Yan, H., M. A. Zohdy, A. Shaout, and A. Mahmoud. “Recurrent Proximal Policy Optimization Based Tractor-Trailer Wheeled Robot Automatic Parking Algorithm”. Transactions on Engineering and Computing Sciences, vol. 11, no. 4, Aug. 2023, pp. 124-42, doi:10.14738/tecs.114.15355.