{"id":"https://openalex.org/W4415820834","doi":"https://doi.org/10.1109/taes.2025.3628321","title":"Imitation and Exploration: Learning for Vision-Based Communication-Free Multi-UAV Coordination in Cluttered Environments","display_name":"Imitation and Exploration: Learning for Vision-Based Communication-Free Multi-UAV Coordination in Cluttered Environments","publication_year":2025,"publication_date":"2025-11-03","ids":{"openalex":"https://openalex.org/W4415820834","doi":"https://doi.org/10.1109/taes.2025.3628321"},"language":null,"primary_location":{"id":"doi:10.1109/taes.2025.3628321","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2025.3628321","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","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/A5085734546","display_name":"Yu Wan","orcid":"https://orcid.org/0000-0002-0336-8658"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yu Wan","raw_affiliation_strings":["College of System Engineer, National University of Defense Technology, Changsha, China","College of system engineer, National University of defense technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of System Engineer, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of system engineer, National University of defense technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103241347","display_name":"Xi Chen","orcid":"https://orcid.org/0000-0002-4794-7539"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xi Chen","raw_affiliation_strings":["College of System Engineer, National University of Defense Technology, Changsha, China","College of system engineer, National University of defense technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of System Engineer, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of system engineer, National University of defense technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102969741","display_name":"Zipeng Zhao","orcid":"https://orcid.org/0009-0005-1910-9131"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zipeng Zhao","raw_affiliation_strings":["College of System Engineer, National University of Defense Technology, Changsha, China","College of system engineer, National University of defense technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of System Engineer, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of system engineer, National University of defense technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090705491","display_name":"Kaijiang Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaijiang Wang","raw_affiliation_strings":["College of System Engineer, National University of Defense Technology, Changsha, China","College of system engineer, National University of defense technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of System Engineer, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of system engineer, National University of defense technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103148381","display_name":"Jun Tang","orcid":"https://orcid.org/0000-0001-5524-9565"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Tang","raw_affiliation_strings":["College of System Engineer, National University of Defense Technology, Changsha, China","College of system engineer, National University of defense technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of System Engineer, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of system engineer, National University of defense technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5085734546"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.44951826,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"62","issue":null,"first_page":"1225","last_page":"1243"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.3109999895095825,"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":0.3109999895095825,"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":0.17180000245571136,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.11829999834299088,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7089999914169312},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.4097000062465668},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.40130001306533813},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.3693000078201294},{"id":"https://openalex.org/keywords/inefficiency","display_name":"Inefficiency","score":0.34950000047683716},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.34299999475479126},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.3427000045776367},{"id":"https://openalex.org/keywords/active-learning","display_name":"Active learning (machine learning)","score":0.3269999921321869}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7563999891281128},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7089999914169312},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6482999920845032},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.46480000019073486},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.4097000062465668},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.40130001306533813},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.3693000078201294},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3598000109195709},{"id":"https://openalex.org/C2778869765","wikidata":"https://www.wikidata.org/wiki/Q6028363","display_name":"Inefficiency","level":2,"score":0.34950000047683716},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.34299999475479126},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.3427000045776367},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.3269999921321869},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.3109000027179718},{"id":"https://openalex.org/C125014702","wikidata":"https://www.wikidata.org/wiki/Q4680749","display_name":"Adaptive learning","level":2,"score":0.3100999891757965},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.30570000410079956},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2962999939918518},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.28949999809265137},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.2856000065803528},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.28049999475479126},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.26019999384880066},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.25780001282691956}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2025.3628321","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2025.3628321","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","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":38,"referenced_works":["https://openalex.org/W1980969546","https://openalex.org/W2105850748","https://openalex.org/W2150312211","https://openalex.org/W2550143307","https://openalex.org/W2609009256","https://openalex.org/W2749468379","https://openalex.org/W2782715402","https://openalex.org/W2788239209","https://openalex.org/W2811487153","https://openalex.org/W2842089854","https://openalex.org/W2884236119","https://openalex.org/W2892378191","https://openalex.org/W2913365477","https://openalex.org/W2962957005","https://openalex.org/W2963411833","https://openalex.org/W2968678044","https://openalex.org/W2972941110","https://openalex.org/W2982083293","https://openalex.org/W3038825904","https://openalex.org/W3045462839","https://openalex.org/W3118665117","https://openalex.org/W3134305423","https://openalex.org/W3183413118","https://openalex.org/W3202883604","https://openalex.org/W3207644545","https://openalex.org/W3209325542","https://openalex.org/W3213750164","https://openalex.org/W4214864511","https://openalex.org/W4229007520","https://openalex.org/W4293353513","https://openalex.org/W4321608219","https://openalex.org/W4323644326","https://openalex.org/W4378979601","https://openalex.org/W4379622577","https://openalex.org/W4386076325","https://openalex.org/W4399526162","https://openalex.org/W4405707153","https://openalex.org/W4405785078"],"related_works":[],"abstract_inverted_index":{"Multi-UAV":[0],"autonomous":[1,231],"navigation":[2],"in":[3,10,76,156,169,200,230],"complex":[4],"environments":[5,158],"presents":[6],"significant":[7],"challenges,":[8],"particularly":[9],"communication-denied":[11],"scenarios":[12],"where":[13,159],"traditional":[14],"coordination":[15,75,211],"methods":[16,50,81],"fail.":[17],"Vision-based":[18],"approaches":[19,36,163,229],"offer":[20],"a":[21,68,96,122,235],"promising":[22,236],"alternative":[23],"by":[24],"enabling":[25],"operation":[26],"with":[27,52,105,115,125,146],"only":[28],"onboard":[29,147],"sensors,":[30],"but":[31],"face":[32],"fundamental":[33],"limitations:":[34],"modular":[35],"separating":[37],"perception,":[38],"mapping,":[39],"and":[40,55,64,86,182,194,233],"planning":[41],"introduce":[42],"compounding":[43],"errors":[44],"across":[45,186],"stages,":[46],"while":[47,143],"end-to-end":[48],"learning":[49,85,88,120,162,181,184,219,228],"struggle":[51],"sample":[53],"inefficiency":[54],"poor":[56],"generalization":[57],"to":[58,206,223],"different":[59],"environments.":[60,78],"We":[61],"present":[62],"Imitation":[63],"Exploration":[65],"Learning":[66],"(IEL),":[67],"framework":[69],"that":[70,82,100,133],"enables":[71],"robust":[72,227],"communication-free":[73],"multi-UAV":[74],"cluttered":[77],"Unlike":[79],"previous":[80],"treat":[83],"imitation":[84,161,180],"reinforcement":[87,119,183],"as":[89],"separate":[90],"paradigms,":[91,220],"IEL":[92,134,152,221],"integrates":[93],"them":[94],"through":[95],"unified":[97],"objective":[98],"function":[99],"dynamically":[101],"balances":[102],"expert":[103,113],"guidance":[104],"reinforcement-based":[106],"exploration.":[107],"Our":[108,174],"implementation":[109],"combines":[110],"DAgger's":[111],"iterative":[112],"supervision":[114],"Soft":[116],"Actor-Critic's":[117],"maximum-entropy":[118],"within":[121],"Centralized":[123],"Training":[124],"Decentralized":[126],"Execution":[127],"architecture.":[128],"Extensive":[129],"experimental":[130],"validation":[131],"demonstrates":[132],"achieves":[135],"95.5%":[136],"of":[137,140,226],"the":[138,171,224],"performance":[139,155],"privileged-information":[141],"models":[142],"operating":[144],"solely":[145],"visual":[148],"sensors.":[149],"Most":[150],"significantly,":[151],"maintains":[153],"85.4%":[154],"challenging":[157],"conventional":[160],"degrade":[164],"substantially,":[165],"confirming":[166],"its":[167],"effectiveness":[168],"bridging":[170],"efficiency-generalization":[172],"gap.":[173],"approach":[175],"consistently":[176],"outperforms":[177],"both":[178],"pure":[179],"baselines":[185],"multiple":[187],"metrics,":[188],"including":[189],"collision":[190],"avoidance,":[191],"formation":[192],"maintenance,":[193],"adaptive":[195],"navigation.":[196],"The":[197],"principles":[198],"established":[199],"this":[201],"work":[202],"extend":[203],"beyond":[204],"UAVs":[205],"broader":[207],"multi-agent":[208,240],"systems":[209,232],"requiring":[210],"without":[212],"communication":[213],"infrastructure.":[214],"By":[215],"successfully":[216],"integrating":[217],"complementary":[218],"contributes":[222],"understanding":[225],"establishes":[234],"direction":[237],"for":[238],"resilient":[239],"technologies.":[241]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-03T00:00:00"}