{"id":"https://openalex.org/W3093365091","doi":"https://doi.org/10.1109/icar53236.2021.9659413","title":"UAV Path Planning using Global and Local Map Information with Deep Reinforcement Learning","display_name":"UAV Path Planning using Global and Local Map Information with Deep Reinforcement Learning","publication_year":2021,"publication_date":"2021-12-06","ids":{"openalex":"https://openalex.org/W3093365091","doi":"https://doi.org/10.1109/icar53236.2021.9659413","mag":"3093365091"},"language":"en","primary_location":{"id":"doi:10.1109/icar53236.2021.9659413","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659413","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2010.06917","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001116971","display_name":"Mirco Theile","orcid":"https://orcid.org/0000-0003-1574-8858"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Mirco Theile","raw_affiliation_strings":["TUM School of Engineering and Design, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049072850","display_name":"Harald Bayerlein","orcid":"https://orcid.org/0000-0002-1851-9455"},"institutions":[{"id":"https://openalex.org/I1902872","display_name":"EURECOM","ror":"https://ror.org/00sse7z02","country_code":"FR","type":"education","lineage":["https://openalex.org/I1902872","https://openalex.org/I205703379"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Harald Bayerlein","raw_affiliation_strings":["Communication Systems Department, EURECOM, Sophia Antipolis, France"],"affiliations":[{"raw_affiliation_string":"Communication Systems Department, EURECOM, Sophia Antipolis, France","institution_ids":["https://openalex.org/I1902872"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073278211","display_name":"Richard Nai","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Richard Nai","raw_affiliation_strings":["TUM School of Engineering and Design, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021728919","display_name":"David Gesbert","orcid":"https://orcid.org/0000-0002-4806-704X"},"institutions":[{"id":"https://openalex.org/I1902872","display_name":"EURECOM","ror":"https://ror.org/00sse7z02","country_code":"FR","type":"education","lineage":["https://openalex.org/I1902872","https://openalex.org/I205703379"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"David Gesbert","raw_affiliation_strings":["Communication Systems Department, EURECOM, Sophia Antipolis, France"],"affiliations":[{"raw_affiliation_string":"Communication Systems Department, EURECOM, Sophia Antipolis, France","institution_ids":["https://openalex.org/I1902872"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060442004","display_name":"Marco Caccamo","orcid":"https://orcid.org/0000-0003-2328-044X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marco Caccamo","raw_affiliation_strings":["TUM School of Engineering and Design, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5001116971"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":25.4213,"has_fulltext":false,"cited_by_count":62,"citation_normalized_percentile":{"value":0.99811348,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"539","last_page":"546"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9997000098228455,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.996999979019165,"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/motion-planning","display_name":"Motion planning","score":0.787523627281189},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7607529163360596},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7375823855400085},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5154531598091125},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.49471327662467957},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4719661474227905},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.4471936523914337},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.32666778564453125},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23287290334701538},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.11846983432769775}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.787523627281189},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7607529163360596},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7375823855400085},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5154531598091125},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.49471327662467957},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4719661474227905},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.4471936523914337},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32666778564453125},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23287290334701538},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11846983432769775}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icar53236.2021.9659413","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659413","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2010.06917","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.06917","pdf_url":"https://arxiv.org/pdf/2010.06917","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2010.06917","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.06917","pdf_url":"https://arxiv.org/pdf/2010.06917","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":[{"score":0.5,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2109910161","https://openalex.org/W2155968351","https://openalex.org/W2168359464","https://openalex.org/W2746553466","https://openalex.org/W2772721022","https://openalex.org/W2811185140","https://openalex.org/W2896720518","https://openalex.org/W2906764419","https://openalex.org/W2963133483","https://openalex.org/W2963287938","https://openalex.org/W2970920473","https://openalex.org/W2975791276","https://openalex.org/W2986600625","https://openalex.org/W2994008524","https://openalex.org/W3009073199","https://openalex.org/W3009674568","https://openalex.org/W3040199322","https://openalex.org/W3045954501","https://openalex.org/W3124801690","https://openalex.org/W3126413449","https://openalex.org/W4304173888","https://openalex.org/W6779464568"],"related_works":["https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W3154539612","https://openalex.org/W4200375115","https://openalex.org/W3127910648"],"abstract_inverted_index":{"Path":[0],"planning":[1,27,50,186],"methods":[2],"for":[3,12,23,161],"autonomous":[4,24],"unmanned":[5],"aerial":[6],"vehicles":[7],"(UAVs)":[8],"are":[9],"typically":[10],"designed":[11],"one":[13],"specific":[14],"type":[15],"of":[16,42,61,75,85,126,140,178],"mission.":[17],"This":[18],"work":[19],"presents":[20],"a":[21,39,118,122,131,175],"method":[22,149],"UAV":[25,69,142],"path":[26,49,185],"based":[28],"on":[29,97,184],"deep":[30,91],"reinforcement":[31],"learning":[32],"(DRL)":[33],"that":[34,107,146,165],"can":[35,150],"be":[36],"applied":[37],"to":[38,57,63,103,153],"wide":[40],"range":[41],"mission":[43,101,111],"scenarios.":[44],"Specifically,":[45],"we":[46,88,144],"compare":[47],"coverage":[48],"(CPP),":[51],"where":[52,67],"the":[53,68,86,109,127,138,141,147],"UAV&#x0027;s":[54],"goal":[55,112],"is":[56],"survey":[58],"an":[59],"area":[60],"interest":[62],"data":[64,71],"harvesting":[65],"(DH),":[66],"collects":[70],"from":[72],"distributed":[73],"Internet":[74],"Things":[76],"(IoT)":[77],"sensor":[78],"devices.":[79],"By":[80,116],"exploiting":[81,121],"structured":[82],"map":[83,125,136,180],"information":[84],"environment,":[87],"train":[89],"double":[90],"Q-networks":[92],"(DDQNs)":[93],"with":[94,113,130],"identical":[95],"architectures":[96],"both":[98],"distinctly":[99],"different":[100],"scenarios":[102],"make":[104],"movement":[105],"decisions":[106],"balance":[108],"respective":[110],"navigation":[114],"constraints.":[115],"introducing":[117],"novel":[119],"approach":[120],"compressed":[123],"global":[124],"environment":[128],"combined":[129],"cropped":[132],"but":[133],"uncompressed":[134],"local":[135],"showing":[137],"vicinity":[139],"agent,":[143],"demonstrate":[145],"proposed":[148],"efficiently":[151],"scale":[152],"large":[154],"environments.":[155],"We":[156],"also":[157],"extend":[158],"previous":[159],"results":[160],"generalizing":[162],"control":[163],"policies":[164],"require":[166],"no":[167],"retraining":[168],"when":[169],"scenario":[170],"parameters":[171],"change":[172],"and":[173],"offer":[174],"detailed":[176],"analysis":[177],"crucial":[179],"processing":[181],"parameters&#x0027;":[182],"effects":[183],"performance.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":5}],"updated_date":"2026-04-03T22:45:19.894376","created_date":"2020-10-22T00:00:00"}
