{"id":"https://openalex.org/W3172086257","doi":"https://doi.org/10.1109/jsac.2021.3088669","title":"Multi-UAV Trajectory Planning for Energy-Efficient Content Coverage: A Decentralized Learning-Based Approach","display_name":"Multi-UAV Trajectory Planning for Energy-Efficient Content Coverage: A Decentralized Learning-Based Approach","publication_year":2021,"publication_date":"2021-06-14","ids":{"openalex":"https://openalex.org/W3172086257","doi":"https://doi.org/10.1109/jsac.2021.3088669","mag":"3172086257"},"language":"en","primary_location":{"id":"doi:10.1109/jsac.2021.3088669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsac.2021.3088669","pdf_url":null,"source":{"id":"https://openalex.org/S90422530","display_name":"IEEE Journal on Selected Areas in Communications","issn_l":"0733-8716","issn":["0733-8716","1558-0008"],"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 Journal on Selected Areas in Communications","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/A5076439890","display_name":"Chenxi Zhao","orcid":"https://orcid.org/0000-0002-8920-8558"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenxi Zhao","raw_affiliation_strings":["State Key Laboratory of Integrated Service Networks, Institute of Information Science, Xidian University, Xi\u2019an, China"],"raw_orcid":"https://orcid.org/0000-0002-8920-8558","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Integrated Service Networks, Institute of Information Science, Xidian University, Xi\u2019an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100682735","display_name":"Junyu Liu","orcid":"https://orcid.org/0000-0001-7667-6451"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junyu Liu","raw_affiliation_strings":["State Key Laboratory of Integrated Service Networks, Institute of Information Science, Xidian University, Xi\u2019an, China"],"raw_orcid":"https://orcid.org/0000-0001-7667-6451","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Integrated Service Networks, Institute of Information Science, Xidian University, Xi\u2019an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029337392","display_name":"Min Sheng","orcid":"https://orcid.org/0000-0002-7762-5063"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Sheng","raw_affiliation_strings":["State Key Laboratory of Integrated Service Networks, Institute of Information Science, Xidian University, Xi\u2019an, China"],"raw_orcid":"https://orcid.org/0000-0002-7762-5063","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Integrated Service Networks, Institute of Information Science, Xidian University, Xi\u2019an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075600255","display_name":"Wei Teng","orcid":"https://orcid.org/0009-0002-4363-8015"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Teng","raw_affiliation_strings":["State Key Laboratory of Integrated Service Networks, Institute of Information Science, Xidian University, Xi\u2019an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Integrated Service Networks, Institute of Information Science, Xidian University, Xi\u2019an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023268287","display_name":"Yang Zheng","orcid":"https://orcid.org/0000-0002-3582-8786"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Zheng","raw_affiliation_strings":["State Key Laboratory of Integrated Service Networks, Institute of Information Science, Xidian University, Xi\u2019an, China"],"raw_orcid":"https://orcid.org/0000-0002-3582-8786","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Integrated Service Networks, Institute of Information Science, Xidian University, Xi\u2019an, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004181029","display_name":"Jiandong Li","orcid":"https://orcid.org/0000-0002-8851-836X"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiandong Li","raw_affiliation_strings":["State Key Laboratory of Integrated Service Networks, Institute of Information Science, Xidian University, Xi\u2019an, China"],"raw_orcid":"https://orcid.org/0000-0002-8851-836X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Integrated Service Networks, Institute of Information Science, Xidian University, Xi\u2019an, China","institution_ids":["https://openalex.org/I149594827"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I149594827"],"apc_list":null,"apc_paid":null,"fwci":97.8138,"has_fulltext":false,"cited_by_count":141,"citation_normalized_percentile":{"value":0.9993781,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"39","issue":"10","first_page":"3193","last_page":"3207"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9998999834060669,"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":0.9998999834060669,"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/T11392","display_name":"Energy Harvesting in Wireless Networks","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10246","display_name":"Mobile Ad Hoc Networks","score":0.984499990940094,"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":0.8479382395744324},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6677225828170776},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6091779470443726},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5559758543968201},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.5324260592460632},{"id":"https://openalex.org/keywords/quality-of-service","display_name":"Quality of service","score":0.5118603110313416},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.5030915141105652},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.48812541365623474},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.458753377199173},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3894129991531372},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.38467782735824585},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.2562815546989441},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.2177422046661377},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12749415636062622}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8479382395744324},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6677225828170776},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6091779470443726},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5559758543968201},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.5324260592460632},{"id":"https://openalex.org/C5119721","wikidata":"https://www.wikidata.org/wiki/Q220501","display_name":"Quality of service","level":2,"score":0.5118603110313416},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.5030915141105652},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.48812541365623474},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.458753377199173},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3894129991531372},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.38467782735824585},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2562815546989441},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2177422046661377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12749415636062622},{"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/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},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jsac.2021.3088669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jsac.2021.3088669","pdf_url":null,"source":{"id":"https://openalex.org/S90422530","display_name":"IEEE Journal on Selected Areas in Communications","issn_l":"0733-8716","issn":["0733-8716","1558-0008"],"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 Journal on Selected Areas in Communications","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8999999761581421}],"awards":[{"id":"https://openalex.org/G221963292","display_name":null,"funder_award_id":"U19B2025","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8114394444","display_name":null,"funder_award_id":"61725103","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8825237058","display_name":"\u652f\u6301\u5feb\u901f\u79fb\u52a8\u7684\u5bc6\u96c6\u63a5\u5165\u7f51\u57fa\u7840\u7406\u8bba\u548c\u5173\u952e\u6280\u672f\u7814\u7a76","funder_award_id":"61931005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320311778","display_name":"China Association for Science and Technology","ror":"https://ror.org/035vmht26"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1560074431","https://openalex.org/W1918371733","https://openalex.org/W2145067550","https://openalex.org/W2147625294","https://openalex.org/W2165131254","https://openalex.org/W2226130968","https://openalex.org/W2523219060","https://openalex.org/W2592798481","https://openalex.org/W2604873668","https://openalex.org/W2788115019","https://openalex.org/W2886180905","https://openalex.org/W2886509985","https://openalex.org/W2888360891","https://openalex.org/W2904947504","https://openalex.org/W2905354310","https://openalex.org/W2914952404","https://openalex.org/W2951896791","https://openalex.org/W2952039542","https://openalex.org/W2962990479","https://openalex.org/W2963061782","https://openalex.org/W2963446564","https://openalex.org/W2963569053","https://openalex.org/W2963576178","https://openalex.org/W2963747324","https://openalex.org/W2964023906","https://openalex.org/W2964310887","https://openalex.org/W2969525674","https://openalex.org/W2975007689","https://openalex.org/W2981078741","https://openalex.org/W3005226193","https://openalex.org/W3044817033","https://openalex.org/W3081933036","https://openalex.org/W3102859365","https://openalex.org/W3103057226","https://openalex.org/W6633472260","https://openalex.org/W6681342480","https://openalex.org/W6734678876","https://openalex.org/W6736572398","https://openalex.org/W6749032143"],"related_works":["https://openalex.org/W4362501864","https://openalex.org/W4306904969","https://openalex.org/W4380318855","https://openalex.org/W2138720691","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W3049728571","https://openalex.org/W2024136090","https://openalex.org/W2964765435","https://openalex.org/W2585069576"],"abstract_inverted_index":{"In":[0,89],"next-generation":[1],"wireless":[2],"networks,":[3],"high-mobility":[4],"unmanned":[5],"aerial":[6],"vehicles":[7],"(UAVs)":[8],"are":[9,76],"promising":[10],"to":[11,32,49,115,178,191],"provide":[12,33,42],"content":[13,21,34,43,100],"coverage,":[14],"where":[15],"users":[16,47],"can":[17,165,176],"receive":[18],"sufficient":[19],"requested":[20],"within":[22],"a":[23,159,187],"given":[24],"time.":[25],"However,":[26],"trajectory":[27,59,73,96,136],"planning":[28,60,74,97,137],"for":[29,45,98],"multiple":[30],"UAVs":[31,40,79,123],"coverage":[35,44],"is":[36,63,139,207,215],"challenging":[37],"since":[38,78],"1)":[39],"cannot":[41,80],"all":[46],"due":[48],"the":[50,58,69,85,94,117,125,135,150,155,167,173,179,183,192,200,204,212,218],"limited":[51],"energy":[52,106,201],"and":[53,56],"caching":[54],"storage,":[55],"2)":[57],"of":[61,120,122,127,182,203,221],"UAV":[62],"coupled":[64,143],"with":[65,186,217],"each":[66],"other.":[67],"Moreover,":[68,195],"complete":[70],"information":[71,83,220],"based":[72],"methods":[75],"unusable":[77],"obtain":[81,154],"prior":[82,219],"on":[84],"rapidly":[86],"changing":[87],"environment.":[88],"this":[90],"paper,":[91],"we":[92,157],"investigate":[93],"multi-UAV":[95],"energy-efficient":[99],"coverage.":[101],"We":[102,170],"first":[103],"formulate":[104],"an":[105],"efficiency":[107,202],"maximization":[108],"problem":[109,138],"considering":[110],"recharging":[111],"scheduling,":[112],"which":[113,164,214],"aims":[114],"reduce":[116],"total":[118],"length":[119],"trajectories":[121],"under":[124],"quality":[126],"service":[128],"(QoS)":[129],"constraints.":[130],"To":[131,153],"settle":[132],"environment":[133],"uncertainty,":[134],"modeled":[140],"as":[141],"two":[142,168],"multi-agent":[144],"stochastic":[145],"games,":[146],"whose":[147],"equilibrium":[148],"constitute":[149],"optimal":[151,180],"trajectory.":[152],"equilibrium,":[156],"propose":[158],"decentralized":[160],"reinforcement":[161],"learning":[162],"algorithm,":[163],"decouple":[166],"games.":[169],"prove":[171],"that":[172,199],"proposed":[174,205],"algorithm":[175,206],"converge":[177],"solution":[181],"Bellman":[184],"equation":[185],"higher":[188],"rate":[189],"compared":[190,211],"centralized":[193],"one.":[194],"simulation":[196],"results":[197],"show":[198],"smaller":[208],"than":[209],"5%":[210],"optimal,":[213],"obtained":[216],"environments.":[222]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":41},{"year":2024,"cited_by_count":35},{"year":2023,"cited_by_count":38},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":4}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}