{"id":"https://openalex.org/W4284964448","doi":"https://doi.org/10.1109/eucnc/6gsummit54941.2022.9815722","title":"A Learning-Based Trajectory Planning of Multiple UAVs for AoI Minimization in IoT Networks","display_name":"A Learning-Based Trajectory Planning of Multiple UAVs for AoI Minimization in IoT Networks","publication_year":2022,"publication_date":"2022-06-07","ids":{"openalex":"https://openalex.org/W4284964448","doi":"https://doi.org/10.1109/eucnc/6gsummit54941.2022.9815722"},"language":"en","primary_location":{"id":"doi:10.1109/eucnc/6gsummit54941.2022.9815722","is_oa":false,"landing_page_url":"https://doi.org/10.1109/eucnc/6gsummit54941.2022.9815722","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 Joint European Conference on Networks and Communications & 6G Summit (EuCNC/6G Summit)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2209.09206","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017608924","display_name":"Eslam Eldeeb","orcid":"https://orcid.org/0000-0002-6322-2036"},"institutions":[{"id":"https://openalex.org/I98381234","display_name":"University of Oulu","ror":"https://ror.org/03yj89h83","country_code":"FI","type":"education","lineage":["https://openalex.org/I98381234"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Eslam Eldeeb","raw_affiliation_strings":["University of Oulu,Centre for Wireless Communications (CWC),Finland","Centre for Wireless Communications (CWC), University of Oulu, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oulu,Centre for Wireless Communications (CWC),Finland","institution_ids":["https://openalex.org/I98381234"]},{"raw_affiliation_string":"Centre for Wireless Communications (CWC), University of Oulu, Finland","institution_ids":["https://openalex.org/I98381234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069023974","display_name":"Dian Echevarr\u00eda P\u00e9rez","orcid":"https://orcid.org/0000-0001-8297-6012"},"institutions":[{"id":"https://openalex.org/I98381234","display_name":"University of Oulu","ror":"https://ror.org/03yj89h83","country_code":"FI","type":"education","lineage":["https://openalex.org/I98381234"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Dian Echevarria Perez","raw_affiliation_strings":["University of Oulu,Centre for Wireless Communications (CWC),Finland","Centre for Wireless Communications (CWC), University of Oulu, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oulu,Centre for Wireless Communications (CWC),Finland","institution_ids":["https://openalex.org/I98381234"]},{"raw_affiliation_string":"Centre for Wireless Communications (CWC), University of Oulu, Finland","institution_ids":["https://openalex.org/I98381234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086226570","display_name":"Jean Michel de Souza Sant\u2019Ana","orcid":"https://orcid.org/0000-0001-6996-5431"},"institutions":[{"id":"https://openalex.org/I98381234","display_name":"University of Oulu","ror":"https://ror.org/03yj89h83","country_code":"FI","type":"education","lineage":["https://openalex.org/I98381234"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jean Michel de Souza Sant'Ana","raw_affiliation_strings":["University of Oulu,Centre for Wireless Communications (CWC),Finland","Centre for Wireless Communications (CWC), University of Oulu, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oulu,Centre for Wireless Communications (CWC),Finland","institution_ids":["https://openalex.org/I98381234"]},{"raw_affiliation_string":"Centre for Wireless Communications (CWC), University of Oulu, Finland","institution_ids":["https://openalex.org/I98381234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087038487","display_name":"Mohammad Shehab","orcid":null},"institutions":[{"id":"https://openalex.org/I98381234","display_name":"University of Oulu","ror":"https://ror.org/03yj89h83","country_code":"FI","type":"education","lineage":["https://openalex.org/I98381234"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Mohammad Shehab","raw_affiliation_strings":["University of Oulu,Centre for Wireless Communications (CWC),Finland","Centre for Wireless Communications (CWC), University of Oulu, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oulu,Centre for Wireless Communications (CWC),Finland","institution_ids":["https://openalex.org/I98381234"]},{"raw_affiliation_string":"Centre for Wireless Communications (CWC), University of Oulu, Finland","institution_ids":["https://openalex.org/I98381234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011675848","display_name":"Nurul Huda Mahmood","orcid":"https://orcid.org/0000-0002-1478-2272"},"institutions":[{"id":"https://openalex.org/I98381234","display_name":"University of Oulu","ror":"https://ror.org/03yj89h83","country_code":"FI","type":"education","lineage":["https://openalex.org/I98381234"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Nurul Huda Mahmood","raw_affiliation_strings":["University of Oulu,Centre for Wireless Communications (CWC),Finland","Centre for Wireless Communications (CWC), University of Oulu, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oulu,Centre for Wireless Communications (CWC),Finland","institution_ids":["https://openalex.org/I98381234"]},{"raw_affiliation_string":"Centre for Wireless Communications (CWC), University of Oulu, Finland","institution_ids":["https://openalex.org/I98381234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040878028","display_name":"Hirley Alves","orcid":"https://orcid.org/0000-0002-8689-5313"},"institutions":[{"id":"https://openalex.org/I98381234","display_name":"University of Oulu","ror":"https://ror.org/03yj89h83","country_code":"FI","type":"education","lineage":["https://openalex.org/I98381234"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Hirley Alves","raw_affiliation_strings":["University of Oulu,Centre for Wireless Communications (CWC),Finland","Centre for Wireless Communications (CWC), University of Oulu, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oulu,Centre for Wireless Communications (CWC),Finland","institution_ids":["https://openalex.org/I98381234"]},{"raw_affiliation_string":"Centre for Wireless Communications (CWC), University of Oulu, Finland","institution_ids":["https://openalex.org/I98381234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035872239","display_name":"Matti Latva\u2010aho","orcid":"https://orcid.org/0000-0002-6261-0969"},"institutions":[{"id":"https://openalex.org/I98381234","display_name":"University of Oulu","ror":"https://ror.org/03yj89h83","country_code":"FI","type":"education","lineage":["https://openalex.org/I98381234"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Matti Latva-Aho","raw_affiliation_strings":["University of Oulu,Centre for Wireless Communications (CWC),Finland","Centre for Wireless Communications (CWC), University of Oulu, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Oulu,Centre for Wireless Communications (CWC),Finland","institution_ids":["https://openalex.org/I98381234"]},{"raw_affiliation_string":"Centre for Wireless Communications (CWC), University of Oulu, Finland","institution_ids":["https://openalex.org/I98381234"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98381234"],"apc_list":null,"apc_paid":null,"fwci":13.2191,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.99105418,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"172","last_page":"177"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T13553","display_name":"Age of Information Optimization","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/trajectory","display_name":"Trajectory","score":0.7992120981216431},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7245898246765137},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.7093135714530945},{"id":"https://openalex.org/keywords/internet-of-things","display_name":"Internet of Things","score":0.5711179971694946},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4895711839199066},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4757390022277832},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45255720615386963},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.32730284333229065},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.18637359142303467},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15785080194473267}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7992120981216431},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7245898246765137},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.7093135714530945},{"id":"https://openalex.org/C81860439","wikidata":"https://www.wikidata.org/wiki/Q251212","display_name":"Internet of Things","level":2,"score":0.5711179971694946},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4895711839199066},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4757390022277832},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45255720615386963},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32730284333229065},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.18637359142303467},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15785080194473267},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/eucnc/6gsummit54941.2022.9815722","is_oa":false,"landing_page_url":"https://doi.org/10.1109/eucnc/6gsummit54941.2022.9815722","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 Joint European Conference on Networks and Communications & 6G Summit (EuCNC/6G Summit)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2209.09206","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2209.09206","pdf_url":"https://arxiv.org/pdf/2209.09206","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:oulu.fi:nbnfi-fe2022082556319","is_oa":false,"landing_page_url":"http://urn.fi/urn:nbn:fi-fe2022082556319","pdf_url":null,"source":{"id":"https://openalex.org/S4306400284","display_name":"University of Oulu Repository (University of Oulu)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98381234","host_organization_name":"University of Oulu","host_organization_lineage":["https://openalex.org/I98381234"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:zenodo.org:7342352","is_oa":true,"landing_page_url":"https://doi.org/10.1109/EuCNC/6GSummit54941.2022.9815722","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2209.09206","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2209.09206","pdf_url":"https://arxiv.org/pdf/2209.09206","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320321108","display_name":"Academy of Finland","ror":"https://ror.org/05k73zm37"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2145339207","https://openalex.org/W2744362103","https://openalex.org/W2962691117","https://openalex.org/W2963270598","https://openalex.org/W2964023906","https://openalex.org/W2971038916","https://openalex.org/W2996110936","https://openalex.org/W2996238281","https://openalex.org/W3007091509","https://openalex.org/W3045471271","https://openalex.org/W3046016465","https://openalex.org/W3048386157","https://openalex.org/W3100789280","https://openalex.org/W3203778212"],"related_works":["https://openalex.org/W4245926026","https://openalex.org/W4311097251","https://openalex.org/W2586548817","https://openalex.org/W2625093826","https://openalex.org/W2950174689","https://openalex.org/W4200598720","https://openalex.org/W2921026492","https://openalex.org/W4247463117","https://openalex.org/W1941703695","https://openalex.org/W4361251261"],"abstract_inverted_index":{"Many":[0],"emerging":[1],"Internet":[2],"of":[3,17,24,37,49,89],"Things":[4],"(IoT)":[5],"applications":[6],"rely":[7],"on":[8],"information":[9,18,32,40,98],"collected":[10],"by":[11,166],"sensor":[12],"nodes":[13,66],"where":[14,56],"the":[15,35,38,68,71,82,87,90,96,100,137,155,163,179],"freshness":[16,36],"is":[19,27,103,112,144],"an":[20,53,76],"important":[21],"criterion.":[22],"Age":[23],"Information":[25],"(AoI)":[26],"a":[28,47,116,126,132,151],"metric":[29],"that":[30,95],"quantifies":[31],"timeliness,":[33],"i.e.,":[34],"received":[39,91,97],"or":[41],"status":[42],"update.":[43],"This":[44,93],"work":[45],"considers":[46],"setup":[48],"deployed":[50],"sensors":[51,69],"in":[52,150],"IoT":[54],"network,":[55],"multiple":[57],"unmanned":[58],"aerial":[59],"vehicles":[60],"(UAVs)":[61],"serve":[62],"as":[63,104,106,131],"mobile":[64],"relay":[65],"between":[67],"and":[70,148,169],"base":[72,101],"station.":[73],"We":[74],"formulate":[75],"optimization":[77,110],"problem":[78,111],"to":[79,135,146,172,178],"jointly":[80],"plan":[81],"UAVs\u2019":[83],"trajectory,":[84],"while":[85],"minimizing":[86],"AoI":[88,153],"messages.":[92],"ensures":[94],"at":[99],"station":[102],"fresh":[105],"possible.":[107],"The":[108,141],"complex":[109],"efficiently":[113],"solved":[114],"using":[115],"deep":[117,127],"reinforcement":[118],"learning":[119],"(DRL)":[120],"algorithm.":[121],"In":[122],"particular,":[123],"we":[124],"propose":[125],"Q-network,":[128],"which":[129],"works":[130],"function":[133],"approximation":[134],"estimate":[136],"state-action":[138],"value":[139],"function.":[140],"proposed":[142,160],"scheme":[143],"quick":[145],"converge":[147],"results":[149],"lower":[152],"than":[154],"random":[156],"walk":[157],"scheme.":[158,181],"Our":[159],"algorithm":[161],"reduces":[162],"average":[164],"age":[165],"approximately":[167],"25%":[168],"requires":[170],"down":[171],"50%":[173],"less":[174],"energy":[175],"when":[176],"compared":[177],"baseline":[180]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}