{"id":"https://openalex.org/W3158004083","doi":"https://doi.org/10.1155/2021/6649625","title":"Deep Reinforcement Learning for Vectored Thruster Autonomous Underwater Vehicle Control","display_name":"Deep Reinforcement Learning for Vectored Thruster Autonomous Underwater Vehicle Control","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3158004083","doi":"https://doi.org/10.1155/2021/6649625","mag":"3158004083"},"language":"en","primary_location":{"id":"doi:10.1155/2021/6649625","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/6649625","pdf_url":"https://downloads.hindawi.com/journals/complexity/2021/6649625.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/complexity/2021/6649625.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100715767","display_name":"Tao Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Liu","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071883452","display_name":"Yuli Hu","orcid":"https://orcid.org/0000-0002-0209-9660"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuli Hu","raw_affiliation_strings":["Key Laboratory for Unmanned Underwater Vehicle, Northwestern Polytechnical University, Xi'an 710072, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory for Unmanned Underwater Vehicle, Northwestern Polytechnical University, Xi'an 710072, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101413331","display_name":"Hui Xu","orcid":"https://orcid.org/0000-0003-4322-0778"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Xu","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5071883452"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":{"value":2300,"currency":"USD","value_usd":2300},"apc_paid":{"value":2300,"currency":"USD","value_usd":2300},"fwci":2.9494,"has_fulltext":true,"cited_by_count":21,"citation_normalized_percentile":{"value":0.90145042,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"2021","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.998199999332428,"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":0.998199999332428,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9907000064849854,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9789000153541565,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7831162214279175},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7017669677734375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.639975368976593},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.6394225358963013},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.480448454618454},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42509403824806213},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41978639364242554},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4117593467235565},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39197424054145813},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3654745817184448},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22530671954154968}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7831162214279175},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7017669677734375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.639975368976593},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6394225358963013},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.480448454618454},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42509403824806213},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41978639364242554},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4117593467235565},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39197424054145813},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3654745817184448},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22530671954154968},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1155/2021/6649625","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/6649625","pdf_url":"https://downloads.hindawi.com/journals/complexity/2021/6649625.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:hin:complx:6649625","is_oa":false,"landing_page_url":"http://downloads.hindawi.com/journals/complexity/2021/6649625.xml","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:doaj.org/article:f3c7bff8509f45e6bc5e870243f77066","is_oa":true,"landing_page_url":"https://doaj.org/article/f3c7bff8509f45e6bc5e870243f77066","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complexity, Vol 2021 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2021/6649625","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2021/6649625","pdf_url":"https://downloads.hindawi.com/journals/complexity/2021/6649625.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3158004083.pdf","grobid_xml":"https://content.openalex.org/works/W3158004083.grobid-xml"},"referenced_works_count":76,"referenced_works":["https://openalex.org/W775532107","https://openalex.org/W1500815852","https://openalex.org/W1581038736","https://openalex.org/W1590684588","https://openalex.org/W1620788170","https://openalex.org/W1850940152","https://openalex.org/W1987694362","https://openalex.org/W1990042683","https://openalex.org/W1997710910","https://openalex.org/W1997816436","https://openalex.org/W2000360957","https://openalex.org/W2002340171","https://openalex.org/W2002362889","https://openalex.org/W2018592623","https://openalex.org/W2021633480","https://openalex.org/W2028217664","https://openalex.org/W2034427367","https://openalex.org/W2040739857","https://openalex.org/W2042132784","https://openalex.org/W2048603489","https://openalex.org/W2055169583","https://openalex.org/W2071928104","https://openalex.org/W2083747094","https://openalex.org/W2084163350","https://openalex.org/W2084411624","https://openalex.org/W2087963019","https://openalex.org/W2105551637","https://openalex.org/W2107726111","https://openalex.org/W2116656070","https://openalex.org/W2121863487","https://openalex.org/W2122075174","https://openalex.org/W2126137996","https://openalex.org/W2129045348","https://openalex.org/W2134668622","https://openalex.org/W2145287296","https://openalex.org/W2145339207","https://openalex.org/W2148480374","https://openalex.org/W2149078751","https://openalex.org/W2152911757","https://openalex.org/W2169323873","https://openalex.org/W2205925794","https://openalex.org/W2289666731","https://openalex.org/W2292650350","https://openalex.org/W2400078333","https://openalex.org/W2410619805","https://openalex.org/W2416789866","https://openalex.org/W2480475164","https://openalex.org/W2505012551","https://openalex.org/W2521307678","https://openalex.org/W2548260618","https://openalex.org/W2559338715","https://openalex.org/W2583993537","https://openalex.org/W2620718991","https://openalex.org/W2725661304","https://openalex.org/W2754000639","https://openalex.org/W2761873684","https://openalex.org/W2792160676","https://openalex.org/W2801323221","https://openalex.org/W2808470116","https://openalex.org/W2890653409","https://openalex.org/W2905844825","https://openalex.org/W2909906617","https://openalex.org/W2910787596","https://openalex.org/W2917489209","https://openalex.org/W2919115771","https://openalex.org/W2950667132","https://openalex.org/W2963079702","https://openalex.org/W2963165400","https://openalex.org/W2969569485","https://openalex.org/W2990656464","https://openalex.org/W3002297177","https://openalex.org/W3036777289","https://openalex.org/W3093354192","https://openalex.org/W3100789280","https://openalex.org/W3100944043","https://openalex.org/W3120620023"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W4362501864","https://openalex.org/W4306904969","https://openalex.org/W2891537746","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2773822314","https://openalex.org/W2953138830","https://openalex.org/W2000675896"],"abstract_inverted_index":{"Autonomous":[0],"underwater":[1],"vehicles":[2],"(AUVs)":[3],"are":[4,133,139,143,181],"widely":[5],"used":[6],"to":[7,28,92,103,145,193,210,228],"accomplish":[8],"various":[9],"missions":[10],"in":[11,33,55,184],"the":[12,16,29,61,65,85,111,120,123,127,130,134,140,146,165,174,185,202,205,211],"complex":[13],"marine":[14],"environment;":[15],"design":[17],"of":[18,64,74,129,168,179,204],"a":[19,47,56,150,177,191],"control":[20,62,97,136,166,212,226],"system":[21,213],"for":[22,59,155,214,224],"AUVs":[23,121],"is":[24,70,100,153,190],"particularly":[25],"difficult":[26],"due":[27],"high":[30],"nonlinearity,":[31],"variations":[32],"hydrodynamic":[34],"coefficients,":[35],"and":[36,126,196,234],"external":[37],"force":[38],"from":[39],"ocean":[40],"currents.":[41],"In":[42],"this":[43],"paper,":[44],"we":[45],"propose":[46],"controller":[48,132,158],"based":[49],"on":[50],"deep":[51,156,206],"reinforcement":[52],"learning":[53],"(DRL)":[54],"simulation":[57,187],"environment":[58],"studying":[60],"performance":[63],"vectored":[66,147],"thruster":[67],"AUV.":[68,215],"RL":[69,107,157,207],"an":[71,94,221],"important":[72],"method":[73,192,223],"artificial":[75],"intelligence":[76],"that":[77,99,113,142],"can":[78,114],"learn":[79],"behavior":[80],"through":[81],"trial\u2010and\u2010error":[82],"interactions":[83],"with":[84,230],"environment,":[86,188],"so":[87],"it":[88],"does":[89],"not":[90],"need":[91],"provide":[93],"accurate":[95],"AUV":[96,169],"model":[98],"very":[101],"hard":[102],"establish.":[104],"The":[105],"proposed":[106],"algorithm":[108,208],"only":[109],"uses":[110],"information":[112],"be":[115],"measured":[116],"by":[117],"sensors":[118],"inside":[119],"as":[122],"input":[124],"parameters,":[125],"outputs":[128],"designed":[131,186],"continuous":[135],"actions,":[137],"which":[138,162,189],"commands":[141],"set":[144],"thruster.":[148],"Moreover,":[149],"reward":[151],"function":[152],"developed":[154],"considering":[159],"different":[160],"factors":[161],"actually":[163],"affect":[164],"accuracy":[167],"navigation":[170],"control.":[171],"To":[172],"confirm":[173],"algorithm\u2019s":[175],"effectiveness,":[176],"series":[178],"simulations":[180],"carried":[182],"out":[183],"save":[194],"time":[195],"improve":[197],"efficiency.":[198],"Simulation":[199],"results":[200],"prove":[201],"feasibility":[203],"applied":[209],"Furthermore,":[216],"our":[217],"work":[218],"also":[219],"provides":[220],"optional":[222],"robot":[225],"problems":[227],"deal":[229],"improving":[231],"technology":[232],"requirements":[233],"complicated":[235],"application":[236],"environments.":[237]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}