{"id":"https://openalex.org/W3209816436","doi":"https://doi.org/10.5220/0010678100003063","title":"A Modular Autonomous Driving System for Electric Boats based on Fuzzy Controllers and Q-Learning","display_name":"A Modular Autonomous Driving System for Electric Boats based on Fuzzy Controllers and Q-Learning","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3209816436","doi":"https://doi.org/10.5220/0010678100003063","mag":"3209816436"},"language":"en","primary_location":{"id":"doi:10.5220/0010678100003063","is_oa":false,"landing_page_url":"https://doi.org/10.5220/0010678100003063","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 13th International Joint Conference on Computational Intelligence","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/A5013242834","display_name":"Emanuele Ferrandino","orcid":"https://orcid.org/0000-0001-6472-6597"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Emanuele Ferrandino","raw_affiliation_strings":["Department of Information Engineering, Electronics and Telecommunications (DIET), University of Rome \u201cLa Sapienza\u201d, Via Eudossiana 18, 00184 Rome, Italy, --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, Electronics and Telecommunications (DIET), University of Rome \u201cLa Sapienza\u201d, Via Eudossiana 18, 00184 Rome, Italy, --- Select a Country ---","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072229274","display_name":"Antonino Capillo","orcid":"https://orcid.org/0000-0002-6360-7737"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonino Capillo","raw_affiliation_strings":["Department of Information Engineering, Electronics and Telecommunications (DIET), University of Rome \u201cLa Sapienza\u201d, Via Eudossiana 18, 00184 Rome, Italy, --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, Electronics and Telecommunications (DIET), University of Rome \u201cLa Sapienza\u201d, Via Eudossiana 18, 00184 Rome, Italy, --- Select a Country ---","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020616232","display_name":"Enrico De Santis","orcid":"https://orcid.org/0000-0003-4915-0723"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Enrico De Santis","raw_affiliation_strings":["Department of Information Engineering, Electronics and Telecommunications (DIET), University of Rome \u201cLa Sapienza\u201d, Via Eudossiana 18, 00184 Rome, Italy, --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, Electronics and Telecommunications (DIET), University of Rome \u201cLa Sapienza\u201d, Via Eudossiana 18, 00184 Rome, Italy, --- Select a Country ---","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085653924","display_name":"Fabio Massimo Frattale Mascioli","orcid":"https://orcid.org/0000-0002-3748-5019"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fabio Mascioli","raw_affiliation_strings":["Department of Information Engineering, Electronics and Telecommunications (DIET), University of Rome \u201cLa Sapienza\u201d, Via Eudossiana 18, 00184 Rome, Italy, --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, Electronics and Telecommunications (DIET), University of Rome \u201cLa Sapienza\u201d, Via Eudossiana 18, 00184 Rome, Italy, --- Select a Country ---","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025282612","display_name":"Antonello Rizzi","orcid":null},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonello Rizzi","raw_affiliation_strings":["Department of Information Engineering, Electronics and Telecommunications (DIET), University of Rome \u201cLa Sapienza\u201d, Via Eudossiana 18, 00184 Rome, Italy, --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, Electronics and Telecommunications (DIET), University of Rome \u201cLa Sapienza\u201d, Via Eudossiana 18, 00184 Rome, Italy, --- Select a Country ---","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"185","last_page":"195"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13717","display_name":"Advanced Algorithms and Applications","score":0.949999988079071,"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"}},"topics":[{"id":"https://openalex.org/T13717","display_name":"Advanced Algorithms and Applications","score":0.949999988079071,"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/T14474","display_name":"Industrial Technology and Control Systems","score":0.9139000177383423,"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/modular-design","display_name":"Modular design","score":0.8160742521286011},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.553220808506012},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5427172183990479},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.521695077419281},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5164042115211487},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38293278217315674},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28447604179382324},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26804760098457336},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26701605319976807},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.07688936591148376}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8160742521286011},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.553220808506012},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5427172183990479},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.521695077419281},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5164042115211487},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38293278217315674},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28447604179382324},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26804760098457336},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26701605319976807},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.07688936591148376}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.5220/0010678100003063","is_oa":false,"landing_page_url":"https://doi.org/10.5220/0010678100003063","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 13th International Joint Conference on Computational Intelligence","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.uniroma1.it:11573/1657961","is_oa":false,"landing_page_url":"https://hdl.handle.net/11573/1657961","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2613820654","https://openalex.org/W2097995569","https://openalex.org/W135622916","https://openalex.org/W2374505097","https://openalex.org/W2111061838","https://openalex.org/W1918300031","https://openalex.org/W2144013999","https://openalex.org/W2377352101","https://openalex.org/W2130137617","https://openalex.org/W45447653"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,23,95,114],"architecture":[4,100,126],"and":[5,21,35,40,57,84],"control":[6],"design":[7],"of":[8,70,113],"an":[9,85,99],"autonomous":[10],"Electric":[11],"Boat,":[12],"together":[13],"with":[14,67],"a":[15,42,54,68,76,80,110,132],"specific":[16],"simulation":[17],"environment":[18],"for":[19,119,136],"training":[20,120],"testing":[22],"Fuzzy":[24,103,121],"Inference":[25],"Systems.":[26],"The":[27,63],"boat":[28,64,134],"will":[29,127],"be":[30,129],"in":[31,138],"charge":[32],"to":[33],"exit":[34],"enter":[36],"from":[37],"harbors,":[38],"plan":[39],"follow":[41],"route,":[43],"avoid":[44],"obstacles":[45],"such":[46,73],"as":[47,74],"other":[48],"boats,":[49],"correct":[50],"its":[51],"motion,":[52],"perform":[53],"virtual":[55],"anchor":[56],"switch":[58],"between":[59],"these":[60],"operations":[61],"autonomously.":[62],"is":[65],"equipped":[66],"set":[69],"smart":[71],"sensors":[72],"sonars,":[75],"Global":[77],"Positioning":[78],"System,":[79],"camera-based":[81],"vision":[82],"system":[83],"Inertial":[86],"Measurement":[87],"Unit.":[88],"General":[89],"navigation":[90],"rules":[91],"are":[92],"respected":[93],"during":[94],"route.":[96],"We":[97],"propose":[98,109],"integrating":[101],"several":[102],"Controller-based":[104],"modular":[105],"pipelines.":[106],"Furthermore,":[107],"we":[108],"mathematical":[111],"formalization":[112],"Fish":[115],"Schooling":[116],"Behavior":[117],"useful":[118],"Controllers":[122],"through":[123],"Q-Learning.":[124],"Our":[125],"soon":[128],"implemented":[130],"on":[131],"real":[133],"intended":[135],"navigating":[137],"inland":[139],"waters.":[140]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}