{"id":"https://openalex.org/W4312108576","doi":"https://doi.org/10.1109/jiot.2022.3231341","title":"Deep Reinforcement Learning for Trajectory Path Planning and Distributed Inference in Resource-Constrained UAV Swarms","display_name":"Deep Reinforcement Learning for Trajectory Path Planning and Distributed Inference in Resource-Constrained UAV Swarms","publication_year":2022,"publication_date":"2022-12-28","ids":{"openalex":"https://openalex.org/W4312108576","doi":"https://doi.org/10.1109/jiot.2022.3231341"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2022.3231341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2022.3231341","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2212.11201","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038455791","display_name":"Marwan Dhuheir","orcid":"https://orcid.org/0000-0001-8344-2880"},"institutions":[{"id":"https://openalex.org/I4210144839","display_name":"Hamad bin Khalifa University","ror":"https://ror.org/03eyq4y97","country_code":"QA","type":"education","lineage":["https://openalex.org/I4210144839"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Marwan Abdou Dhuheir","raw_affiliation_strings":["College of Science and Engineering, Hamad Bin Khalifa University, Doha, Qatar"],"raw_orcid":"https://orcid.org/0000-0001-8344-2880","affiliations":[{"raw_affiliation_string":"College of Science and Engineering, Hamad Bin Khalifa University, Doha, Qatar","institution_ids":["https://openalex.org/I4210144839"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079663711","display_name":"Emna Baccour","orcid":"https://orcid.org/0000-0001-8218-8745"},"institutions":[{"id":"https://openalex.org/I4210144839","display_name":"Hamad bin Khalifa University","ror":"https://ror.org/03eyq4y97","country_code":"QA","type":"education","lineage":["https://openalex.org/I4210144839"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Emna Baccour","raw_affiliation_strings":["College of Science and Engineering, Hamad Bin Khalifa University, Doha, Qatar"],"raw_orcid":"https://orcid.org/0000-0001-8218-8745","affiliations":[{"raw_affiliation_string":"College of Science and Engineering, Hamad Bin Khalifa University, Doha, Qatar","institution_ids":["https://openalex.org/I4210144839"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061831106","display_name":"Aiman Erbad","orcid":"https://orcid.org/0000-0001-7565-5253"},"institutions":[{"id":"https://openalex.org/I4210144839","display_name":"Hamad bin Khalifa University","ror":"https://ror.org/03eyq4y97","country_code":"QA","type":"education","lineage":["https://openalex.org/I4210144839"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Aiman Erbad","raw_affiliation_strings":["College of Science and Engineering, Hamad Bin Khalifa University, Doha, Qatar"],"raw_orcid":"https://orcid.org/0000-0001-7565-5253","affiliations":[{"raw_affiliation_string":"College of Science and Engineering, Hamad Bin Khalifa University, Doha, Qatar","institution_ids":["https://openalex.org/I4210144839"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060517428","display_name":"Sinan Sabeeh Al-Obaidi","orcid":"https://orcid.org/0000-0002-4727-4880"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sinan Sabeeh Al-Obaidi","raw_affiliation_strings":["Research and Development Engineering Department, Barzan Holdings QSTP LLC, Doha, Qatar"],"raw_orcid":"https://orcid.org/0000-0002-4727-4880","affiliations":[{"raw_affiliation_string":"Research and Development Engineering Department, Barzan Holdings QSTP LLC, Doha, Qatar","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001299811","display_name":"Mounir Hamdi","orcid":"https://orcid.org/0000-0002-9766-0085"},"institutions":[{"id":"https://openalex.org/I4210144839","display_name":"Hamad bin Khalifa University","ror":"https://ror.org/03eyq4y97","country_code":"QA","type":"education","lineage":["https://openalex.org/I4210144839"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Mounir Hamdi","raw_affiliation_strings":["College of Science and Engineering, Hamad Bin Khalifa University, Doha, Qatar"],"raw_orcid":"https://orcid.org/0000-0002-9766-0085","affiliations":[{"raw_affiliation_string":"College of Science and Engineering, Hamad Bin Khalifa University, Doha, Qatar","institution_ids":["https://openalex.org/I4210144839"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.7672,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":{"value":0.97288406,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"10","issue":"9","first_page":"8185","last_page":"8201"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9993000030517578,"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":0.9972000122070312,"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/computer-science","display_name":"Computer science","score":0.7849470376968384},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7226616144180298},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6811665296554565},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6220110058784485},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5516364574432373},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5352405309677124},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4985833168029785},{"id":"https://openalex.org/keywords/resource-allocation","display_name":"Resource allocation","score":0.4262658655643463},{"id":"https://openalex.org/keywords/resource","display_name":"Resource (disambiguation)","score":0.42326781153678894},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4051627814769745},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3686702251434326},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.2141266167163849},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09423932433128357},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07933294773101807}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7849470376968384},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7226616144180298},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6811665296554565},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6220110058784485},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5516364574432373},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5352405309677124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4985833168029785},{"id":"https://openalex.org/C29202148","wikidata":"https://www.wikidata.org/wiki/Q287260","display_name":"Resource allocation","level":2,"score":0.4262658655643463},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.42326781153678894},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4051627814769745},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3686702251434326},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2141266167163849},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09423932433128357},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07933294773101807},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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":3,"locations":[{"id":"doi:10.1109/jiot.2022.3231341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2022.3231341","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2212.11201","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2212.11201","pdf_url":"https://arxiv.org/pdf/2212.11201","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"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-164765","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-164765","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"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":"Article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2212.11201","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2212.11201","pdf_url":"https://arxiv.org/pdf/2212.11201","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":[{"id":"https://openalex.org/G395268284","display_name":null,"funder_award_id":"NPRP13S-0205-200265","funder_id":"https://openalex.org/F4320332753","funder_display_name":"Qatar National Research Fund"}],"funders":[{"id":"https://openalex.org/F4320332753","display_name":"Qatar National Research Fund","ror":"https://ror.org/01svaqq28"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W1191599655","https://openalex.org/W2038642313","https://openalex.org/W2194775991","https://openalex.org/W2522123397","https://openalex.org/W2582523608","https://openalex.org/W2736601468","https://openalex.org/W2759601165","https://openalex.org/W2887509328","https://openalex.org/W2888357597","https://openalex.org/W2894279475","https://openalex.org/W2896180420","https://openalex.org/W2900300361","https://openalex.org/W2924948991","https://openalex.org/W2962883027","https://openalex.org/W2963510929","https://openalex.org/W2963813097","https://openalex.org/W2968312042","https://openalex.org/W2973697444","https://openalex.org/W2988592481","https://openalex.org/W3005243570","https://openalex.org/W3013960924","https://openalex.org/W3037798633","https://openalex.org/W3039217592","https://openalex.org/W3049663264","https://openalex.org/W3092982261","https://openalex.org/W3098060190","https://openalex.org/W3106530718","https://openalex.org/W3114263192","https://openalex.org/W3119286118","https://openalex.org/W3131309288","https://openalex.org/W3132479643","https://openalex.org/W3133566396","https://openalex.org/W3134103048","https://openalex.org/W3152678664","https://openalex.org/W3153187775","https://openalex.org/W3154406839","https://openalex.org/W3161432682","https://openalex.org/W3167450743","https://openalex.org/W3170533301","https://openalex.org/W3171715134","https://openalex.org/W3172394904","https://openalex.org/W3173360237","https://openalex.org/W3177031265","https://openalex.org/W3190310847","https://openalex.org/W3190621805","https://openalex.org/W3191425715","https://openalex.org/W4248939017","https://openalex.org/W4293218370","https://openalex.org/W6627932998","https://openalex.org/W6741002519","https://openalex.org/W6791319781","https://openalex.org/W6796903294"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W3131574667","https://openalex.org/W4391331176"],"abstract_inverted_index":{"The":[0,188,201],"deployment":[1],"flexibility":[2],"and":[3,30,34,45,66,108,164,181,196,220,234],"maneuverability":[4],"of":[5,122,184],"unmanned":[6],"aerial":[7],"vehicles":[8],"(UAVs)":[9],"increased":[10],"their":[11,113],"adoption":[12],"in":[13,56,89,143,167],"various":[14],"applications,":[15,26],"such":[16],"as":[17,192],"wildfire":[18],"tracking,":[19],"border":[20],"monitoring,":[21],"etc.":[22],"In":[23],"many":[24],"critical":[25,116],"UAVs":[27,103,131],"capture":[28,109],"images":[29],"other":[31],"sensory":[32],"data":[33,39,46,136],"then":[35],"send":[36],"the":[37,61,75,95,102,120,124,130,135,144,149,173,178,185,208,239,247],"captured":[38],"to":[40,60,73,104,118,155,177,198,238],"remote":[41],"servers":[42],"for":[43,159,223],"inference":[44,76,126,162,186],"processing":[47],"tasks.":[48],"However,":[49],"this":[50,215],"approach":[51],"is":[52,72,190,204,211],"not":[53],"always":[54],"practical":[55],"real-time":[57,219],"applications":[58,100,225],"due":[59,176],"connection":[62],"instability,":[63],"limited":[64],"bandwidth,":[65],"end-to-end":[67],"latency.":[68,200],"One":[69],"promising":[70],"solution":[71,210,222],"divide":[74],"requests":[77,163],"into":[78],"multiple":[79],"parts":[80],"(layers":[81],"or":[82],"segments),":[83],"with":[84,141],"each":[85],"part":[86],"being":[87],"executed":[88],"a":[90,157,168,218],"different":[91],"UAV":[92,169],"based":[93],"on":[94],"available":[96],"resources.":[97],"Furthermore,":[98],"some":[99],"require":[101],"traverse":[105],"certain":[106],"areas":[107],"incidents;":[110],"thus,":[111,214],"planning":[112,129,166],"paths":[114],"becomes":[115],"particularly,":[117],"reduce":[119,134],"latency":[121,138],"making":[123],"collaborative":[125,161],"process.":[127],"Specifically,":[128],"trajectory":[132],"can":[133],"transmission":[137,150],"by":[139],"communicating":[140],"devices":[142],"same":[145],"proximity":[146],"while":[147,171],"mitigating":[148],"interference.":[151],"This":[152],"work":[153],"aims":[154,197],"design":[156],"model":[158,189,245],"distributed":[160],"path":[165],"swarm":[170],"respecting":[172],"resource":[174],"constraints":[175],"computational":[179],"load":[180],"memory":[182],"usage":[183],"requests.":[187],"formulated":[191,202],"an":[193],"optimization":[194],"problem":[195,203],"minimize":[199],"NP-hard":[205],"so":[206],"finding":[207],"optimal":[209],"quite":[212],"complex;":[213],"article":[216],"introduces":[217],"dynamic":[221],"online":[224],"using":[226],"deep":[227],"reinforcement":[228],"learning.":[229],"We":[230],"conduct":[231],"extensive":[232],"simulations":[233],"compare":[235],"our":[236,244],"results":[237],"state-of-the-art":[240],"studies":[241],"demonstrating":[242],"that":[243],"outperforms":[246],"competing":[248],"models.":[249]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":29},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":11}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}