{"id":"https://openalex.org/W4313316151","doi":"https://doi.org/10.1109/jiot.2022.3233087","title":"Energy- and Cost-Efficient Transmission Strategy for UAV Trajectory Tracking Control: A Deep Reinforcement Learning Approach","display_name":"Energy- and Cost-Efficient Transmission Strategy for UAV Trajectory Tracking Control: A Deep Reinforcement Learning Approach","publication_year":2022,"publication_date":"2022-12-30","ids":{"openalex":"https://openalex.org/W4313316151","doi":"https://doi.org/10.1109/jiot.2022.3233087"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2022.3233087","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2022.3233087","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":["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/A5021490550","display_name":"Minkai Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Minkai Zhang","raw_affiliation_strings":["Department of Electronics and Information Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Information Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100684143","display_name":"Shaohua Wu","orcid":"https://orcid.org/0000-0002-6950-0594"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaohua Wu","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Aerospace Communication and Networking Technology, Harbin Institute of Technology (Shenzhen), Shenzhen, China","Department of Broadband Communication, Peng Cheng Laboratory, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Aerospace Communication and Networking Technology, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Department of Broadband Communication, Peng Cheng Laboratory, Shenzhen, China","institution_ids":["https://openalex.org/I4210136793"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047916298","display_name":"Jian Jiao","orcid":"https://orcid.org/0000-0002-7988-9820"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Jiao","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Aerospace Communication and Networking Technology, Harbin Institute of Technology (Shenzhen), Shenzhen, China","Department of Broadband Communication, Peng Cheng Laboratory, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Aerospace Communication and Networking Technology, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Department of Broadband Communication, Peng Cheng Laboratory, Shenzhen, China","institution_ids":["https://openalex.org/I4210136793"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100404886","display_name":"Ning Zhang","orcid":"https://orcid.org/0000-0002-8781-4925"},"institutions":[{"id":"https://openalex.org/I74413500","display_name":"University of Windsor","ror":"https://ror.org/01gw3d370","country_code":"CA","type":"education","lineage":["https://openalex.org/I74413500"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ning Zhang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Windsor, Windsor, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Windsor, Windsor, Canada","institution_ids":["https://openalex.org/I74413500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071725895","display_name":"Qinyu Zhang","orcid":"https://orcid.org/0000-0001-9272-0475"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinyu Zhang","raw_affiliation_strings":["Guangdong Provincial Key Laboratory of Aerospace Communication and Networking Technology, Harbin Institute of Technology (Shenzhen), Shenzhen, China","Department of Broadband Communication, Peng Cheng Laboratory, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Aerospace Communication and Networking Technology, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"Department of Broadband Communication, Peng Cheng Laboratory, Shenzhen, China","institution_ids":["https://openalex.org/I4210136793"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5021490550"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":2.5544,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.90958924,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"10","issue":"10","first_page":"8958","last_page":"8970"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T13553","display_name":"Age of Information Optimization","score":0.9894000291824341,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9865000247955322,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8211385607719421},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7733967304229736},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.7379871606826782},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6077702641487122},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.547360360622406},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5285101532936096},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.5275900959968567},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4967975914478302},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.4917280972003937},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4684220552444458},{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.4260629713535309},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4238571524620056},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.3695259094238281},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.3227829933166504},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.3032969832420349},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2954317629337311},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.18849530816078186},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1445768177509308},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1186041533946991},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09272372722625732}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8211385607719421},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7733967304229736},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.7379871606826782},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6077702641487122},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.547360360622406},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5285101532936096},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.5275900959968567},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4967975914478302},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.4917280972003937},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4684220552444458},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.4260629713535309},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4238571524620056},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.3695259094238281},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.3227829933166504},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.3032969832420349},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2954317629337311},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.18849530816078186},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1445768177509308},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1186041533946991},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09272372722625732},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2022.3233087","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2022.3233087","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[{"id":"https://openalex.org/G1551322006","display_name":null,"funder_award_id":"2022B1515120002","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G2246487800","display_name":null,"funder_award_id":"61871147","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3658063426","display_name":null,"funder_award_id":"61831008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4343183693","display_name":null,"funder_award_id":"62027802","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8031071093","display_name":null,"funder_award_id":"2020YFB1806403","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8375930484","display_name":null,"funder_award_id":"62071141","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1989855774","https://openalex.org/W2055572820","https://openalex.org/W2109320898","https://openalex.org/W2137531403","https://openalex.org/W2142991906","https://openalex.org/W2145339207","https://openalex.org/W2145342115","https://openalex.org/W2548177125","https://openalex.org/W2606397423","https://openalex.org/W2727279496","https://openalex.org/W2795765720","https://openalex.org/W2888360891","https://openalex.org/W2917110891","https://openalex.org/W2923300881","https://openalex.org/W2951782192","https://openalex.org/W2962747376","https://openalex.org/W2962804513","https://openalex.org/W2964023042","https://openalex.org/W2979881298","https://openalex.org/W3005955064","https://openalex.org/W3007882061","https://openalex.org/W3020925646","https://openalex.org/W3036149722","https://openalex.org/W3070101261","https://openalex.org/W3081323070","https://openalex.org/W3117776970","https://openalex.org/W3177476324","https://openalex.org/W3186866947","https://openalex.org/W3201290909","https://openalex.org/W3209940515","https://openalex.org/W4226157696","https://openalex.org/W6681082778","https://openalex.org/W6803373184"],"related_works":["https://openalex.org/W2096013579","https://openalex.org/W1589140671","https://openalex.org/W1760611253","https://openalex.org/W52153049","https://openalex.org/W2951545791","https://openalex.org/W1515117609","https://openalex.org/W2294884454","https://openalex.org/W4323315247","https://openalex.org/W3169161914","https://openalex.org/W3208638985"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"we":[3,101,122,145,224],"consider":[4],"a":[5,108,148,192],"networked":[6],"control":[7,16,20,45,54,58,72,78],"system":[8],"(NCS)":[9],"with":[10,93,183],"network-induced":[11],"delay,":[12],"in":[13,120,195,220,231],"which":[14,135],"the":[15,21,29,36,40,44,48,63,71,85,103,115,124,137,153,169,184,187,196,206,209,215,221,227,236,243],"center":[17,46,73],"needs":[18],"to":[19,27,56,76,114,179],"remote":[22],"unmanned":[23],"aerial":[24],"vehicle":[25],"(UAV)":[26],"complete":[28],"trajectory":[30],"tracking":[31,53,99,202,237],"task.":[32],"The":[33,60],"sensor":[34],"of":[35,62,118,208,217],"controlled":[37],"UAV":[38],"adopts":[39],"event-triggered":[41],"mechanism,":[42],"while":[43,172],"uses":[47,136],"adaptive":[49],"dynamic":[50],"programming":[51],"(ADP)-based":[52],"method":[55,65],"generate":[57],"actions.":[59],"application":[61],"ADP":[64],"brings":[66],"new":[67],"transmission":[68,91,95,218,229,240],"options,":[69],"i.e.,":[70],"can":[74,190,234],"choose":[75],"transmit":[77],"action":[79],"or":[80],"neural":[81],"network":[82],"model.":[83],"Considering":[84],"fundamental":[86],"tradeoff":[87],"between":[88],"these":[89],"two":[90],"options":[92],"different":[94],"energy":[96,199,241],"consumption":[97,200],"and":[98,201,239],"cost,":[100],"formulate":[102],"joint":[104],"optimization":[105],"problem":[106],"as":[107],"Markov":[109],"decision":[110],"process":[111],"(MDP).":[112],"Due":[113],"continuous":[116],"value":[117,207],"state":[119],"MDP,":[121],"propose":[123,147],"deep":[125],"<inline-formula":[126],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[127],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[128],"<tex-math":[129],"notation=\"LaTeX\">$Q$":[130],"</tex-math></inline-formula>":[131],"-network":[132],"(DQN)-based":[133],"strategy,":[134],"reinforcement":[138],"learning":[139],"(RL)":[140],"algorithm,":[141],"specifically":[142],"DQN.":[143],"Besides,":[144,181],"further":[146],"greedy":[149,173],"strategy":[150,162,174,233],"by":[151,204,213],"calculating":[152],"instantaneous":[154],"expected":[155],"cost.":[156],"Simulation":[157],"results":[158],"show":[159,225],"that":[160,226],"DQN-based":[161,232],"has":[163],"better":[164,193],"performance":[165],"but":[166,177],"depends":[167],"on":[168],"training":[170],"process,":[171],"is":[175],"suboptimal":[176],"easy":[178],"compute.":[180],"compared":[182],"benchmark":[185],"strategies,":[186,223],"proposed":[188,222],"strategies":[189],"achieve":[191],"compromise":[194],"long-term":[197],"average":[198],"cost":[203,238],"adjusting":[205],"weighted":[210],"factor.":[211],"Furthermore,":[212],"comparing":[214],"difference":[216],"decisions":[219],"proper":[228],"sequence":[230],"reduce":[235],"at":[242],"same":[244],"time.":[245]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}