{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,17]],"date-time":"2026-07-17T15:49:46Z","timestamp":1784303386817,"version":"3.55.0"},"reference-count":29,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2022,10,1]],"date-time":"2022-10-01T00:00:00Z","timestamp":1664582400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2022,10,1]],"date-time":"2022-10-01T00:00:00Z","timestamp":1664582400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,10,1]],"date-time":"2022-10-01T00:00:00Z","timestamp":1664582400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62071104"],"award-info":[{"award-number":["62071104"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"NNSFC&amp;CAAC","award":["U2133211"],"award-info":[{"award-number":["U2133211"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2022,10]]},"DOI":"10.1109\/lra.2022.3196455","type":"journal-article","created":{"date-parts":[[2022,8,25]],"date-time":"2022-08-25T19:33:54Z","timestamp":1661456034000},"page":"11134-11141","source":"Crossref","is-referenced-by-count":33,"title":["Cascade Flight Control of Quadrotors Based on Deep Reinforcement Learning"],"prefix":"10.1109","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0728-3993","authenticated-orcid":false,"given":"Haoran","family":"Han","sequence":"first","affiliation":[{"name":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6966-0531","authenticated-orcid":false,"given":"Jian","family":"Cheng","sequence":"additional","affiliation":[{"name":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1651-0190","authenticated-orcid":false,"given":"Zhilong","family":"Xi","sequence":"additional","affiliation":[{"name":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bingcai","family":"Yao","sequence":"additional","affiliation":[{"name":"School of Information and Communication Engineering, University of Electronic Science and Technology of China, Chengdu, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2720851"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636053"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460885"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICCAR.2016.7486727"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2010.5717652"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.jestch.2019.02.005"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2018.02.020"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/CAC.2013.6775734"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1145\/3301273"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1145\/3466618"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2930489"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3057046"},{"key":"ref13","article-title":"Learning to fly via deep model-based reinforcement learning","author":"Becker-Ehmck","year":"2020"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-60990-0_3"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2020.3023711"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/tcns.2022.3181254"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3098302"},{"key":"ref18","article-title":"Proximal policy optimization algorithms","author":"Schulman","year":"2017"},{"key":"ref19","first-page":"1","article-title":"Continuous control with deep reinforcement learning","volume-title":"Proc. Int. Conf. Learn. Representations","author":"Lillicrap","year":"2016"},{"key":"ref20","first-page":"1587","article-title":"Addressing function approximation error in actor-critic methods","volume-title":"Proc. Int. Conf. Mach. Learn.","author":"Fujimoto","year":"2018"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1302409"},{"key":"ref22","article-title":"Pybullet, a python module for physics simulation for games, robotics and machine learning","author":"Coumans","year":"2016"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/iros51168.2021.9635857"},{"key":"ref24","article-title":"Crazyflie 2.0","volume-title":"Bitcraze"},{"key":"ref25","first-page":"1","article-title":"Adam: A method for stochastic optimization","volume-title":"Proc. Int. Conf. Learn. Representations","author":"Kingma","year":"2015"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/tnnls.2021.3070824"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2021.110143"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2016.07.033"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2020.07.042"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/9831196\/09850366.pdf?arnumber=9850366","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,2,1]],"date-time":"2024-02-01T10:58:53Z","timestamp":1706785133000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9850366\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,10]]},"references-count":29,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/lra.2022.3196455","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,10]]}}}