":[177],"generalization":[178],"ability,":[179],"improved":[180],"anti-interference":[181],"capability":[182],"high":[184],"robustness.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}