{"id":"https://openalex.org/W4405786774","doi":"https://doi.org/10.1109/iros58592.2024.10801704","title":"An Attention-aware Deep Reinforcement Learning Framework for UAV-UGV Collaborative Route Planning","display_name":"An Attention-aware Deep Reinforcement Learning Framework for UAV-UGV Collaborative Route Planning","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786774","doi":"https://doi.org/10.1109/iros58592.2024.10801704"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801704","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801704","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5041802986","display_name":"Md Safwan Mondal","orcid":null},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Md Safwan Mondal","raw_affiliation_strings":["University of Illinois,Department of Mechanical and Industrial Engineering,Chicago,IL,USA,60607"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois,Department of Mechanical and Industrial Engineering,Chicago,IL,USA,60607","institution_ids":["https://openalex.org/I39422238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004354529","display_name":"R. Subramanian","orcid":"https://orcid.org/0000-0002-1983-1838"},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Subramanian Ramasamy","raw_affiliation_strings":["University of Illinois,Department of Mechanical and Industrial Engineering,Chicago,IL,USA,60607"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois,Department of Mechanical and Industrial Engineering,Chicago,IL,USA,60607","institution_ids":["https://openalex.org/I39422238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037009889","display_name":"James Humann","orcid":"https://orcid.org/0000-0003-3858-3873"},"institutions":[{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James D. Humann","raw_affiliation_strings":["DEVCOM Army Research Laboratory,Los Angeles,CA,USA,90094"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DEVCOM Army Research Laboratory,Los Angeles,CA,USA,90094","institution_ids":["https://openalex.org/I2802705668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071125368","display_name":"James M. Dotterweich","orcid":null},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James M. Dotterweich","raw_affiliation_strings":["Aberdeen Proving Grounds,DEVCOM Army Research Laboratory,Aberdeen,MD,USA,21005"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aberdeen Proving Grounds,DEVCOM Army Research Laboratory,Aberdeen,MD,USA,21005","institution_ids":["https://openalex.org/I166416128","https://openalex.org/I2802705668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012594077","display_name":"Jean-Paul Reddinger","orcid":"https://orcid.org/0000-0002-7488-9047"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean-Paul F. Reddinger","raw_affiliation_strings":["Aberdeen Proving Grounds,DEVCOM Army Research Laboratory,Aberdeen,MD,USA,21005"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aberdeen Proving Grounds,DEVCOM Army Research Laboratory,Aberdeen,MD,USA,21005","institution_ids":["https://openalex.org/I166416128","https://openalex.org/I2802705668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021087220","display_name":"Marshal Childers","orcid":"https://orcid.org/0000-0002-8723-6977"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marshal A. Childers","raw_affiliation_strings":["Aberdeen Proving Grounds,DEVCOM Army Research Laboratory,Aberdeen,MD,USA,21005"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aberdeen Proving Grounds,DEVCOM Army Research Laboratory,Aberdeen,MD,USA,21005","institution_ids":["https://openalex.org/I166416128","https://openalex.org/I2802705668"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059004977","display_name":"Pranav A. Bhounsule","orcid":"https://orcid.org/0000-0002-7504-6009"},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pranav Bhounsule","raw_affiliation_strings":["University of Illinois,Department of Mechanical and Industrial Engineering,Chicago,IL,USA,60607"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois,Department of Mechanical and Industrial Engineering,Chicago,IL,USA,60607","institution_ids":["https://openalex.org/I39422238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"13687","last_page":"13694"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9851999878883362,"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":0.9851999878883362,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9490000009536743,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9366999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8528507947921753},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7226084470748901},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4759494960308075},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45058342814445496},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.4413760006427765}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8528507947921753},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7226084470748901},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4759494960308075},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45058342814445496},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.4413760006427765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801704","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801704","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1529489707","https://openalex.org/W1852719163","https://openalex.org/W1975258031","https://openalex.org/W2269069563","https://openalex.org/W2547345216","https://openalex.org/W2798363178","https://openalex.org/W2905529951","https://openalex.org/W2921047495","https://openalex.org/W2946264068","https://openalex.org/W2947008563","https://openalex.org/W2964246603","https://openalex.org/W3094093649","https://openalex.org/W3122711124","https://openalex.org/W3125535900","https://openalex.org/W3132927940","https://openalex.org/W3152509263","https://openalex.org/W3156120014","https://openalex.org/W3184846191","https://openalex.org/W3199468096","https://openalex.org/W4220862576","https://openalex.org/W4241811150","https://openalex.org/W4288047850","https://openalex.org/W4296149635","https://openalex.org/W4313229347","https://openalex.org/W4313269855","https://openalex.org/W4385245566","https://openalex.org/W4399801032","https://openalex.org/W6758687306","https://openalex.org/W6856401113"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2011003748","https://openalex.org/W2390279801","https://openalex.org/W4306904969","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2138720691"],"abstract_inverted_index":{"Unmanned":[0],"aerial":[1],"vehicles":[2,28],"(UAVs)":[3],"possess":[4],"the":[5,33,41,51,63,102,153,163,178],"capability":[6],"to":[7,49,61,94,98,107,173],"survey":[8],"vast":[9],"areas,":[10],"yet":[11],"their":[12,18,67,109],"operational":[13],"range":[14],"is":[15,92],"limited":[16],"by":[17],"battery":[19],"capacity.":[20],"Deploying":[21],"mobile":[22],"recharging":[23,68],"stations":[24],"via":[25],"unmanned":[26],"ground":[27],"(UGVs)":[29],"can":[30],"significantly":[31],"enhance":[32],"endurance":[34],"and":[35,46,66,104,106,123,131,149],"effectiveness":[36],"of":[37,146,165],"UAVs.":[38],"However,":[39],"optimizing":[40],"routes":[42,65,100],"for":[43,101,112],"both":[44],"UAVs":[45],"UGVs,":[47],"referred":[48],"as":[50,136],"UAV-UGV":[52],"cooperative":[53],"routing":[54],"problem,":[55],"requires":[56],"a":[57,78],"sophisticated":[58],"planning":[59,172],"framework":[60,84,91,117],"determine":[62],"vehicles\u2019":[64],"points.":[69],"To":[70],"address":[71],"this,":[72],"in":[73,144,152,169],"this":[74],"paper,":[75],"we":[76,161],"utilize":[77],"deep":[79],"reinforcement":[80],"learning":[81],"(DRL)":[82],"based":[83],"equipped":[85],"with":[86],"multi-head":[87],"attention":[88],"layers.":[89],"The":[90],"designed":[93],"sequentially":[95],"select":[96],"actions":[97],"construct":[99],"UAV":[103],"UGV":[105],"establish":[108],"rendezvous":[110],"points":[111],"recharging.":[113],"We":[114],"evaluate":[115],"our":[116,166],"across":[118],"various":[119],"problem":[120],"instance":[121],"sizes":[122],"distributions,":[124],"comparing":[125],"it":[126],"against":[127],"recent":[128],"heuristic-based":[129],"methods":[130],"an":[132],"existing":[133],"learning-based":[134],"method":[135],"baselines.":[137],"Our":[138],"proposed":[139],"algorithm":[140],"surpasses":[141],"these":[142],"baselines":[143],"terms":[145],"solution":[147],"quality":[148],"runtime":[150],"efficiency":[151],"test":[154],"scenarios,":[155],"thus":[156],"proving":[157],"its":[158],"effectiveness.":[159],"Additionally,":[160],"investigate":[162],"application":[164],"DRL":[167],"policy":[168],"online":[170],"mission":[171,179],"accommodate":[174],"dynamic":[175],"changes":[176],"within":[177],"scenario.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}