# A Deep Reinforcement Learning-Based Decentralized Hierarchical Motion Control Strategy for Multiple Amphibious Spherical Robot Systems With Tilting Thrusters

> Research article (IEEE Sensors Journal, 2023) · cited 24× · AI/ML

**Wikidata**: [openalex:W4388936607](https://www.wikidata.org/wiki/openalex:W4388936607)  
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