Evolutionary Decision-Making and Planning for Autonomous Driving Based on Safe and Rational Exploration and Exploitation

Decision-making and motion planning are extremely important in autonomous driving to ensure safe driving in a real-world environment.This study proposes an online evolutionary decision-making and motion planning framework for autonomous driving based on a hybrid data-and model-driven method.First,a data-driven decision-making module based on deep reinforcement learning(DRL)is developed to pursue a rational driving performance as much as possible.Then,model predictive control(MPC)is employed to execute both longitudinal and lateral motion planning tasks.Multiple constraints are defined according to the vehicle’s physical limit to meet the driving task requirements.Finally,two principles of safety and rationality for the self-evolution of autonomous driving are proposed.A motion envelope is established and embedded into a rational exploration and exploitation scheme,which filters out unreasonable experiences by masking unsafe actions so as to collect high-quality training data for the DRL agent.Experiments with a high-fidelity vehicle model and MATLAB/Simulink co-simulation environment are conducted,and the results show that the proposed online-evolution framework is able to generate safer,more rational,and more efficient driving action in a real-world environment.

SRv6 Policy业务可靠性方案探讨

介绍了SRv6 Policy、SBFD技术及5G承载网络SRv6 Policy业务可靠性方案。针对SBFD误触发问题,提出了在被动端生成BSID、部署引流策略及设置不同检测周期等3种完善措施,这些措施不仅提高了业务的可靠性,还显著提升了网络服务能力.

Toward Trustworthy Decision-Making for Autonomous Vehicles:A Robust Reinforcement Learning Approach with Safety Guarantees

While autonomous vehicles are vital components of intelligent transportation systems,ensuring the trustworthiness of decision-making remains a substantial challenge in realizing autonomous driving.Therefore,we present a novel robust reinforcement learning approach with safety guarantees to attain trustworthy decision-making for autonomous vehicles.The proposed technique ensures decision trustworthiness in terms of policy robustness and collision safety.Specifically,an adversary model is learned online to simulate the worst-case uncertainty by approximating the optimal adversarial perturbations on the observed states and environmental dynamics.In addition,an adversarial robust actor-critic algorithm is developed to enable the agent to learn robust policies against perturbations in observations and dynamics.Moreover,we devise a safety mask to guarantee the collision safety of the autonomous driving agent during both the training and testing processes using an interpretable knowledge model known as the Responsibility-Sensitive Safety Model.Finally,the proposed approach is evaluated through both simulations and experiments.These results indicate that the autonomous driving agent can make trustworthy decisions and drastically reduce the number of collisions through robust safety policies.

Orientation and Decision-Making for Soccer Based on Sports Analytics and AI:A Systematic Review

Due to ever-growing soccer data collection approaches and progressing artificial intelligence(AI) methods, soccer analysis, evaluation, and decision-making have received increasing interest from not only the professional sports analytics realm but also the academic AI research community. AI brings gamechanging approaches for soccer analytics where soccer has been a typical benchmark for AI research. The combination has been an emerging topic. In this paper, soccer match analytics are taken as a complete observation-orientation-decision-action(OODA) loop.In addition, as in AI frameworks such as that for reinforcement learning, interacting with a virtual environment enables an evolving model. Therefore, both soccer analytics in the real world and virtual domains are discussed. With the intersection of the OODA loop and the real-virtual domains, available soccer data, including event and tracking data, and diverse orientation and decisionmaking models for both real-world and virtual soccer matches are comprehensively reviewed. Finally, some promising directions in this interdisciplinary area are pointed out. It is claimed that paradigms for both professional sports analytics and AI research could be combined. Moreover, it is quite promising to bridge the gap between the real and virtual domains for soccer match analysis and decision-making.

Safe Efficient Policy Optimization Algorithm for Unsignalized Intersection Navigation

Unsignalized intersections pose a challenge for autonomous vehicles that must decide how to navigate them safely and efficiently.This paper proposes a reinforcement learning(RL)method for autonomous vehicles to navigate unsignalized intersections safely and efficiently.The method uses a semantic scene representation to handle variable numbers of vehicles and a universal reward function to facilitate stable learning.A collision risk function is designed to penalize unsafe actions and guide the agent to avoid them.A scalable policy optimization algorithm is introduced to improve data efficiency and safety for vehicle learning at intersections.The algorithm employs experience replay to overcome the on-policy limitation of proximal policy optimization and incorporates the collision risk constraint into the policy optimization problem.The proposed safe RL algorithm can balance the trade-off between vehicle traffic safety and policy learning efficiency.Simulated intersection scenarios with different traffic situations are used to test the algorithm and demonstrate its high success rates and low collision rates under different traffic conditions.The algorithm shows the potential of RL for enhancing the safety and reliability of autonomous driving systems at unsignalized intersections.

Policy Gradient Adaptive Dynamic Programming for Model-Free Multi-Objective Optimal Control

Dear Editor,In this letter,the multi-objective optimal control problem of nonlinear discrete-time systems is investigated.A data-driven policy gradient algorithm is proposed in which the action-state value function is used to evaluate the policy.In the policy improvement process,the policy gradient based method is employed.

Ethical Decision-Making Framework Based on Incremental ILP Considering Conflicts

Humans are experiencing the inclusion of artificial agents in their lives,such as unmanned vehicles,service robots,voice assistants,and intelligent medical care.If the artificial agents cannot align with social values or make ethical decisions,they may not meet the expectations of humans.Traditionally,an ethical decision-making framework is constructed by rule-based or statistical approaches.In this paper,we propose an ethical decision-making framework based on incremental ILP(Inductive Logic Programming),which can overcome the brittleness of rule-based approaches and little interpretability of statistical approaches.As the current incremental ILP makes it difficult to solve conflicts,we propose a novel ethical decision-making framework considering conflicts in this paper,which adopts our proposed incremental ILP system.The framework consists of two processes:the learning process and the deduction process.The first process records bottom clauses with their score functions and learns rules guided by the entailment and the score function.The second process obtains an ethical decision based on the rules.In an ethical scenario about chatbots for teenagers’mental health,we verify that our framework can learn ethical rules and make ethical decisions.Besides,we extract incremental ILP from the framework and compare it with the state-of-the-art ILP systems based on ASP(Answer Set Programming)focusing on conflict resolution.The results of comparisons show that our proposed system can generate better-quality rules than most other systems.

Stroke Risk Assessment Decision-Making Using a Machine Learning Model:Logistic-AdaBoost

Stroke is a chronic cerebrovascular disease that carries a high risk.Stroke risk assessment is of great significance in preventing,reversing and reducing the spread and the health hazards caused by stroke.Aiming to objectively predict and identify strokes,this paper proposes a new stroke risk assessment decision-making model named Logistic-AdaBoost(Logistic-AB)based on machine learning.First,the categorical boosting(CatBoost)method is used to perform feature selection for all features of stroke,and 8 main features are selected to form a new index evaluation system to predict the risk of stroke.Second,the borderline synthetic minority oversampling technique(SMOTE)algorithm is applied to transform the unbalanced stroke dataset into a balanced dataset.Finally,the stroke risk assessment decision-makingmodel Logistic-AB is constructed,and the overall prediction performance of this new model is evaluated by comparing it with ten other similar models.The comparison results show that the new model proposed in this paper performs better than the two single algorithms(logistic regression and AdaBoost)on the four indicators of recall,precision,F1 score,and accuracy,and the overall performance of the proposed model is better than that of common machine learning algorithms.The Logistic-AB model presented in this paper can more accurately predict patients’stroke risk.

Research on Maneuver Decision-Making of Multi-Agent Adversarial Game in a Random Interference Environment

The strategy evolution process of game players is highly uncertain due to random emergent situations and other external disturbances.This paper investigates the issue of strategy interaction and behavioral decision-making among game players in simulated confrontation scenarios within a random interference environment.It considers the possible risks that random disturbances may pose to the autonomous decision-making of game players,as well as the impact of participants’manipulative behaviors on the state changes of the players.A nonlinear mathematical model is established to describe the strategy decision-making process of the participants in this scenario.Subsequently,the strategy selection interaction relationship,strategy evolution stability,and dynamic decision-making process of the game players are investigated and verified by simulation experiments.The results show that maneuver-related parameters and random environmental interference factors have different effects on the selection and evolutionary speed of the agent’s strategies.Especially in a highly uncertain environment,even small information asymmetry or miscalculation may have a significant impact on decision-making.This also confirms the feasibility and effectiveness of the method proposed in the paper,which can better explain the behavioral decision-making process of the agent in the interaction process.This study provides feasibility analysis ideas and theoretical references for improving multi-agent interactive decision-making and the interpretability of the game system model.

Research on Policy Diffusion Path and Reproduction of River Chief System

The River Chief System (RCS) has evolved from local innovative practices to a national water governance strategy to address the current challenges in China’s water environmental management. In contrast to existing research that focuses on the strengths, weaknesses, and improvements of RCS, this study uses literature study to reveal the dynamic evolution of RCS through three phases, with RCS spreading from developed coastal areas to central and western inland regions. RCS’s diffusion path involves vertical diffusion between central and local levels and horizontal diffusion among local governments. Moreover, RCS has also achieved conceptual spillover, gradually expanding into other governance domains, such as the Lake Chief System, the Field Chief System, the Forestry Chief System, and the integration of multiple chief roles. However, it is essential to scrutinize the phenomenon of applying similar governance mechanisms to different areas, as it may result in challenges such as overburdening local governments, insufficient public participation, oversimplification of differences in natural resource endowments, and limited applicability. This study also provides suggestions on how to address these challenges. The study contributes theoretical insights and policy implications, providing a foundation for practical policy innovation.

Inactivated H9N2 vaccines developed with early strains do not protect against recent H9N2 viruses:Call for a change in H9N2 control policy

H9N2 virus has been widely distributed in wild birds and poultry around the world since its first emergence in the United States of America in 1966(Gu et al.2017;Carnaccini and Perez 2020).The virus appeared in chickens in China in the early 1990s,and over the last two decades has gradually become the dominant epidemic subtype(Sun and Liu 2015;Bi et al.2020).Although H9N2 virus infection alone cannot cause severe disease or death in poultry,H9N2 virus-infected birds experience a degree of egg production drop and can be easily infected by other pathogens,thus causing economic losses for poultry industry.

Building a Business and Strategic Intelligence Policy as a Strategy for Promoting Congolese Business Progress and Healthy Economic Development in Eastern DRC

The aim of this study was to verify the existence of business and strategic intelligence policies at the level of Congolese companies and at the state level, likely to foster progress and healthy development in the east of the DRC. The study was based on a mixed perspective consisting of objective analysis of quantitative data and interpretative analysis of qualitative data. The results showed that business and strategic intelligence policies have not been established at either company or state level, as this is an area of activity that is not known to the players in companies and public departments, and there are no units or offices in their organizational structures responsible for managing strategic information for competitiveness on the international market. In addition, there is a real need to establish strategic information management units within companies, upstream, and to set up a national strategic information management department or agency to help local companies compete in the marketplace, downstream. This reflects the importance and timeliness of building business and strategic intelligence policies to ensure economic progress and development in the eastern DRC. Business and strategic intelligence provides companies with an appropriate tool for researching, collecting, processing and disseminating information useful for decision-making among stakeholders, in order to cope with a crisis or competitive situation. The study suggests a number of key recommendations based on its findings. To the government, it is recommended to establish the national policy of business and strategic intelligence by setting up a national agency of strategic intelligence in favor of local companies;and to companies to establish business intelligence units in their organizational structures in favor of stakeholders to foster advantageous decision-making in the competitive market and achieve progress. Finally, the study suggests that studies be carried out to fully understand the opportunities and impact of business and strategic intelligence in African countries, particularly in the DRC.

Determination of the best materials for development and designing product using a multi-criteria decision-making

Purpose–Material selection,driven by wide and often conflicting objectives,is an important,sometimes difficult problem in material engineering.In this context,multi-criteria decision-making(MCDM)methodologies are effective.An approach of MCDM is needed to cater to criteria of material assortment simultaneously.More firms are now concerned about increasing their productivity using mathematical tools.To occupy a gap in the previous literature this research recommends an integrated MCDM and mathematical Bi-objective model for the selection of material.In addition,by using the Technique for Order Preference by Similarity to Ideal Solution(TOPSIS),the inherent ambiguities of decision-makers in paired evaluations are considered in this research.It goes on to construct a mathematical bi-objective model for determining the best item to purchase.Design/methodology/approach–The entropy perspective is implemented in this paper to evaluate the weight parameters,while the TOPSIS technique is used to determine the best and worst intermediate pipe materials for automotive exhaust system.The intermediate pipes are used to join the components of the exhaust systems.The materials usually used to manufacture intermediate pipe are SUS 436LM,SUS 430,SUS 304,SUS 436L,SUH 409 L,SUS 441 L and SUS 439L.These seven materials are evaluated based on tensile strength(TS),hardness(H),elongation(E),yield strength(YS)and cost(C).A hybrid methodology combining entropy-based criteria weighting,with the TOPSIS for alternative ranking,is pursued to identify the optimal design material for an engineered application in this paper.This study aims to help while filling the information gap in selecting the most suitable material for use in the exhaust intermediate pipes.After that,the authors searched for and considered eight materials and evaluated them on the following five criteria:(1)TS,(2)YS,(3)H,(4)E and(5)C.The first two criteria have been chosen because they can have a lot of influence on the behavior of the exhaust intermediate pipes,on their performance and on the cost.In this structure,the weights of the criteria are calculated objectively through the entropy method in order to have an unbiased assessment.This essentially measures the quantity of information each criterion contribution,indicating the relative importance of these criteria better.Subsequently,the materials were ranked using the TOPSIS method in terms of their relative performance by measuring each material from an ideal solution to determine the best alternative.The results show that SUS 309,SUS 432L and SUS 436 LM are the first three materials that the exhaust intermediate pipe optimal design should consider.Findings–The material matrix of the decision presented in Table 3 was normalized through Equation 5,as shown in Table 5,and the matrix was multiplied with weighting criteriaß_j.The obtained weighted normalized matrix V_ij is presented in Table 6.However,the ideal,worst and best value was ascertained by employing Equation 7.This study is based on the selection of material for the development of intermediate pipe using MCDM,and it involves four basic stages,i.e.method of translation criteria,screening process,method of ranking and search for methods.The selection was done through the TOPSIS method,and the criteria weight was obtained by the entropy method.The result showed that the top three materials are SUS 309,SUS 432L and SUS 436 LM,respectively.For the future work,it is suggested to select more alternatives and criteria.The comparison can also be done by using different MCDM techniques like and Choice Expressing Reality(ELECTRE),Decision-Making Trial and Evaluation Laboratory(DEMATEL)and Preference Ranking Organization Method for Enrichment Evaluation(PROMETHEE).Originality/value–The results provide important conclusions for material selection in this targeted application,verifying the employment of mutual entropy-TOPSIS methodology for a series of difficult engineering decisions in material engineering concepts that combine superior capacity with better performance as well as cost-efficiency in various engineering design.

Automatic Generation of Attribute-Based Access Control Policies from Natural Language Documents

In response to the challenges of generating Attribute-Based Access Control(ABAC)policies,this paper proposes a deep learning-based method to automatically generate ABAC policies from natural language documents.This method is aimed at organizations such as companies and schools that are transitioning from traditional access control models to the ABAC model.The manual retrieval and analysis involved in this transition are inefficient,prone to errors,and costly.Most organizations have high-level specifications defined for security policies that include a set of access control policies,which often exist in the form of natural language documents.Utilizing this rich source of information,our method effectively identifies and extracts the necessary attributes and rules for access control from natural language documents,thereby constructing and optimizing access control policies.This work transforms the problem of policy automation generation into two tasks:extraction of access control statements andmining of access control attributes.First,the Chat General Language Model(ChatGLM)isemployed to extract access control-related statements from a wide range of natural language documents by constructing unique prompts and leveraging the model’s In-Context Learning to contextualize the statements.Then,the Iterated Dilated-Convolutions-Conditional Random Field(ID-CNN-CRF)model is used to annotate access control attributes within these extracted statements,including subject attributes,object attributes,and action attributes,thus reassembling new access control policies.Experimental results show that our method,compared to baseline methods,achieved the highest F1 score of 0.961,confirming the model’s effectiveness and accuracy.

The Spherical q-Linear Diophantine Fuzzy Multiple-Criteria Group Decision-Making Based on Differential Measure

Spherical q-linearDiophantine fuzzy sets(Sq-LDFSs)provedmore effective for handling uncertainty and vagueness in multi-criteria decision-making(MADM).It does not only cover the data in two variable parameters but is also beneficial for three parametric data.By Pythagorean fuzzy sets,the difference is calculated only between two parameters(membership and non-membership).According to human thoughts,fuzzy data can be found in three parameters(membership uncertainty,and non-membership).So,to make a compromise decision,comparing Sq-LDFSs is essential.Existing measures of different fuzzy sets do,however,can have several flaws that can lead to counterintuitive results.For instance,they treat any increase or decrease in the membership degree as the same as the non-membership degree because the uncertainty does not change,even though each parameter has a different implication.In the Sq-LDFSs comparison,this research develops the differentialmeasure(DFM).Themain goal of the DFM is to cover the unfair arguments that come from treating different types of FSs opposing criteria equally.Due to their relative positions in the attribute space and the similarity of their membership and non-membership degrees,two Sq-LDFSs formthis preference connectionwhen the uncertainty remains same in both sets.According to the degree of superiority or inferiority,two Sq-LDFSs are shown as identical,equivalent,superior,or inferior over one another.The suggested DFM’s fundamental characteristics are provided.Based on the newly developed DFM,a unique approach tomultiple criterion group decision-making is offered.Our suggestedmethod verifies the novel way of calculating the expert weights for Sq-LDFSS as in PFSs.Our proposed technique in three parameters is applied to evaluate solid-state drives and choose the optimum photovoltaic cell in two applications by taking uncertainty parameter zero.The method’s applicability and validity shown by the findings are contrasted with those obtained using various other existing approaches.To assess its stability and usefulness,a sensitivity analysis is done.

A quantitative study of disruptive technology policy texts:An example of China’s artificial intelligence policy

Purpose:The transformative impact of disruptive technologies on the restructuring of the times has attracted widespread global attention.This study aims to analyze the characteristics and shortcomings of China’s artificial intelligence(AI)disruptive technology policy,and to put forward suggestions for optimizing China’s AI disruptive technology policy.Design/methodology/approach:Develop a three-dimensional analytical framework for“policy tools-policy actors-policy themes”and apply policy tools,social network analysis,and LDA topic model to conduct a comprehensive analysis of the utilization of policy tools,cooperative relationships among policy actors,and the trends in policy theme settings within China’s innovative AI technology policy.Findings:We find that the collaborative relationship among the policy actors of AI disruptive technology in China is insufficiently close.Marginal subjects exhibit low participation in the cooperation network and overly rely on central subjects,forming a“center-periphery”network structure.Policy tool usage is predominantly focused on supply and environmental types,with a severe inadequacy in demand-side policy tool utilization.Policy themes are diverse,encompassing topics such as“Intelligent Services”“Talent Cultivation”“Information Security”and“Technological Innovation”,which will remain focal points.Under the themes of“Intelligent Services”and“Intelligent Governance”,policy tool usage is relatively balanced,with close collaboration among policy entities.However,the theme of“AI Theoretical System”lacks a comprehensive understanding of tool usage and necessitates enhanced cooperation with other policy entities.Research limitations:The data sources and experimental scope are subject to certain limitations,potentially introducing biases and imperfections into the research results,necessitating further validation and refinement.Practical implications:The study introduces a three-dimensional analysis framework for disruptive technology policy texts,which is significant for formulating and enhancing disruptive technology policies.Originality/value:This study utilizes text mining and content analysis techniques to quantitatively analyze disruptive technology policy texts.It systematically evaluates China’s AI policies quantitatively,focusing on policy tools,policy actors,policy themes.The study uncovers the characteristics and deficiencies of current AI policies,offering recommendations for formulating and enhancing disruptive technology policies.

Enhancing Cybersecurity Competency in the Kingdom of Saudi Arabia:A Fuzzy Decision-Making Approach

The Kingdom of Saudi Arabia(KSA)has achieved significant milestones in cybersecurity.KSA has maintained solid regulatorymechanisms to prevent,trace,and punish offenders to protect the interests of both individual users and organizations from the online threats of data poaching and pilferage.The widespread usage of Information Technology(IT)and IT Enable Services(ITES)reinforces securitymeasures.The constantly evolving cyber threats are a topic that is generating a lot of discussion.In this league,the present article enlists a broad perspective on how cybercrime is developing in KSA at present and also takes a look at some of the most significant attacks that have taken place in the region.The existing legislative framework and measures in the KSA are geared toward deterring criminal activity online.Different competency models have been devised to address the necessary cybercrime competencies in this context.The research specialists in this domain can benefit more by developing a master competency level for achieving optimum security.To address this research query,the present assessment uses the Fuzzy Decision-Making Trial and Evaluation Laboratory(Fuzzy-DMTAEL),Fuzzy Analytic Hierarchy Process(F.AHP),and Fuzzy TOPSIS methodology to achieve segment-wise competency development in cyber security policy.The similarities and differences between the three methods are also discussed.This cybersecurity analysis determined that the National Cyber Security Centre got the highest priority.The study concludes by perusing the challenges that still need to be examined and resolved in effectuating more credible and efficacious online security mechanisms to offer amoreempowered ITES-driven economy for SaudiArabia.Moreover,cybersecurity specialists and policymakers need to collate their efforts to protect the country’s digital assets in the era of overt and covert cyber warfare.

Mapping Climate Services for Disaster Risk Management: A Systematic Review and Research Gaps from a Policy Process Perspective

Climate services (CS) are crucial for mitigating and managing the impacts and risks associated with climate-induced disasters. While evidence over the past decade underscores their effectiveness across various domains, particularly agriculture, to maximize their potential, it is crucial to identify emerging priority areas and existing research gaps for future research agendas. As a contribution to this effort, this paper employs the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) methodology to review the state-of-the-art in the field of climate services for disaster risk management. A comprehensive search across five literature databases combined with a snowball search method using ResearchRabbit was conducted and yielded 242 peer-reviewed articles, book sections, and reports over 2013-2023 after the screening process. The analysis revealed flood, drought, and food insecurity as major climate-related disasters addressed in the reviewed literature. Major climate services addressed included early warning systems, (sub)seasonal forecasts and impact-based warnings. Grounded in the policy processes’ theoretical perspective, the main focus identified and discussed three prevailing policy-oriented priority areas: 1) development of climate services, 2) use-adoption-uptake, and 3) evaluation of climate services. In response to the limitations of the prevalent supply-driven and top-down approach to climate services promotion, co-production emerges as a cross-cutting critical aspect of the identified priority areas. Despite the extensive research in the field, more attention is needed, particularly pronounced in the science-policy interface perspective, which in practice bridges scientific knowledge and policy decisions for effective policy processes. This perspective offers a valuable analytical lens as an entry point for further investigation. Hence, future research agendas would generate insightful evidence by scrutinizing this critical aspect given its importance to institutions and climate services capacity, to better understand intricate facets of the development and the integration of climate services into disaster risk management.

A NovelMethod for Determining Tourism Carrying Capacity in a Decision-Making Context Using q−Rung Orthopair Fuzzy Hypersoft Environment

Tourism is a popular activity that allows individuals to escape their daily routines and explore new destinations for various reasons,including leisure,pleasure,or business.A recent study has proposed a unique mathematical concept called a q−Rung orthopair fuzzy hypersoft set(q−ROFHS)to enhance the formal representation of human thought processes and evaluate tourism carrying capacity.This approach can capture the imprecision and ambiguity often present in human perception.With the advanced mathematical tools in this field,the study has also incorporated the Einstein aggregation operator and score function into the q−ROFHS values to supportmultiattribute decision-making algorithms.By implementing this technique,effective plans can be developed for social and economic development while avoiding detrimental effects such as overcrowding or environmental damage caused by tourism.A case study of selected tourism carrying capacity will demonstrate the proposed methodology.

UAV maneuvering decision-making algorithm based on deep reinforcement learning under the guidance of expert experience

Autonomous umanned aerial vehicle(UAV) manipulation is necessary for the defense department to execute tactical missions given by commanders in the future unmanned battlefield. A large amount of research has been devoted to improving the autonomous decision-making ability of UAV in an interactive environment, where finding the optimal maneuvering decisionmaking policy became one of the key issues for enabling the intelligence of UAV. In this paper, we propose a maneuvering decision-making algorithm for autonomous air-delivery based on deep reinforcement learning under the guidance of expert experience. Specifically, we refine the guidance towards area and guidance towards specific point tasks for the air-delivery process based on the traditional air-to-surface fire control methods.Moreover, we construct the UAV maneuvering decision-making model based on Markov decision processes(MDPs). Specifically, we present a reward shaping method for the guidance towards area and guidance towards specific point tasks using potential-based function and expert-guided advice. The proposed algorithm could accelerate the convergence of the maneuvering decision-making policy and increase the stability of the policy in terms of the output during the later stage of training process. The effectiveness of the proposed maneuvering decision-making policy is illustrated by the curves of training parameters and extensive experimental results for testing the trained policy.