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Songjian Lv

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#reinforcement learning Open access Oct 2026

Modular dual-critic reinforcement learning control for AUV path tracking and collision avoidance

Autonomous underwater vehicles (AUVs) operating in complex and uncertain ocean environments require reliable path-tracking and obstacle-avoidance capabilities to maintain safety in the presence of currents and obstacles. Traditional end-to-end deep reinforcement learning (DRL) methods often struggle with coupled naviga...

Xinren Jiang, Songjian Lv, Dongfang Ma · Ocean Engineering · 0 citations