{"id":"https://openalex.org/W7125979251","doi":"https://doi.org/10.1109/smc58881.2025.11343264","title":"A Two-Stage GNN for Joint UAV Positioning and Relay Routing","display_name":"A Two-Stage GNN for Joint UAV Positioning and Relay Routing","publication_year":2025,"publication_date":"2025-10-05","ids":{"openalex":"https://openalex.org/W7125979251","doi":"https://doi.org/10.1109/smc58881.2025.11343264"},"language":null,"primary_location":{"id":"doi:10.1109/smc58881.2025.11343264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc58881.2025.11343264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-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/A5108482664","display_name":"Qingyu Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianchen Ren","raw_affiliation_strings":["Xiamen University,School of Information,Xiamen,China,361102"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xiamen University,School of Information,Xiamen,China,361102","institution_ids":["https://openalex.org/I191208505"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100349017","display_name":"Han Liu","orcid":"https://orcid.org/0000-0001-5202-8740"},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Liu","raw_affiliation_strings":["Xiamen University,School of Information,Xiamen,China,361102"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xiamen University,School of Information,Xiamen,China,361102","institution_ids":["https://openalex.org/I191208505"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108651257","display_name":"Yuliang Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuliang Tang","raw_affiliation_strings":["Xiamen University,School of Information,Xiamen,China,361102"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xiamen University,School of Information,Xiamen,China,361102","institution_ids":["https://openalex.org/I191208505"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111120859","display_name":"Shaozi Li","orcid":null},"institutions":[{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaozi Li","raw_affiliation_strings":["Xiamen University,School of Information,Xiamen,China,361102"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Xiamen University,School of Information,Xiamen,China,361102","institution_ids":["https://openalex.org/I191208505"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.76949734,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4538","last_page":"4543"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9598000049591064,"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":0.9598000049591064,"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/T14413","display_name":"Advanced Technologies in Various Fields","score":0.003100000089034438,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.003000000026077032,"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/relay","display_name":"Relay","score":0.7059999704360962},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6412000060081482},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.588100016117096},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5116000175476074},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.47839999198913574},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.46939998865127563},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45910000801086426},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4372999966144562},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42489999532699585},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.40529999136924744}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7170000076293945},{"id":"https://openalex.org/C2778156585","wikidata":"https://www.wikidata.org/wiki/Q174053","display_name":"Relay","level":3,"score":0.7059999704360962},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6412000060081482},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.588100016117096},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5116000175476074},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.47839999198913574},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.46939998865127563},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4652000069618225},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45910000801086426},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4372999966144562},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42489999532699585},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.40529999136924744},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.4036000072956085},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.382999986410141},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.3781000077724457},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.37290000915527344},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.33059999346733093},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32580000162124634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32249999046325684},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.3172999918460846},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.314300000667572},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3133000135421753},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.310699999332428},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.29840001463890076},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.28850001096725464},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.273499995470047},{"id":"https://openalex.org/C108037233","wikidata":"https://www.wikidata.org/wiki/Q11375","display_name":"Wireless network","level":3,"score":0.27230000495910645},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.26660001277923584},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.26429998874664307},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.26109999418258667},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2547000050544739},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.25380000472068787}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc58881.2025.11343264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc58881.2025.11343264","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8046395778656006}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2346155518","https://openalex.org/W2895855868","https://openalex.org/W2907080366","https://openalex.org/W2964313027","https://openalex.org/W3046219116","https://openalex.org/W3089022684","https://openalex.org/W3111499798","https://openalex.org/W3115726903","https://openalex.org/W3213485672","https://openalex.org/W4221150253","https://openalex.org/W4285731275","https://openalex.org/W4296569566","https://openalex.org/W4387682300","https://openalex.org/W4392152439","https://openalex.org/W4405103726","https://openalex.org/W4405103974","https://openalex.org/W4407867085","https://openalex.org/W4408795094"],"related_works":[],"abstract_inverted_index":{"In":[0,73,94],"modern":[1],"warfare,":[2],"bionic":[3],"robots":[4],"are":[5,27,110],"increasingly":[6],"deployed":[7],"to":[8,32,88,112,125,158],"execute":[9],"high-risk":[10],"missions.":[11],"To":[12],"ensure":[13],"robust":[14],"remote":[15],"control":[16],"and":[17,46,64,91,121,133,151,155],"command":[18],"in":[19,51],"complex":[20],"urban":[21],"environments,":[22],"unmanned":[23],"aerial":[24,30],"vehicles":[25],"(UAVs)":[26],"utilized":[28],"as":[29,59],"relays":[31],"facilitate":[33],"reliable":[34],"data":[35],"transmission.":[36],"This":[37],"paper":[38],"investigates":[39],"the":[40,57,74,95,126,130,139],"joint":[41],"optimization":[42,62],"of":[43],"UAV":[44,99,105],"positioning":[45],"multi-hop":[47],"relay":[48],"path":[49],"selection":[50],"UAV-assisted":[52],"wireless":[53],"networks.":[54],"We":[55],"formulate":[56],"problem":[58],"a":[60,66,77,98],"graph-based":[61],"task":[63],"propose":[65],"two-stage":[67],"Graph":[68],"Neural":[69],"Network":[70],"(GNN)":[71],"framework.":[72],"first":[75],"stage,":[76,97],"reinforcement":[78],"learning":[79],"(RL)":[80],"enhanced":[81],"Relay":[82],"Path":[83],"GNN":[84,101],"(RPG)":[85],"is":[86],"developed":[87],"enable":[89],"low-latency":[90],"efficient":[92],"routing.":[93],"second":[96],"Position":[100],"(UPG)":[102],"determines":[103],"near-optimal":[104,144],"deployment":[106],"strategies.":[107],"Both":[108],"modules":[109],"designed":[111],"train":[113],"without":[114],"labeled":[115],"data,":[116],"relying":[117],"instead":[118],"on":[119],"unsupervised":[120],"RL":[122],"techniques":[123],"tailored":[124],"graph-structured":[127],"problem,":[128],"making":[129],"approach":[131],"data-efficient":[132],"robust.":[134],"Simulation":[135],"results":[136],"show":[137],"that":[138],"proposed":[140],"framework":[141],"UPG-RPG":[142],"achieves":[143],"performance":[145],"with":[146],"substantially":[147],"reduced":[148],"computational":[149],"complexity":[150],"demonstrates":[152],"superior":[153],"scalability":[154],"adaptability":[156],"compared":[157],"conventional":[159],"heuristic":[160],"or":[161],"rule-based":[162],"methods.":[163]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-01-29T00:00:00"}
