{"id":"https://openalex.org/W7162072379","doi":"https://doi.org/10.1109/tgcn.2026.3695901","title":"Robust and Energy-Efficient Multi-UAV Trajectory Planning for Data Collection: A Game-Theoretic and Deep Reinforcement Learning Approach","display_name":"Robust and Energy-Efficient Multi-UAV Trajectory Planning for Data Collection: A Game-Theoretic and Deep Reinforcement Learning Approach","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7162072379","doi":"https://doi.org/10.1109/tgcn.2026.3695901"},"language":null,"primary_location":{"id":"doi:10.1109/tgcn.2026.3695901","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tgcn.2026.3695901","pdf_url":null,"source":{"id":"https://openalex.org/S4210192662","display_name":"IEEE Transactions on Green Communications and Networking","issn_l":"2473-2400","issn":["2473-2400"],"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 Green 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/A5136774176","display_name":"Nan Qi","orcid":"https://orcid.org/0000-0002-0125-370X"},"institutions":[{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Qi","raw_affiliation_strings":["Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space, Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-0125-370X","affiliations":[{"raw_affiliation_string":"Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space, Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054376242","display_name":"Hua Jiang","orcid":"https://orcid.org/0000-0002-4840-1415"},"institutions":[{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua Jiang","raw_affiliation_strings":["Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space, Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0003-7060-8644","affiliations":[{"raw_affiliation_string":"Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space, Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057602175","display_name":"Sa Xiao","orcid":"https://orcid.org/0000-0001-9044-274X"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sa Xiao","raw_affiliation_strings":["National Key Laboratory of Science and Technology on Communications, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0001-9044-274X","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Science and Technology on Communications, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004989810","display_name":"Daolong Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210097237","display_name":"ETC International","ror":"https://ror.org/00d8t8t88","country_code":"NL","type":"nonprofit","lineage":["https://openalex.org/I4210097237"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Daolong Wu","raw_affiliation_strings":["National Key Laboratory of Multi-Domain Data Collaborative Processing and Control, 20th Institute of CETC, Xi&#x2019;an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Laboratory of Multi-Domain Data Collaborative Processing and Control, 20th Institute of CETC, Xi&#x2019;an, China","institution_ids":["https://openalex.org/I4210097237"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136789981","display_name":"Fuhui Zhou","orcid":"https://orcid.org/0000-0001-6880-6244"},"institutions":[{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]},{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuhui Zhou","raw_affiliation_strings":["Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space, Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-6880-6244","affiliations":[{"raw_affiliation_string":"Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space, Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136808303","display_name":"Chunguo Li","orcid":"https://orcid.org/0000-0002-4689-7226"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunguo Li","raw_affiliation_strings":["School of Information Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-4689-7226","affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5136759926","display_name":"Shi Jin","orcid":"https://orcid.org/0000-0003-0271-6021"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shi Jin","raw_affiliation_strings":["National Mobile Communications Research Laboratory, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-0271-6021","affiliations":[{"raw_affiliation_string":"National Mobile Communications Research Laboratory, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"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":0.6384182,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":null,"first_page":"3086","last_page":"3101"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.5666999816894531,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.5666999816894531,"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/T11133","display_name":"UAV Applications and Optimization","score":0.1039000004529953,"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":0.054999999701976776,"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/trajectory","display_name":"Trajectory","score":0.5040000081062317},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.40459999442100525},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.34619998931884766},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.303600013256073},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.29739999771118164},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.2962999939918518}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5647000074386597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5400999784469604},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5040000081062317},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.40459999442100525},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34619998931884766},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.303600013256073},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.29739999771118164},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.2962999939918518},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2919999957084656},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.290800005197525},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.28999999165534973},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2802000045776367},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.2777999937534332},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.26919999718666077},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25859999656677246},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2538999915122986}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tgcn.2026.3695901","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tgcn.2026.3695901","pdf_url":null,"source":{"id":"https://openalex.org/S4210192662","display_name":"IEEE Transactions on Green Communications and Networking","issn_l":"2473-2400","issn":["2473-2400"],"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 Green Communications and Networking","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.7492417097091675,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G4146704520","display_name":null,"funder_award_id":"62271253","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7358937269","display_name":null,"funder_award_id":"xcxjh20240403","funder_id":"https://openalex.org/F4320334859","funder_display_name":"Foundation of the Graduate Innovation Center, Nanjing University of Aeronautics and Astronautics"},{"id":"https://openalex.org/G7737290055","display_name":null,"funder_award_id":"62471491","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"},{"id":"https://openalex.org/F4320334859","display_name":"Foundation of the Graduate Innovation Center, Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"an":[1,58,109],"open":[2],"electromagnetic":[3],"environment,":[4],"multi-unmanned":[5],"aerial":[6],"vehicle":[7],"(UAV)":[8],"communications":[9],"may":[10],"suffer":[11],"from":[12],"intermittent":[13,47,105,190],"data":[14,162],"transmissions,":[15],"incomplete":[16],"information":[17,78],"on":[18],"jammers":[19],"and":[20,27,36,50,66,161],"geographical":[21],"obstacles.":[22],"This":[23],"deteriorates":[24],"the":[25,51,89,96,127,153,174,179],"UAV-ground":[26],"UAV-UAV":[28],"wireless":[29],"communications,":[30],"potentially":[31],"leading":[32],"to":[33,74,84,94,152,166],"physical":[34],"collisions":[35],"posing":[37],"significant":[38],"safety":[39],"risks.":[40],"While":[41],"existing":[42,141],"studies":[43],"rarely":[44],"account":[45],"for":[46,126],"UAV":[48,82],"connectivity":[49],"associated":[52],"communication":[53,129],"costs,":[54],"this":[55],"paper":[56],"proposes":[57],"effective":[59],"cooperative":[60,77,111],"approach":[61],"utilizing":[62],"grid":[63],"map":[64],"exploration":[65],"experience":[67],"sharing.":[68],"Specifically,":[69],"game-theoretic":[70],"methods":[71],"are":[72],"employed":[73],"facilitate":[75],"distributed":[76],"exchange.":[79],"Although":[80],"each":[81],"seeks":[83],"maximize":[85],"its":[86,187],"individual":[87],"utility,":[88],"proposed":[90],"mechanism":[91],"incentivizes":[92],"cooperation":[93],"achieve":[95],"collective":[97],"mission.":[98],"To":[99],"mitigate":[100],"collaboration":[101],"interruptions":[102],"caused":[103],"by":[104],"transmission,":[106],"we":[107],"propose":[108],"opportunistic":[110],"reinforcement":[112],"learning":[113],"framework":[114],"combined":[115],"with":[116,144],"Long":[117],"Short-Term":[118],"Memory":[119],"(LSTM)-based":[120],"predictive":[121],"learning,":[122],"which":[123],"explicitly":[124],"accounts":[125],"dynamic":[128],"costs":[130],"of":[131],"UAVs.":[132],"Empirical":[133],"evaluations":[134],"demonstrate":[135],"that":[136],"our":[137],"algorithm":[138],"significantly":[139],"outperforms":[140],"non-cooperative":[142,154],"methods,":[143],"a":[145],"31%":[146],"improvement":[147],"in":[148],"converged":[149],"reward":[150],"compared":[151,165],"baseline.":[155],"Furthermore,":[156],"it":[157],"exhibits":[158],"superior":[159],"stability":[160],"collection":[163],"efficiency":[164],"established":[167],"multi-agent":[168],"baselines":[169],"(e.g.,":[170],"MADDPG,":[171],"MAPPO).":[172],"Particularly,":[173],"system\u2019s":[175],"performance":[176],"robustness":[177],"regarding":[178],"LSTM":[180],"prediction":[181],"accuracy":[182],"is":[183],"rigorously":[184],"evaluated,":[185],"confirming":[186],"resilience":[188],"against":[189],"communication.":[191]},"counts_by_year":[],"updated_date":"2026-05-29T06:17:43.578629","created_date":"2026-05-23T00:00:00"}
