{"id":"https://openalex.org/W3009674568","doi":"https://doi.org/10.1109/iros45743.2020.9340934","title":"UAV Coverage Path Planning under Varying Power Constraints using Deep Reinforcement Learning","display_name":"UAV Coverage Path Planning under Varying Power Constraints using Deep Reinforcement Learning","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3009674568","doi":"https://doi.org/10.1109/iros45743.2020.9340934","mag":"3009674568"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340934","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340934","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.02609","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Mirco Theile","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":true,"raw_author_name":"Mirco Theile","raw_affiliation_strings":["Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Harald Bayerlein","orcid":null},"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":["EURECOM, Sophia Antipolis, France"],"affiliations":[{"raw_affiliation_string":"EURECOM, Sophia Antipolis, France","institution_ids":["https://openalex.org/I1902872"]}]},{"author_position":"middle","author":{"id":null,"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":["Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"David Gesbert","orcid":null},"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":["EURECOM, Sophia Antipolis, France"],"affiliations":[{"raw_affiliation_string":"EURECOM, Sophia Antipolis, France","institution_ids":["https://openalex.org/I1902872"]}]},{"author_position":"last","author":{"id":null,"display_name":"Marco Caccamo","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":"Marco Caccamo","raw_affiliation_strings":["Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":5.4059,"has_fulltext":false,"cited_by_count":93,"citation_normalized_percentile":{"value":0.96698904,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1444","last_page":"1449"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9965000152587891,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9918000102043152,"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/leverage","display_name":"Leverage (statistics)","score":0.7559999823570251},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7551000118255615},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6464999914169312},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5343999862670898},{"id":"https://openalex.org/keywords/power-consumption","display_name":"Power consumption","score":0.5234000086784363},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5220000147819519},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.48969998955726624},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4366999864578247},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.43130001425743103}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7559999823570251},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7551000118255615},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6464999914169312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6039999723434448},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5343999862670898},{"id":"https://openalex.org/C2984118289","wikidata":"https://www.wikidata.org/wiki/Q29954","display_name":"Power consumption","level":3,"score":0.5234000086784363},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5220000147819519},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.48969998955726624},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4830000102519989},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4366999864578247},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.43130001425743103},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.42980000376701355},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4223000109195709},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.41100001335144043},{"id":"https://openalex.org/C2987248590","wikidata":"https://www.wikidata.org/wiki/Q4419860","display_name":"Unmanned surface vehicle","level":2,"score":0.38420000672340393},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.3474000096321106},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3431999981403351},{"id":"https://openalex.org/C56685638","wikidata":"https://www.wikidata.org/wiki/Q2300474","display_name":"Power control","level":3,"score":0.33309999108314514},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32330000400543213},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30720001459121704},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2969000041484833},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.29109999537467957},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.28949999809265137},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28529998660087585},{"id":"https://openalex.org/C89227174","wikidata":"https://www.wikidata.org/wiki/Q2388981","display_name":"Electric power system","level":3,"score":0.2777999937534332},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.2761000096797943},{"id":"https://openalex.org/C2989104859","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery capacity","level":4,"score":0.26350000500679016},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.25600001215934753},{"id":"https://openalex.org/C2989126829","wikidata":"https://www.wikidata.org/wiki/Q2388981","display_name":"Power network","level":4,"score":0.25060001015663147}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros45743.2020.9340934","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340934","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2003.02609","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.02609","pdf_url":"https://arxiv.org/pdf/2003.02609","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:2003.02609","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.02609","pdf_url":"https://arxiv.org/pdf/2003.02609","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1535557537","https://openalex.org/W1590932131","https://openalex.org/W2019738489","https://openalex.org/W2020957543","https://openalex.org/W2145339207","https://openalex.org/W2155968351","https://openalex.org/W2166177494","https://openalex.org/W2167554916","https://openalex.org/W2811185140","https://openalex.org/W2906764419","https://openalex.org/W2975791276","https://openalex.org/W2994008524","https://openalex.org/W2995092355"],"related_works":[],"abstract_inverted_index":{"Coverage":[0],"path":[1],"planning":[2],"(CPP)":[3],"is":[4,105,111],"the":[5,90,98,116,139,156],"task":[6],"of":[7,21,24,102,175],"designing":[8],"a":[9,13,28,39,42,80,107,146,172],"trajectory":[10],"that":[11,83,120],"enables":[12],"mobile":[14],"agent":[15],"to":[16,31,67,78,123,130,138,144,151,171],"travel":[17],"over":[18,85],"every":[19],"point":[20],"an":[22,33,56],"area":[23],"interest.":[25],"We":[26],"propose":[27],"new":[29],"method":[30,167],"control":[32,81,153],"unmanned":[34],"aerial":[35],"vehicle":[36],"(UAV)":[37],"carrying":[38],"camera":[40],"on":[41],"CPP":[43,70],"mission":[44],"with":[45,182],"random":[46],"start":[47],"positions":[48,54],"and":[49,162,177],"multiple":[50],"options":[51],"for":[52,89,155],"landing":[53],"in":[55,95,115],"environment":[57],"containing":[58],"no-fly":[59],"zones.":[60],"While":[61],"numerous":[62],"approaches":[63],"have":[64],"been":[65],"proposed":[66,166],"solve":[68],"similar":[69],"problems,":[71],"we":[72,141],"leverage":[73],"end-to-end":[74],"reinforcement":[75],"learning":[76],"(RL)":[77],"learn":[79],"policy":[82],"generalizes":[84],"varying":[86],"power":[87,118,160],"constraints":[88],"UAV.":[91],"Despite":[92],"recent":[93],"improvements":[94],"battery":[96],"technology,":[97],"maximum":[99],"flying":[100],"range":[101],"small":[103],"UAVs":[104],"still":[106],"severe":[108],"constraint,":[109],"which":[110],"exacerbated":[112],"by":[113],"variations":[114],"UAV's":[117],"consumption":[119],"are":[121,142],"hard":[122],"predict.":[124],"By":[125],"using":[126],"map-like":[127],"input":[128],"channels":[129],"feed":[131],"spatial":[132],"information":[133],"through":[134],"convolutional":[135],"network":[136],"layers":[137],"agent,":[140],"able":[143],"train":[145],"double":[147],"deep":[148],"Q-network":[149],"(DDQN)":[150],"make":[152],"decisions":[154],"UAV,":[157],"balancing":[158],"limited":[159],"budget":[161],"coverage":[163],"goal.":[164],"The":[165],"can":[168],"be":[169],"applied":[170],"wide":[173],"variety":[174],"environments":[176],"harmonizes":[178],"complex":[179],"goal":[180],"structures":[181],"system":[183],"constraints.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":10}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2020-03-13T00:00:00"}
