{"id":"https://openalex.org/W3208963535","doi":"https://doi.org/10.3390/rs13214330","title":"Quadrotor Autonomous Navigation in Semi-Known Environments Based on Deep Reinforcement Learning","display_name":"Quadrotor Autonomous Navigation in Semi-Known Environments Based on Deep Reinforcement Learning","publication_year":2021,"publication_date":"2021-10-28","ids":{"openalex":"https://openalex.org/W3208963535","doi":"https://doi.org/10.3390/rs13214330","mag":"3208963535"},"language":"en","primary_location":{"id":"doi:10.3390/rs13214330","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs13214330","pdf_url":"https://www.mdpi.com/2072-4292/13/21/4330/pdf?version=1635755696","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/13/21/4330/pdf?version=1635755696","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073718271","display_name":"Jiajun Ou","orcid":"https://orcid.org/0000-0001-5293-062X"},"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":"Jiajun Ou","raw_affiliation_strings":["School of Aeronautic Science and Engineering, Beihang University, Beijing 100191, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautic Science and Engineering, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043125037","display_name":"Xiao Guo","orcid":"https://orcid.org/0000-0002-4346-3828"},"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":"Xiao Guo","raw_affiliation_strings":["Research Institute for Frontier Science, Beihang University, Beijing 100191, China"],"affiliations":[{"raw_affiliation_string":"Research Institute for Frontier Science, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069863636","display_name":"Wenjie Lou","orcid":"https://orcid.org/0000-0003-4378-5592"},"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":"Wenjie Lou","raw_affiliation_strings":["Institute of Unmanned System, Beihang University, Beijing 100191, China"],"affiliations":[{"raw_affiliation_string":"Institute of Unmanned System, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041835383","display_name":"Ming Zhu","orcid":"https://orcid.org/0000-0002-8986-1995"},"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":"Ming Zhu","raw_affiliation_strings":["Institute of Unmanned System, Beihang University, Beijing 100191, China"],"affiliations":[{"raw_affiliation_string":"Institute of Unmanned System, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5043125037"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2500,"currency":"CHF","value_usd":2707},"fwci":0.9689,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.77962531,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"13","issue":"21","first_page":"4330","last_page":"4330"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9984999895095825,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9968000054359436,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8769164681434631},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7890332341194153},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7749431729316711},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6762287020683289},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6599305868148804},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6596056222915649},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.48149573802948},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4754883050918579},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4197273850440979},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.41857412457466125},{"id":"https://openalex.org/keywords/autonomous-learning","display_name":"Autonomous learning","score":0.4183993935585022},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39181381464004517},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29385650157928467},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24307489395141602},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.07454043626785278},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.05653136968612671},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.052971333265304565}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8769164681434631},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7890332341194153},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7749431729316711},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6762287020683289},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6599305868148804},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6596056222915649},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.48149573802948},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4754883050918579},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4197273850440979},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.41857412457466125},{"id":"https://openalex.org/C2983271839","wikidata":"https://www.wikidata.org/wiki/Q29644074","display_name":"Autonomous learning","level":2,"score":0.4183993935585022},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39181381464004517},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29385650157928467},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24307489395141602},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.07454043626785278},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.05653136968612671},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.052971333265304565},{"id":"https://openalex.org/C145420912","wikidata":"https://www.wikidata.org/wiki/Q853077","display_name":"Mathematics education","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/rs13214330","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs13214330","pdf_url":"https://www.mdpi.com/2072-4292/13/21/4330/pdf?version=1635755696","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:b9c4b23f47684bb7b1daa3caf6ff2575","is_oa":true,"landing_page_url":"https://doaj.org/article/b9c4b23f47684bb7b1daa3caf6ff2575","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":"Remote Sensing, Vol 13, Iss 21, p 4330 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/13/21/4330/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs13214330","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs13214330","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs13214330","pdf_url":"https://www.mdpi.com/2072-4292/13/21/4330/pdf?version=1635755696","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3208963535.pdf","grobid_xml":"https://content.openalex.org/works/W3208963535.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1612997784","https://openalex.org/W1903029394","https://openalex.org/W1905829557","https://openalex.org/W2056898157","https://openalex.org/W2115286699","https://openalex.org/W2121092017","https://openalex.org/W2145339207","https://openalex.org/W2155007355","https://openalex.org/W2169528473","https://openalex.org/W2474162846","https://openalex.org/W2520707372","https://openalex.org/W2593414960","https://openalex.org/W2609883120","https://openalex.org/W2746553466","https://openalex.org/W2766447205","https://openalex.org/W2909935310","https://openalex.org/W2920818934","https://openalex.org/W2944200650","https://openalex.org/W2962887844","https://openalex.org/W2963180789","https://openalex.org/W2963583471","https://openalex.org/W2963591054","https://openalex.org/W2964161785","https://openalex.org/W2967969632","https://openalex.org/W2982390413","https://openalex.org/W2990198657","https://openalex.org/W2991625383","https://openalex.org/W2992582397","https://openalex.org/W2995942587","https://openalex.org/W2999713046","https://openalex.org/W3015437096","https://openalex.org/W3035524453","https://openalex.org/W3103648783","https://openalex.org/W3123538634","https://openalex.org/W3135218110","https://openalex.org/W6682849425"],"related_works":["https://openalex.org/W2930076404","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","https://openalex.org/W2050548713"],"abstract_inverted_index":{"In":[0,22],"the":[1,13,47,51,64,70],"application":[2],"scenarios":[3],"of":[4,12],"quadrotors,":[5],"it":[6],"is":[7],"expected":[8],"that":[9,93],"only":[10],"part":[11],"obstacles":[14],"can":[15,58,79],"be":[16],"identified":[17],"and":[18,104],"located":[19],"in":[20,29,43],"advance.":[21],"order":[23],"to":[24,39],"make":[25],"quadrotors":[26],"fly":[27],"safely":[28],"this":[30],"situation,":[31],"we":[32],"present":[33],"a":[34],"deep":[35,54],"reinforcement":[36],"learning-based":[37,76],"framework":[38,49,72,95],"realize":[40],"autonomous":[41,82,105],"navigation":[42],"semi-known":[44],"environments.":[45],"Specifically,":[46],"proposed":[48,71],"utilizes":[50],"dueling":[52],"double":[53],"recurrent":[55],"Q-learning,":[56],"which":[57],"implement":[59],"global":[60,101],"path":[61,102],"planning":[62,103],"with":[63,74,85],"obstacle":[65,83,106],"map":[66],"as":[67],"input.":[68],"Moreover,":[69],"combined":[73],"contrastive":[75],"feature":[77],"extraction":[78],"conduct":[80],"real-time":[81],"avoidance":[84],"monocular":[86],"vision":[87],"effectively.":[88],"The":[89],"experimental":[90],"results":[91],"demonstrate":[92],"our":[94],"exhibits":[96],"remarkable":[97],"performance":[98],"for":[99],"both":[100],"avoidance.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
