{"id":"https://openalex.org/W4400679046","doi":"https://doi.org/10.1109/tii.2024.3423464","title":"An Efficient Reinforcement Learning-Based Cooperative Navigation Algorithm for Multiple UAVs in Complex Environments","display_name":"An Efficient Reinforcement Learning-Based Cooperative Navigation Algorithm for Multiple UAVs in Complex Environments","publication_year":2024,"publication_date":"2024-07-16","ids":{"openalex":"https://openalex.org/W4400679046","doi":"https://doi.org/10.1109/tii.2024.3423464"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2024.3423464","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2024.3423464","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Industrial Informatics","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/A5072158350","display_name":"L. M. Zhang","orcid":"https://orcid.org/0000-0002-6569-597X"},"institutions":[{"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":"Lijuan Zhang","raw_affiliation_strings":["College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-6569-597X","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102993429","display_name":"Weiguo Yi","orcid":"https://orcid.org/0009-0007-4901-6950"},"institutions":[{"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":"Weiguo Yi","raw_affiliation_strings":["College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0007-4901-6950","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hang Lin","orcid":"https://orcid.org/0009-0001-2355-5522"},"institutions":[{"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":"Hang Lin","raw_affiliation_strings":["College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0001-2355-5522","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000117232","display_name":"Jiabin Peng","orcid":"https://orcid.org/0009-0006-5389-1742"},"institutions":[{"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":"Jiabin Peng","raw_affiliation_strings":["College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0006-5389-1742","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019391901","display_name":"Pan Gao","orcid":"https://orcid.org/0000-0002-4492-5430"},"institutions":[{"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":"Pan Gao","raw_affiliation_strings":["College of Computer and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-4492-5430","affiliations":[{"raw_affiliation_string":"College of Computer and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":3.4945,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.94288134,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"20","issue":"10","first_page":"12396","last_page":"12406"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9977999925613403,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9947999715805054,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.7300543785095215},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6528933048248291},{"id":"https://openalex.org/keywords/algorithm-design","display_name":"Algorithm design","score":0.44244569540023804},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4080120623111725},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34022098779678345}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7300543785095215},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6528933048248291},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.44244569540023804},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4080120623111725},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34022098779678345}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2024.3423464","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2024.3423464","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Industrial Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2451583307","display_name":null,"funder_award_id":"62371232","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3281299522","display_name":null,"funder_award_id":"61902182","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8456139742","display_name":null,"funder_award_id":"62272227","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":27,"referenced_works":["https://openalex.org/W2015410655","https://openalex.org/W2201581102","https://openalex.org/W2547345216","https://openalex.org/W2907916537","https://openalex.org/W2964023906","https://openalex.org/W2998267513","https://openalex.org/W3006499227","https://openalex.org/W3006799860","https://openalex.org/W3006868075","https://openalex.org/W3129807942","https://openalex.org/W3167580222","https://openalex.org/W3169114806","https://openalex.org/W3202306395","https://openalex.org/W3213750164","https://openalex.org/W4285119242","https://openalex.org/W4292314391","https://openalex.org/W4312922633","https://openalex.org/W4312943725","https://openalex.org/W4313854933","https://openalex.org/W4324125815","https://openalex.org/W4361761162","https://openalex.org/W4386761191","https://openalex.org/W4387682207","https://openalex.org/W4390300291","https://openalex.org/W6687681856","https://openalex.org/W6748839928","https://openalex.org/W6780559895"],"related_works":["https://openalex.org/W2393888177","https://openalex.org/W2544423928","https://openalex.org/W2967268719","https://openalex.org/W2115794623","https://openalex.org/W3115392711","https://openalex.org/W2360264381","https://openalex.org/W2067173559","https://openalex.org/W1613730747","https://openalex.org/W2541389358","https://openalex.org/W4318948887"],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1,22,56,75,130],"of":[2,93,104,180],"multiple":[3,94],"unmanned":[4],"aerial":[5],"vehicles":[6],"(UAVs)":[7],"serves":[8],"as":[9,78],"the":[10,72,98,124,129,161,176],"foundation":[11],"for":[12,31,90],"their":[13],"widespread":[14],"applications":[15],"in":[16,65,109],"various":[17],"fields.":[18],"However,":[19],"multi-UAV":[20,73],"cooperative":[21,55,74],"is":[23,29,59,76,88,120,139],"a":[24,79,102,113],"challenging":[25],"problem":[26],"because":[27],"it":[28],"difficult":[30],"UAVs":[32,43],"to":[33,61,122,158,174],"plan":[34],"efficient":[35,51],"paths":[36],"while":[37],"avoiding":[38],"collisions":[39],"with":[40,115],"both":[41,143],"neighboring":[42],"and":[44,67,83,127,148,170,178],"other":[45],"obstacles.":[46],"In":[47,70],"this":[48],"work,":[49],"an":[50,84,133],"reinforcement":[52],"learning":[53],"(RL)-based":[54],"algorithm":[57],"(RL-CN)":[58],"proposed":[60,89],"make":[62],"optimal":[63],"decisions":[64],"dense":[66],"dynamic":[68],"environments.":[69],"RL-CN,":[71],"formulated":[77],"Markov":[80],"decision":[81],"process":[82,126],"enhanced":[85,134],"RL":[86],"method":[87],"continuous":[91],"control":[92],"UAVs.":[95],"To":[96],"solve":[97],"sparse":[99],"reward":[100,105,110],"problem,":[101],"group":[103],"functions":[106],"are":[107,154],"designed":[108,140],"shaping.":[111],"Next,":[112],"staged-tuning":[114],"two":[116],"subactor":[117],"networks":[118],"strategy":[119,138],"developed":[121],"accelerate":[123],"training":[125,162],"improve":[128],"performance.":[131],"Then,":[132],"prioritized":[135],"experience":[136],"replay":[137],"by":[141],"considering":[142],"Temporal":[144],"Difference":[145],"(TD)":[146],"error":[147],"connectivity":[149],"trend.":[150],"Thus,":[151],"high-value":[152],"transitions":[153],"more":[155],"frequently":[156],"selected":[157],"further":[159],"enhance":[160],"process.":[163],"Finally,":[164],"we":[165],"conduct":[166],"comprehensive":[167],"simulation":[168],"experiments":[169],"provide":[171],"comparative":[172],"results":[173],"substantiate":[175],"effectiveness":[177],"robustness":[179],"RL-CN":[181],"algorithm.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":11}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}