{"id":"https://openalex.org/W4387421427","doi":"https://doi.org/10.1145/3594739.3612907","title":"SmoothLander: A Quadrotor Landing Control System with Smooth Trajectory Guarantee Based on Reinforcement Learning","display_name":"SmoothLander: A Quadrotor Landing Control System with Smooth Trajectory Guarantee Based on Reinforcement Learning","publication_year":2023,"publication_date":"2023-10-07","ids":{"openalex":"https://openalex.org/W4387421427","doi":"https://doi.org/10.1145/3594739.3612907"},"language":"en","primary_location":{"id":"doi:10.1145/3594739.3612907","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3594739.3612907","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3594739.3612907","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Adjunct Proceedings of the 2023 ACM International Joint Conference on Pervasive and Ubiquitous Computing &amp; the 2023 ACM International Symposium on Wearable Computing","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3594739.3612907","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067893456","display_name":"Chenyu Zhao","orcid":"https://orcid.org/0000-0003-3656-7247"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"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":true,"raw_author_name":"Chenyu Zhao","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046498809","display_name":"Haoyang Wang","orcid":"https://orcid.org/0000-0002-1392-0362"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"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":"Haoyang Wang","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029963532","display_name":"Jiaqi Li","orcid":"https://orcid.org/0009-0009-1607-3638"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"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":"Jiaqi Li","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026025438","display_name":"Fanhang Man","orcid":"https://orcid.org/0000-0002-5830-0685"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"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":"Fanhang Man","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053302545","display_name":"Shilong Mu","orcid":"https://orcid.org/0009-0004-3638-6539"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"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":"Shilong Mu","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084510549","display_name":"Wenbo Ding","orcid":null},"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":"Wenbo Ding","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, China and Pengcheng Laboratory, China and RISC-V International Open Source Laboratory, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, China and Pengcheng Laboratory, China and RISC-V International Open Source Laboratory, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100363146","display_name":"Xiao\u2013Ping Zhang","orcid":"https://orcid.org/0000-0001-5241-0069"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]},{"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":["CA","CN"],"is_corresponding":false,"raw_author_name":"Xiao-Ping Zhang","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, China and Department of Electrical, Computer and Biomedical Engineering, Ryerson University, Canada"],"affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, China and Department of Electrical, Computer and Biomedical Engineering, Ryerson University, Canada","institution_ids":["https://openalex.org/I530967","https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016095713","display_name":"Xinlei Chen","orcid":"https://orcid.org/0000-0001-8271-5023"},"institutions":[{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]},{"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":"Xinlei Chen","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, China and Pengcheng Laboratory, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, China and Pengcheng Laboratory, China","institution_ids":["https://openalex.org/I4210136793","https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5067893456"],"corresponding_institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.9912,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.74906489,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"682","last_page":"687"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9966999888420105,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8360776901245117},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.782843828201294},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5799822211265564},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5087104439735413},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5079100728034973},{"id":"https://openalex.org/keywords/attitude-control","display_name":"Attitude control","score":0.44369906187057495},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.44228407740592957},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.41642647981643677},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33425790071487427},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.32679784297943115},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30482661724090576},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2307330071926117},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09331628680229187},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.057234346866607666}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8360776901245117},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.782843828201294},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5799822211265564},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5087104439735413},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5079100728034973},{"id":"https://openalex.org/C155710575","wikidata":"https://www.wikidata.org/wiki/Q83001","display_name":"Attitude control","level":2,"score":0.44369906187057495},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.44228407740592957},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.41642647981643677},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33425790071487427},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.32679784297943115},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30482661724090576},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2307330071926117},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09331628680229187},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.057234346866607666},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3594739.3612907","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3594739.3612907","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3594739.3612907","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Adjunct Proceedings of the 2023 ACM International Joint Conference on Pervasive and Ubiquitous Computing &amp; the 2023 ACM International Symposium on Wearable Computing","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3594739.3612907","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3594739.3612907","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3594739.3612907","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Adjunct Proceedings of the 2023 ACM International Joint Conference on Pervasive and Ubiquitous Computing &amp; the 2023 ACM International Symposium on Wearable Computing","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G855942337","display_name":null,"funder_award_id":"JC2022001","funder_id":"https://openalex.org/F4320337986","funder_display_name":"Tsinghua Shenzhen International Graduate School"}],"funders":[{"id":"https://openalex.org/F4320337986","display_name":"Tsinghua Shenzhen International Graduate School","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4387421427.pdf","grobid_xml":"https://content.openalex.org/works/W4387421427.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W604072545","https://openalex.org/W1937512970","https://openalex.org/W1971718676","https://openalex.org/W1977655452","https://openalex.org/W2038445360","https://openalex.org/W2134790752","https://openalex.org/W2548572575","https://openalex.org/W2586823359","https://openalex.org/W2605543277","https://openalex.org/W2607287604","https://openalex.org/W2733312032","https://openalex.org/W2746974548","https://openalex.org/W2773299837","https://openalex.org/W2890755534","https://openalex.org/W2895824696","https://openalex.org/W2899094839","https://openalex.org/W2907126380","https://openalex.org/W2940674238","https://openalex.org/W2944810452","https://openalex.org/W2962890638","https://openalex.org/W2982020048","https://openalex.org/W3002405259","https://openalex.org/W3023108580","https://openalex.org/W3097247253","https://openalex.org/W3122115432","https://openalex.org/W3136545240","https://openalex.org/W3158991438","https://openalex.org/W4284681025","https://openalex.org/W4317926922","https://openalex.org/W4320059944","https://openalex.org/W4320919158","https://openalex.org/W4366967222"],"related_works":["https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255","https://openalex.org/W2106552856","https://openalex.org/W2145821588","https://openalex.org/W2086122291","https://openalex.org/W1963589636"],"abstract_inverted_index":{"The":[0,117],"landing":[1,19,81,103],"process":[2],"of":[3,28,32,41,51,70],"the":[4,10,13,18,26,33,39,43,46,65,68,71,84,101,125,137],"quadrotors":[5,44,66],"can":[6,123],"be":[7],"affected":[8],"by":[9],"disturbance":[11,23],"from":[12],"ground":[14,72],"effect":[15,73],"when":[16],"approaching":[17],"surface.":[20],"Such":[21],"a":[22,80,93],"significantly":[24],"increases":[25],"chances":[27],"collision":[29],"and":[30,45,58,74,114,131],"jittering":[31],"quadrotors,":[34],"thereby":[35],"posing":[36],"threats":[37],"to":[38,63,98,127],"safety":[40],"both":[42],"mounted":[47],"equipment.":[48],"In":[49],"light":[50],"this,":[52],"we":[53,78,91],"propose":[54],"SmoothLander,":[55],"an":[56],"aerodynamics":[57],"reinforcement":[59,94],"learning-based":[60,95],"control":[61,75,108,134],"system":[62,109],"stabilize":[64],"under":[67],"influence":[69],"noise.":[76],"First,":[77],"design":[79,92],"trajectory":[82],"for":[83],"quadrotor":[85,126],"in":[86],"accordance":[87],"with":[88],"aerodynamics.":[89],"Then":[90],"command":[96],"generator":[97],"effectively":[99],"optimize":[100],"quadrotor\u2019s":[102],"behavior.":[104],"We":[105],"evaluate":[106],"our":[107,121],"through":[110],"physical":[111],"feature-based":[112],"simulation":[113],"in-field":[115],"experiments.":[116],"results":[118],"show":[119],"that":[120],"method":[122],"enable":[124],"land":[128],"more":[129],"smoothly":[130],"stably":[132],"against":[133],"noise":[135],"than":[136],"baseline.":[138]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":7}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
