{"id":"https://openalex.org/W4416707521","doi":"https://doi.org/10.1109/jiot.2025.3637560","title":"Hierarchical UAV Trajectory Generation and Optimization in MEC Systems With Physical Constraints and Uncertain Obstacle Avoidance","display_name":"Hierarchical UAV Trajectory Generation and Optimization in MEC Systems With Physical Constraints and Uncertain Obstacle Avoidance","publication_year":2025,"publication_date":"2025-11-26","ids":{"openalex":"https://openalex.org/W4416707521","doi":"https://doi.org/10.1109/jiot.2025.3637560"},"language":null,"primary_location":{"id":"doi:10.1109/jiot.2025.3637560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3637560","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/A5110949990","display_name":"Xiao Liang","orcid":"https://orcid.org/0009-0000-5992-8303"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiao Liang","raw_affiliation_strings":["School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002672308","display_name":"Wei Shangguan","orcid":"https://orcid.org/0000-0003-2901-0782"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Shangguan","raw_affiliation_strings":["School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106523774","display_name":"Junjie Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjie Chen","raw_affiliation_strings":["School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050129469","display_name":"Linguo Chai","orcid":"https://orcid.org/0000-0001-6824-3007"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linguo Chai","raw_affiliation_strings":["School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061785563","display_name":"Yue Cao","orcid":"https://orcid.org/0000-0002-6421-7140"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Cao","raw_affiliation_strings":["School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110556800","display_name":"\u0422\u043e\u043d\u0433 \u0416\u0430\u043e","orcid":"https://orcid.org/0009-0006-6519-4565"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tong Zhao","raw_affiliation_strings":["School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103225831","display_name":"Yuanyuan Zha","orcid":"https://orcid.org/0009-0000-2452-2581"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanyuan Zha","raw_affiliation_strings":["School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation and Intelligence, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5110949990"],"corresponding_institution_ids":["https://openalex.org/I21193070"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48569406,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"3","first_page":"4871","last_page":"4885"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.8633000254631042,"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":0.8633000254631042,"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":0.037300001829862595,"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":0.030400000512599945,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7717000246047974},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7242000102996826},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.6148999929428101},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5662000179290771},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5324000120162964},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.48829999566078186},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.48809999227523804},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.47679999470710754},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.43560001254081726},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.42570000886917114}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7717000246047974},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7688999772071838},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7242000102996826},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.6148999929428101},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5662000179290771},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5324000120162964},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.48829999566078186},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.48809999227523804},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.47679999470710754},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.43560001254081726},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.42570000886917114},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4235999882221222},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.4194999933242798},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.40950000286102295},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.40540000796318054},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.37389999628067017},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.34529998898506165},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.33239999413490295},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.32359999418258667},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.3116999864578247},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.2953000068664551},{"id":"https://openalex.org/C193254401","wikidata":"https://www.wikidata.org/wiki/Q2160088","display_name":"Robust optimization","level":2,"score":0.29429998993873596},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.2906999886035919},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2897999882698059},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2815000116825104},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2782999873161316},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2736000120639801},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.27140000462532043},{"id":"https://openalex.org/C164752517","wikidata":"https://www.wikidata.org/wiki/Q5570875","display_name":"Global optimization","level":2,"score":0.2678000032901764},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2513999938964844}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3637560","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3637560","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W47871186","https://openalex.org/W1971086298","https://openalex.org/W2746553466","https://openalex.org/W2806422435","https://openalex.org/W3088579369","https://openalex.org/W3095686063","https://openalex.org/W3113682412","https://openalex.org/W3174337303","https://openalex.org/W3197604099","https://openalex.org/W3200237136","https://openalex.org/W4205139806","https://openalex.org/W4213454489","https://openalex.org/W4285189951","https://openalex.org/W4290715420","https://openalex.org/W4297094908","https://openalex.org/W4308337415","https://openalex.org/W4312397565","https://openalex.org/W4312578919","https://openalex.org/W4319866458","https://openalex.org/W4361857702","https://openalex.org/W4362714352","https://openalex.org/W4385151905","https://openalex.org/W4385453605","https://openalex.org/W4388286387","https://openalex.org/W4388543751","https://openalex.org/W4388579599","https://openalex.org/W4391467970","https://openalex.org/W4391791325","https://openalex.org/W4392449555","https://openalex.org/W4393285787","https://openalex.org/W4396941534","https://openalex.org/W4399311115","https://openalex.org/W4400488290","https://openalex.org/W4402027242","https://openalex.org/W4403182484"],"related_works":[],"abstract_inverted_index":{"Unmanned":[0],"aerial":[1,205],"vehicle":[2],"(UAV)-assisted":[3],"multi-access":[4],"edge":[5],"computing":[6],"(MEC)":[7],"networks":[8],"significantly":[9],"improve":[10],"Internet":[11],"of":[12,140,173],"Things":[13],"(IoT)":[14],"communication":[15],"in":[16,20,61,137,178],"infrastructure-limited":[17],"environments.":[18,63],"However,":[19],"large-scale,":[21],"complex,":[22],"and":[23,30,43,55,78,165,176,196,203],"dynamic":[24],"3D":[25],"environments,":[26],"uncertain":[27,141,181],"sensor":[28],"information":[29],"unexpected":[31],"obstacles":[32],"pose":[33],"serious":[34],"challenges":[35],"to":[36,200],"UAV":[37],"flight":[38,174,191],"safety,":[39,195],"thereby":[40,168],"necessitating":[41],"robust":[42,202],"fast-responding":[44],"trajectory":[45,53,86,129],"optimization":[46,56,130],"methods.":[47],"This":[48],"study":[49],"presents":[50],"a":[51,79],"hierarchical":[52,128],"generation":[54],"scheme":[57,69,154],"for":[58,108],"UAV-assisted":[59],"MEC":[60],"complex":[62],"Different":[64],"from":[65,72],"existing":[66],"works,":[67],"our":[68],"incorporates":[70],"constraints":[71],"the":[73,123,127,138,152,170,183],"UAV\u2019s":[74],"realistic":[75],"dynamics":[76],"model":[77,105],"communication-computation":[80],"energy":[81,197],"consumption":[82],"model.":[83],"A":[84],"global":[85],"is":[87,120],"first":[88],"generated":[89],"using":[90],"an":[91,113],"improved":[92,159],"cost-function-based":[93],"rapidly-exploring":[94],"random":[95],"tree":[96],"star":[97],"(RRT*)":[98],"algorithm,":[99],"followed":[100],"by":[101],"refinement":[102],"via":[103],"nonlinear":[104],"predictive":[106],"control":[107],"high-precision":[109],"smoothing.":[110],"In":[111],"addition,":[112],"attention-enhanced":[114],"double":[115],"deep":[116],"Q-network":[117],"(DDQN)":[118],"module":[119],"employed":[121],"as":[122],"high-level":[124],"controller":[125],"within":[126],"framework,":[131],"providing":[132],"optimized":[133],"obstacle":[134,193],"avoidance":[135,194],"strategies":[136],"presence":[139],"obstacles.":[142],"Simulation":[143],"results":[144],"show":[145],"that:":[146],"1)":[147],"Compared":[148],"with":[149],"traditional":[150],"approaches,":[151],"proposed":[153,184],"generates":[155],"trajectories":[156],"that":[157],"demonstrate":[158],"smoothness":[160],"while":[161],"rigorously":[162],"satisfying":[163],"physical":[164],"safety":[166],"constraints,":[167],"enhancing":[169],"overall":[171],"reliability":[172],"operations;":[175],"2)":[177],"scenarios":[179],"involving":[180],"obstacles,":[182],"framework":[185],"effectively":[186],"balances":[187],"multiple":[188],"objectives,":[189],"including":[190],"efficiency,":[192],"consumption,":[198],"leading":[199],"more":[201],"cost-effective":[204],"operation":[206],"performance.":[207]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-27T00:00:00"}