{"id":"https://openalex.org/W4416707330","doi":"https://doi.org/10.1109/tccn.2025.3637411","title":"Two-Timescale Trajectory Planning for UAV Formation Serving Hotspot in Unknown Environments With Complex Obstacles","display_name":"Two-Timescale Trajectory Planning for UAV Formation Serving Hotspot in Unknown Environments With Complex Obstacles","publication_year":2025,"publication_date":"2025-11-26","ids":{"openalex":"https://openalex.org/W4416707330","doi":"https://doi.org/10.1109/tccn.2025.3637411"},"language":null,"primary_location":{"id":"doi:10.1109/tccn.2025.3637411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tccn.2025.3637411","pdf_url":null,"source":{"id":"https://openalex.org/S2484188435","display_name":"IEEE Transactions on Cognitive Communications and Networking","issn_l":"2332-7731","issn":["2332-7731","2372-2045"],"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 Cognitive Communications and Networking","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/A5047787436","display_name":"Huasen He","orcid":"https://orcid.org/0000-0001-9963-019X"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huasen He","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-9963-019X","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000816439","display_name":"Wenke Yuan","orcid":"https://orcid.org/0009-0006-1573-5845"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenke Yuan","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0009-0006-1573-5845","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021256033","display_name":"S. Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siqun Chen","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102803853","display_name":"Yunpeng Hou","orcid":"https://orcid.org/0000-0001-7216-9022"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yunpeng Hou","raw_affiliation_strings":["Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-7216-9022","affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045720734","display_name":"Shuangwu Chen","orcid":"https://orcid.org/0000-0003-2817-9738"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuangwu Chen","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-2817-9738","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048357184","display_name":"Xiaobin Tan","orcid":"https://orcid.org/0000-0001-7489-2839"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaobin Tan","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-7489-2839","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083577000","display_name":"Jian Yang","orcid":"https://orcid.org/0000-0002-7329-4738"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Yang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-7329-4738","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.3626,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.94088141,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"12","issue":null,"first_page":"4261","last_page":"4276"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.5809000134468079,"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":0.5809000134468079,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.3582000136375427,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.03420000150799751,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.8068000078201294},{"id":"https://openalex.org/keywords/hotspot","display_name":"Hotspot (geology)","score":0.7825000286102295},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.679099977016449},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6743000149726868},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5250999927520752},{"id":"https://openalex.org/keywords/route-planning","display_name":"Route planning","score":0.43290001153945923},{"id":"https://openalex.org/keywords/base-station","display_name":"Base station","score":0.4287000000476837}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.8068000078201294},{"id":"https://openalex.org/C146481406","wikidata":"https://www.wikidata.org/wiki/Q105131","display_name":"Hotspot (geology)","level":2,"score":0.7825000286102295},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7720000147819519},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.679099977016449},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6743000149726868},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5250999927520752},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.446399986743927},{"id":"https://openalex.org/C2989549987","wikidata":"https://www.wikidata.org/wiki/Q350882","display_name":"Route planning","level":2,"score":0.43290001153945923},{"id":"https://openalex.org/C68649174","wikidata":"https://www.wikidata.org/wiki/Q1379116","display_name":"Base station","level":2,"score":0.4287000000476837},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.39399999380111694},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.34529998898506165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32670000195503235},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.314300000667572},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.3057999908924103},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29490000009536743},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2809000015258789},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2782000005245209},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.2702000141143799}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tccn.2025.3637411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tccn.2025.3637411","pdf_url":null,"source":{"id":"https://openalex.org/S2484188435","display_name":"IEEE Transactions on Cognitive Communications and Networking","issn_l":"2332-7731","issn":["2332-7731","2372-2045"],"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 Cognitive Communications and Networking","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4736320777","display_name":null,"funder_award_id":"U23A20275","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7553321691","display_name":null,"funder_award_id":"62201543","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"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":37,"referenced_works":["https://openalex.org/W2902505127","https://openalex.org/W2963523627","https://openalex.org/W2964884740","https://openalex.org/W3000757491","https://openalex.org/W3006499227","https://openalex.org/W3047202536","https://openalex.org/W3048658198","https://openalex.org/W3051352583","https://openalex.org/W3128895503","https://openalex.org/W3154867485","https://openalex.org/W3166228843","https://openalex.org/W3168892396","https://openalex.org/W3200237136","https://openalex.org/W4200000120","https://openalex.org/W4226457030","https://openalex.org/W4292265161","https://openalex.org/W4319597737","https://openalex.org/W4320491204","https://openalex.org/W4363674561","https://openalex.org/W4379409118","https://openalex.org/W4385834002","https://openalex.org/W4386821357","https://openalex.org/W4387587706","https://openalex.org/W4391547575","https://openalex.org/W4392169689","https://openalex.org/W4394841726","https://openalex.org/W4396542138","https://openalex.org/W4399527245","https://openalex.org/W4401508069","https://openalex.org/W4401537098","https://openalex.org/W4404524610","https://openalex.org/W4405778572","https://openalex.org/W4407802547","https://openalex.org/W4410027545","https://openalex.org/W4410614057","https://openalex.org/W4410737361","https://openalex.org/W4411948786"],"related_works":[],"abstract_inverted_index":{"Deploying":[0],"the":[1,24,71,76,81,89,120,142,145,154,164,194,201],"Unmanned":[2],"Aerial":[3],"Vehicle":[4],"(UAV)":[5],"formation":[6,28,39,99,147,202],"as":[7],"aerial":[8,13],"base":[9],"stations":[10],"to":[11,80,113,140,158,187],"construct":[12],"communication":[14],"networks":[15],"in":[16,29,124,148],"hotspot":[17,82],"areas":[18],"holds":[19],"considerable":[20],"promise.":[21],"However,":[22],"planning":[23,54,64,128],"trajectories":[25],"of":[26,144],"UAV":[27,57,73,146,155,183],"complex":[30,160],"and":[31,38,88,98,107,162,199],"unknown":[32,149],"environments,":[33],"while":[34],"ensuring":[35],"obstacle":[36,96,178],"avoidance":[37,97,179],"maintenance,":[40],"presents":[41],"unpreceding":[42],"challenges.":[43],"In":[44],"this":[45],"paper,":[46],"we":[47,130],"propose":[48],"a":[49,66,85,102,181],"hierarchical":[50],"reinforcement":[51],"learning-based":[52,126],"trajectory":[53,63,79,116,127,195],"algorithm":[55,60,152,175,192],"for":[56,95],"formation.":[58],"This":[59],"implements":[61],"two-timescale":[62],"within":[65],"leader-follower":[67],"control":[68],"framework,":[69],"where":[70],"leader":[72],"(LUAV)":[74],"plans":[75],"shortest":[77],"safe":[78],"area":[83],"on":[84,101],"large":[86],"timescale":[87],"follower":[90],"UAVs":[91],"(FUAVs)":[92],"are":[93],"responsible":[94],"maintenance":[100],"small":[103],"timescale.":[104],"The":[105],"LUAV":[106],"FUAVs":[108],"collaborate":[109],"across":[110],"different":[111],"timescales":[112],"achieve":[114],"joint":[115],"optimization.":[117],"To":[118],"tackle":[119],"sparse":[121],"reward":[122],"problem":[123],"existing":[125,188],"algorithms,":[129,189],"introduce":[131],"an":[132],"intrinsic":[133],"curiosity-driven":[134],"module":[135],"that":[136,173],"integrates":[137],"historical":[138],"information":[139],"enhance":[141],"exploration":[143],"environments.":[150],"Our":[151],"enhances":[153],"formation\u2019s":[156],"capability":[157],"handle":[159],"obstacles":[161],"maintain":[163],"formation,":[165],"thereby":[166],"improving":[167],"overall":[168],"performance.":[169],"Simulation":[170],"results":[171],"demonstrate":[172],"our":[174,190],"achieves":[176],"complete":[177],"with":[180],"100%":[182],"survival":[184],"rate.":[185],"Compared":[186],"proposed":[191],"reduces":[193],"length":[196],"by":[197,205],"14%":[198],"improves":[200],"maintaining":[203],"performance":[204],"over":[206],"90%.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-11-27T00:00:00"}
