{"id":"https://openalex.org/W7160957933","doi":"https://doi.org/10.1007/s11370-026-00712-7","title":"A modified double DQN for UAV path planning: dynamic reward shaping and heuristic-guided tie-breaking","display_name":"A modified double DQN for UAV path planning: dynamic reward shaping and heuristic-guided tie-breaking","publication_year":2026,"publication_date":"2026-05-12","ids":{"openalex":"https://openalex.org/W7160957933","doi":"https://doi.org/10.1007/s11370-026-00712-7"},"language":"en","primary_location":{"id":"doi:10.1007/s11370-026-00712-7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11370-026-00712-7","pdf_url":null,"source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081114803","display_name":"Ghulam Farid","orcid":"https://orcid.org/0000-0002-8895-4460"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]},{"id":"https://openalex.org/I16076960","display_name":"COMSATS University Islamabad","ror":"https://ror.org/00nqqvk19","country_code":"PK","type":"education","lineage":["https://openalex.org/I16076960"]}],"countries":["CN","PK"],"is_corresponding":true,"raw_author_name":"Ghulam Farid","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, 150000, China","Department of Electrical Engineering, Comsats University Islamabad, Sahiwal Campus, Sahiwal, 57000, Pakistan"],"raw_orcid":"https://orcid.org/0000-0002-8895-4460","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, 150000, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"Department of Electrical Engineering, Comsats University Islamabad, Sahiwal Campus, Sahiwal, 57000, Pakistan","institution_ids":["https://openalex.org/I16076960"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074004119","display_name":"Lanyong Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lanyong Zhang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, 150000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, 150000, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135928639","display_name":"Ishaq Ahmed","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ishaq Ahmed","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, 150000, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, 150000, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101969432","display_name":"Muhammad Usman","orcid":"https://orcid.org/0000-0003-2165-4575"},"institutions":[{"id":"https://openalex.org/I16076960","display_name":"COMSATS University Islamabad","ror":"https://ror.org/00nqqvk19","country_code":"PK","type":"education","lineage":["https://openalex.org/I16076960"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Muhammad Usman","raw_affiliation_strings":["Department of Computer Science, Comsats University Islamabad, Sahiwal Campus, Sahiwal, 57000, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Comsats University Islamabad, Sahiwal Campus, Sahiwal, 57000, Pakistan","institution_ids":["https://openalex.org/I16076960"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104218229","display_name":"Asma Iqbal","orcid":null},"institutions":[{"id":"https://openalex.org/I16076960","display_name":"COMSATS University Islamabad","ror":"https://ror.org/00nqqvk19","country_code":"PK","type":"education","lineage":["https://openalex.org/I16076960"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Asma Iqbal","raw_affiliation_strings":["Department of Computer Science, Comsats University Islamabad, Sahiwal Campus, Sahiwal, 57000, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Comsats University Islamabad, Sahiwal Campus, Sahiwal, 57000, Pakistan","institution_ids":["https://openalex.org/I16076960"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002848102","display_name":"Talha Younas","orcid":"https://orcid.org/0000-0002-7224-0551"},"institutions":[{"id":"https://openalex.org/I16076960","display_name":"COMSATS University Islamabad","ror":"https://ror.org/00nqqvk19","country_code":"PK","type":"education","lineage":["https://openalex.org/I16076960"]}],"countries":["PK"],"is_corresponding":false,"raw_author_name":"Talha Younas","raw_affiliation_strings":["Department of Electrical Engineering, Comsats University Islamabad, Sahiwal Campus, Sahiwal, 57000, Pakistan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Comsats University Islamabad, Sahiwal Campus, Sahiwal, 57000, Pakistan","institution_ids":["https://openalex.org/I16076960"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5081114803"],"corresponding_institution_ids":["https://openalex.org/I151727225","https://openalex.org/I16076960"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.58882076,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"19","issue":"4","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.4277999997138977,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.4277999997138977,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.3702999949455261,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.02710000053048134,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7730000019073486},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6518999934196472},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6220999956130981},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5896999835968018},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5669000148773193},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5217000246047974},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.47119998931884766}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8686000108718872},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7730000019073486},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6518999934196472},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6220999956130981},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5896999835968018},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5669000148773193},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5217000246047974},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.47119998931884766},{"id":"https://openalex.org/C120174047","wikidata":"https://www.wikidata.org/wiki/Q847073","display_name":"Euclidean distance","level":2,"score":0.4643000066280365},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.39239999651908875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3792000114917755},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36730000376701355},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.2953999936580658},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2867000102996826},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.28529998660087585},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.271699994802475},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2685000002384186},{"id":"https://openalex.org/C129782007","wikidata":"https://www.wikidata.org/wiki/Q162886","display_name":"Euclidean geometry","level":2,"score":0.25760000944137573},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s11370-026-00712-7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11370-026-00712-7","pdf_url":null,"source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2145339207","https://openalex.org/W2162991084","https://openalex.org/W2257979135","https://openalex.org/W2746553466","https://openalex.org/W2790501938","https://openalex.org/W2808096922","https://openalex.org/W2904977584","https://openalex.org/W2920411975","https://openalex.org/W2971171421","https://openalex.org/W2971481292","https://openalex.org/W3107882649","https://openalex.org/W3119164649","https://openalex.org/W3184778858","https://openalex.org/W4200118636","https://openalex.org/W4281671899","https://openalex.org/W4282836858","https://openalex.org/W4304118970","https://openalex.org/W4313328335","https://openalex.org/W4313413234","https://openalex.org/W4318483688","https://openalex.org/W4318677029","https://openalex.org/W4362637420","https://openalex.org/W4367665843","https://openalex.org/W4376623222","https://openalex.org/W4382930158","https://openalex.org/W4387662490","https://openalex.org/W4408362165","https://openalex.org/W4408718067","https://openalex.org/W4410280059","https://openalex.org/W4410438635","https://openalex.org/W4411174824","https://openalex.org/W4412048289","https://openalex.org/W4412602619","https://openalex.org/W4414002163"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-05-13T00:00:00"}