{"id":"https://openalex.org/W4292874617","doi":"https://doi.org/10.1109/mwscas54063.2022.9859287","title":"PPO-based Reinforcement Learning for UAV Navigation in Urban Environments","display_name":"PPO-based Reinforcement Learning for UAV Navigation in Urban Environments","publication_year":2022,"publication_date":"2022-08-07","ids":{"openalex":"https://openalex.org/W4292874617","doi":"https://doi.org/10.1109/mwscas54063.2022.9859287"},"language":"en","primary_location":{"id":"doi:10.1109/mwscas54063.2022.9859287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mwscas54063.2022.9859287","pdf_url":null,"source":{"id":"https://openalex.org/S4363606568","display_name":"2022 IEEE 65th International Midwest Symposium on Circuits and Systems (MWSCAS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 65th International Midwest Symposium on Circuits and Systems (MWSCAS)","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/A5017831967","display_name":"Khalil Chikhaoui","orcid":"https://orcid.org/0000-0002-2406-5752"},"institutions":[{"id":"https://openalex.org/I134085113","display_name":"King Fahd University of Petroleum and Minerals","ror":"https://ror.org/03yez3163","country_code":"SA","type":"education","lineage":["https://openalex.org/I134085113"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Khalil Chikhaoui","raw_affiliation_strings":["King Fahd University of Petroleum and Minerals,Dhahran,Saudi Arabia","King Fahd University of Petroleum and Minerals, Dhahran, Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"King Fahd University of Petroleum and Minerals,Dhahran,Saudi Arabia","institution_ids":["https://openalex.org/I134085113"]},{"raw_affiliation_string":"King Fahd University of Petroleum and Minerals, Dhahran, Saudi Arabia","institution_ids":["https://openalex.org/I134085113"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021394822","display_name":"Hakim Ghazzai","orcid":"https://orcid.org/0000-0002-8636-4264"},"institutions":[{"id":"https://openalex.org/I71920554","display_name":"King Abdullah University of Science and Technology","ror":"https://ror.org/01q3tbs38","country_code":"SA","type":"education","lineage":["https://openalex.org/I71920554"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Hakim Ghazzai","raw_affiliation_strings":["King Abdullah University of Science and Technology (KAUST),Thuwal,Saudi Arabia","King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"King Abdullah University of Science and Technology (KAUST),Thuwal,Saudi Arabia","institution_ids":["https://openalex.org/I71920554"]},{"raw_affiliation_string":"King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi Arabia","institution_ids":["https://openalex.org/I71920554"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057380866","display_name":"Yehia Massoud","orcid":"https://orcid.org/0000-0002-6701-0639"},"institutions":[{"id":"https://openalex.org/I71920554","display_name":"King Abdullah University of Science and Technology","ror":"https://ror.org/01q3tbs38","country_code":"SA","type":"education","lineage":["https://openalex.org/I71920554"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Yehia Massoud","raw_affiliation_strings":["King Abdullah University of Science and Technology (KAUST),Thuwal,Saudi Arabia","King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"King Abdullah University of Science and Technology (KAUST),Thuwal,Saudi Arabia","institution_ids":["https://openalex.org/I71920554"]},{"raw_affiliation_string":"King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi Arabia","institution_ids":["https://openalex.org/I71920554"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.5464,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.98451628,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9991000294685364,"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":0.9991000294685364,"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":0.998199999332428,"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":0.95660001039505,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.9095709919929504},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7250978350639343},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6324816942214966},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6318658590316772},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5445222854614258},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45659905672073364},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.44235605001449585},{"id":"https://openalex.org/keywords/battery","display_name":"Battery (electricity)","score":0.42268452048301697},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3712388277053833},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.20633405447006226},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19347411394119263},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16094744205474854},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.11053252220153809},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09498569369316101}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.9095709919929504},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7250978350639343},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6324816942214966},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6318658590316772},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5445222854614258},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45659905672073364},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.44235605001449585},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.42268452048301697},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3712388277053833},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.20633405447006226},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19347411394119263},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16094744205474854},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.11053252220153809},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09498569369316101},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mwscas54063.2022.9859287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mwscas54063.2022.9859287","pdf_url":null,"source":{"id":"https://openalex.org/S4363606568","display_name":"2022 IEEE 65th International Midwest Symposium on Circuits and Systems (MWSCAS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 65th International Midwest Symposium on Circuits and Systems (MWSCAS)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.kaust.edu.sa:10754/680505","is_oa":false,"landing_page_url":"http://hdl.handle.net/10754/680505","pdf_url":null,"source":{"id":"https://openalex.org/S4306401596","display_name":"King Abdullah University of Science and Technology Repository (King Abdullah 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/I71920554","host_organization_name":"King Abdullah University of Science and Technology","host_organization_lineage":["https://openalex.org/I71920554"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8199999928474426,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2736601468","https://openalex.org/W2890755534","https://openalex.org/W2903620886","https://openalex.org/W2948520157","https://openalex.org/W2962887844","https://openalex.org/W2964023906","https://openalex.org/W3012033521","https://openalex.org/W3035330356","https://openalex.org/W3036557346","https://openalex.org/W3048746668","https://openalex.org/W3091703254","https://openalex.org/W3092206239","https://openalex.org/W3101889877","https://openalex.org/W3115686713","https://openalex.org/W3153271232","https://openalex.org/W6727222535","https://openalex.org/W6741002519","https://openalex.org/W6750027859","https://openalex.org/W6779828175"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4362501864","https://openalex.org/W4306904969","https://openalex.org/W4310743282","https://openalex.org/W2889566344","https://openalex.org/W4380318855","https://openalex.org/W2743212448","https://openalex.org/W2786065696","https://openalex.org/W4381746183"],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1,39],"of":[2,18,25,61,107],"unmanned":[3],"aerial":[4],"vehicles":[5],"(UAVs)":[6],"in":[7],"urban":[8],"environments":[9],"is":[10,64,103],"a":[11,46,78,83],"difficult":[12],"task":[13],"due":[14,71],"to":[15,68,72,94],"the":[16,19,22,26,62,96,108],"complexity":[17],"surroundings":[20],"and":[21,90,98],"battery":[23,74],"limitations":[24,60],"flying":[27],"unit.":[28],"In":[29],"this":[30],"paper,":[31],"we":[32,91],"present":[33],"an":[34],"autonomous":[35],"framework":[36],"for":[37,52],"UAV":[38,63],"using":[40],"deep":[41],"reinforcement":[42],"learning.":[43],"We":[44,76],"deploy":[45],"proximal":[47],"policy":[48],"optimization":[49],"(PPO)":[50],"algorithm":[51],"path":[53],"planning":[54],"with":[55,88],"collision":[56],"avoidance.":[57],"The":[58],"energy":[59],"taken":[65],"into":[66],"account":[67],"prevent":[69],"crashes":[70],"low":[73],"situations.":[75],"develop":[77],"virtual":[79],"environment":[80],"that":[81,105],"simulates":[82],"random":[84],"three":[85],"dimensional":[86],"space":[87],"obstacles,":[89],"use":[92],"it":[93],"train":[95],"model":[97],"evaluate":[99],"its":[100],"performance.":[101],"It":[102],"shown":[104],"90%":[106],"trips":[109],"have":[110],"been":[111],"successfully":[112],"accomplished.":[113]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2025-10-10T00:00:00"}