{"id":"https://openalex.org/W4399100970","doi":"https://doi.org/10.1155/2024/5114696","title":"Enhanced Multi-UAV Path Planning in Complex Environments With Voronoi-Based Obstacle Modelling and Q-Learning","display_name":"Enhanced Multi-UAV Path Planning in Complex Environments With Voronoi-Based Obstacle Modelling and Q-Learning","publication_year":2024,"publication_date":"2024-05-27","ids":{"openalex":"https://openalex.org/W4399100970","doi":"https://doi.org/10.1155/2024/5114696"},"language":"en","primary_location":{"id":"doi:10.1155/2024/5114696","doi":"https://doi.org/10.1155/2024/5114696","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2024/5114696","pdf_url":null,"source":{"id":"https://openalex.org/S75380005","display_name":"International Journal of Aerospace Engineering","issn_l":"1687-5966","issn":["1687-5966","1687-5974"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","jufo-1","ki-jl-1","norway-1","poland-40","russia-white-list-2"],"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Aerospace Engineering","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1155/2024/5114696","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102678058","display_name":"Wenjia Su","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjia Su","raw_affiliation_strings":["Shijiazhuang Campus, Army Engineering University of PLA, Shijiazhuang, Hebei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shijiazhuang Campus, Army Engineering University of PLA, Shijiazhuang, Hebei, China","institution_ids":["https://openalex.org/I4210163363"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067876418","display_name":"Min Jie Gao","orcid":"https://orcid.org/0000-0002-5100-8243","observed_orcids":["https://orcid.org/0000-0002-5100-8243"]},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Gao","raw_affiliation_strings":["Shijiazhuang Campus, Army Engineering University of PLA, Shijiazhuang, Hebei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shijiazhuang Campus, Army Engineering University of PLA, Shijiazhuang, Hebei, China","institution_ids":["https://openalex.org/I4210163363"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109363590","display_name":"Xinbao Gao","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinbao Gao","raw_affiliation_strings":["Shijiazhuang Campus, Army Engineering University of PLA, Shijiazhuang, Hebei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shijiazhuang Campus, Army Engineering University of PLA, Shijiazhuang, Hebei, China","institution_ids":["https://openalex.org/I4210163363"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090124182","display_name":"Zhaolong Xuan","orcid":"https://orcid.org/0000-0001-5169-8574","observed_orcids":["https://orcid.org/0000-0001-5169-8574"]},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaolong Xuan","raw_affiliation_strings":["Shijiazhuang Campus, Army Engineering University of PLA, Shijiazhuang, Hebei, China"],"raw_orcid":"https://orcid.org/0000-0001-5169-8574","affiliations":[{"raw_affiliation_string":"Shijiazhuang Campus, Army Engineering University of PLA, Shijiazhuang, Hebei, China","institution_ids":["https://openalex.org/I4210163363"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210163363"],"apc_list":{"value":2450,"currency":"USD","value_usd":2450},"apc_paid":{"value":2450,"currency":"USD","value_usd":2450},"fwci":2.2592,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.88180407,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":99},"biblio":{"volume":"2024","issue":null,"first_page":"1","last_page":"14"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.0003000000142492354,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/multi-uav-path-planning","display_name":"multi-UAV path planning","score":0.9919999837875366},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"obstacle avoidance","score":0.9739999771118164},{"id":"https://openalex.org/keywords/voronoi-graph","display_name":"Voronoi graph","score":0.9380000233650208},{"id":"https://openalex.org/keywords/q-learning","display_name":"Q-learning","score":0.9200000166893005},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.9539999961853027},{"id":"https://openalex.org/keywords/collision-free-trajectory-generation","display_name":"collision-free trajectory generation","score":0.5720000267028809},{"id":"https://openalex.org/keywords/complex-environments","display_name":"complex environments","score":0.5419999957084656},{"id":"https://openalex.org/keywords/multi-uav-coordination","display_name":"multi-UAV coordination","score":0.5479999780654907}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.9119597673416138},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.8606095314025879},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7243987321853638},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6826518177986145},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5221686363220215},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4483540952205658},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3709031939506531},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.33782750368118286},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.26067978143692017},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.254264771938324},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19731920957565308},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11334243416786194},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10970816016197205},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09195280075073242},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.06610330939292908},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1155/2024/5114696","doi":"https://doi.org/10.1155/2024/5114696","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2024/5114696","pdf_url":null,"source":{"id":"https://openalex.org/S75380005","display_name":"International Journal of Aerospace Engineering","issn_l":"1687-5966","issn":["1687-5966","1687-5974"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","jufo-1","ki-jl-1","norway-1","poland-40","russia-white-list-2"],"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Aerospace Engineering","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:eec8bb3400d54a0f8a8ef698877dcfee","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/eec8bb3400d54a0f8a8ef698877dcfee","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Journal of Aerospace Engineering, Vol 2024 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2024/5114696","doi":"https://doi.org/10.1155/2024/5114696","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2024/5114696","pdf_url":null,"source":{"id":"https://openalex.org/S75380005","display_name":"International Journal of Aerospace Engineering","issn_l":"1687-5966","issn":["1687-5966","1687-5974"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","jufo-1","ki-jl-1","norway-1","poland-40","russia-white-list-2"],"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Aerospace Engineering","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1993117421","https://openalex.org/W2954066513","https://openalex.org/W2981460880","https://openalex.org/W2997061791","https://openalex.org/W2997139301","https://openalex.org/W2999840070","https://openalex.org/W3008387910","https://openalex.org/W3020860072","https://openalex.org/W3037146998","https://openalex.org/W3080438499","https://openalex.org/W3135798356","https://openalex.org/W3210448484","https://openalex.org/W3211807234","https://openalex.org/W4383500888","https://openalex.org/W4387952116","https://openalex.org/W4390770651"],"related_works":["https://openalex.org/W4414203623","https://openalex.org/W4400365513","https://openalex.org/W4323768102","https://openalex.org/W7220945513","https://openalex.org/W4386269701","https://openalex.org/W4389618444","https://openalex.org/W2565072512","https://openalex.org/W4415445264","https://openalex.org/W4386821644","https://openalex.org/W7134898931"],"abstract_inverted_index":{"To":[0],"tackle":[1],"the":[2,27,50,54,58,64,78,85,100,109,124],"challenge":[3],"of":[4,53,66,93,111],"obstacle":[5,68],"avoidance":[6,69],"path":[7,40],"planning":[8],"for":[9,37,71,82,90,114,140],"multiple":[10,115],"unmanned":[11],"aerial":[12],"vehicles":[13],"(UAVs)":[14],"in":[15,74,127,145],"intricate":[16],"environments,":[17],"this":[18],"study":[19],"introduces":[20],"a":[21,32,91,137],"Voronoi":[22],"graph\u2013based":[23],"model":[24],"to":[25],"represent":[26],"obstacle-laden":[28],"environment":[29],"and":[30,56,60],"employs":[31],"Markov":[33],"decision":[34],"process":[35],"(MDP)":[36],"single":[38,83],"UAV":[39,142],"planning.":[41],"The":[42,133],"traditional":[43],"Q-learning":[44,80],"algorithm":[45,81],"is":[46,87],"enhanced":[47],"by":[48,103,119],"adjusting":[49],"initial":[51],"state":[52],"Q-table":[55,86],"fine-tuning":[57],"reward":[59],"penalty":[61],"values,":[62],"enabling":[63],"acquisition":[65],"efficient":[67],"paths":[70,113],"individual":[72],"UAVs":[73],"complex":[75,146],"settings.":[76],"Leveraging":[77],"improved":[79],"UAVs,":[84,94,116],"iteratively":[88],"refined":[89],"fleet":[92],"with":[95],"dynamic":[96],"modifications":[97],"based":[98],"on":[99],"waypoints":[101],"chosen":[102],"each":[104],"UAV.":[105],"This":[106],"approach":[107],"ensures":[108],"generation":[110,144],"collision-free":[112],"as":[117],"validated":[118],"simulation":[120],"results":[121],"that":[122],"showcase":[123],"algorithm\u2019s":[125],"effectiveness":[126],"learning":[128],"from":[129],"past":[130],"training":[131],"data.":[132],"proposed":[134],"method":[135],"offers":[136],"robust":[138],"framework":[139],"practical":[141],"trajectory":[143],"environments.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":1}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2024-05-29T00:00:00"}