{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,19]],"date-time":"2026-01-19T15:19:15Z","timestamp":1768835955209,"version":"3.49.0"},"reference-count":36,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,5,19]]},"DOI":"10.1109\/icra55743.2025.11127355","type":"proceedings-article","created":{"date-parts":[[2025,9,2]],"date-time":"2025-09-02T17:28:56Z","timestamp":1756834136000},"page":"11263-11269","source":"Crossref","is-referenced-by-count":1,"title":["Cross-Platform Learning-Based Fault Tolerant Surfacing Controller for Underwater Robots"],"prefix":"10.1109","author":[{"given":"Yuya","family":"Hamamatsu","sequence":"first","affiliation":[{"name":"Tallinn University of Technology,Department of Computer Systems,Tallinn,Estonia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Walid","family":"Remmas","sequence":"additional","affiliation":[{"name":"Defsecintel Solutions,Department of Research and Development,Estonia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jaan","family":"Rebane","sequence":"additional","affiliation":[{"name":"Tallinn University of Technology,Department of Computer Systems,Tallinn,Estonia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Maarja","family":"Kruusmaa","sequence":"additional","affiliation":[{"name":"Tallinn University of Technology,Department of Computer Systems,Tallinn,Estonia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Asko","family":"Ristolainen","sequence":"additional","affiliation":[{"name":"Tallinn University of Technology,Department of Computer Systems,Tallinn,Estonia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1108\/IR-01-2015-0010"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2021.102574"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.3390\/jmse11061119"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914525811"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461218"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/02783649241273565"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/SysTol52990.2021.9594939"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TCSII.2021.3076890"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3329766"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/MIUCC52538.2021.9447643"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2018.2850701"},{"key":"ref12","first-page":"115327","article-title":"Fault-tolerant control allocation for a bio-inspired underactuated AUV in the presence of actuator failures: Design and experiments","volume":"277","author":"Walid","year":"2023","journal-title":"Ocean Engineering"},{"issue":"5","key":"ref13","first-page":"23","article-title":"Design and control of a hovering type AUV","volume":"26","author":"Kim","year":"2009","journal-title":"Journal of the Korean Society for Precision Engineering"},{"key":"ref14","first-page":"1","article-title":"Design of a finless torpedo shaped micro AUV with high maneuverability","volume-title":"Proc. OCEANS 2017 Anchorage","author":"Chao","year":"2017"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2020.108054"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2014.7003126"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.3390\/s21041278"},{"key":"ref18","article-title":"Sim2real transfer for reinforcement learning without dynamics randomization","volume-title":"Proc. 2020 IEEE\/RSJ Int. Conf. Intelligent Robots and Systems (IROS)","author":"Manuel","year":"2020"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3126658"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ISMCR51255.2020.9263751"},{"key":"ref21","volume-title":"Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles","author":"Fossen","year":"2002"},{"key":"ref22","volume-title":"BlueROV2 - Affordable and Capable Underwater ROV","author":"Robotics","year":"2024"},{"key":"ref23","volume-title":"6-DoF modelling and control of a remotely operated vehicle","author":"Wu","year":"2018"},{"key":"ref24","article-title":"Validation of the hydrodynamic and manouvering models for three legacy undersea gliders","volume-title":"Proc. UUST","author":"Humphreys","year":"2003"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21999"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2008.10.005"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487677"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2021.109883"},{"key":"ref29","article-title":"Proximal policy optimization algorithms","author":"Schulman","year":"2017","journal-title":"arXiv preprint"},{"key":"ref30","article-title":"Policy gradient methods for reinforcement learning with function approximation","volume-title":"Advances in Neural Information Processing Systems (NeurIPS)","volume":"12","author":"Sutton","year":"1999"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1016\/j.physd.2019.132306"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/icra.2018.8460528"},{"key":"ref33","first-page":"3736","article-title":"Kalman and extended kalman filters: concept, derivation and properties","author":"Isabel","year":"2004","journal-title":"Institute for Systems and Robotics"},{"key":"ref34","article-title":"Soft actor-critic: Off-policy maximum entropy deep reinforcement learning with a stochastic actor","volume-title":"Proc. Int. Conf. Machine Learning (ICML)","author":"Haarnoja","year":"2018"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2014.01.005"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abm6074"}],"event":{"name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","location":"Atlanta, GA, USA","start":{"date-parts":[[2025,5,19]]},"end":{"date-parts":[[2025,5,23]]}},"container-title":["2025 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11127273\/11127223\/11127355.pdf?arnumber=11127355","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T06:04:35Z","timestamp":1756879475000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11127355\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5,19]]},"references-count":36,"URL":"https:\/\/doi.org\/10.1109\/icra55743.2025.11127355","relation":{},"subject":[],"published":{"date-parts":[[2025,5,19]]}}}