{"id":"https://openalex.org/W4414499221","doi":"https://doi.org/10.1109/tits.2025.3607709","title":"Relational Trajectory-Entropy Augmented MADRL for Truck-Drone Collaborative Deliver With Mobile Charging Optimization","display_name":"Relational Trajectory-Entropy Augmented MADRL for Truck-Drone Collaborative Deliver With Mobile Charging Optimization","publication_year":2025,"publication_date":"2025-09-25","ids":{"openalex":"https://openalex.org/W4414499221","doi":"https://doi.org/10.1109/tits.2025.3607709"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3607709","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3607709","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation 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/A5042969749","display_name":"Huixian Qiu","orcid":"https://orcid.org/0000-0002-9318-814X"},"institutions":[{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huixian Qiu","raw_affiliation_strings":["School of Artificial Intelligence and the National Engineering Laboratory for Big Data System Computing Technology, Shenzhen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-9318-814X","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and the National Engineering Laboratory for Big Data System Computing Technology, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I4210152380"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023403859","display_name":"Zheng Luo","orcid":"https://orcid.org/0000-0001-9666-8184"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zheng Luo","raw_affiliation_strings":["The University of Hong Kong, Hong Kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101932719","display_name":"Yijing Huang","orcid":"https://orcid.org/0000-0002-1701-3479"},"institutions":[{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yijing Huang","raw_affiliation_strings":["School of Artificial Intelligence and the National Engineering Laboratory for Big Data System Computing Technology, Shenzhen University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and the National Engineering Laboratory for Big Data System Computing Technology, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I4210152380"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100393871","display_name":"Jianqiang Li","orcid":"https://orcid.org/0000-0002-2208-962X"},"institutions":[{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianqiang Li","raw_affiliation_strings":["School of Artificial Intelligence and the National Engineering Laboratory for Big Data System Computing Technology, Shenzhen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-2208-962X","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and the National Engineering Laboratory for Big Data System Computing Technology, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I4210152380"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060564734","display_name":"Chengwen Luo","orcid":"https://orcid.org/0000-0003-0293-0781"},"institutions":[{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengwen Luo","raw_affiliation_strings":["School of Artificial Intelligence and the National Engineering Laboratory for Big Data System Computing Technology, Shenzhen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-0293-0781","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and the National Engineering Laboratory for Big Data System Computing Technology, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I4210152380"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"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":0.9325249,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"27","issue":"3","first_page":"3788","last_page":"3802"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9961000084877014,"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":0.9961000084877014,"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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.9858999848365784,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9822999835014343,"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/scalability","display_name":"Scalability","score":0.6898000240325928},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.6431000232696533},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6424999833106995},{"id":"https://openalex.org/keywords/travelling-salesman-problem","display_name":"Travelling salesman problem","score":0.44350001215934753},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.44040000438690186},{"id":"https://openalex.org/keywords/truck","display_name":"Truck","score":0.42239999771118164},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.3776000142097473},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.36890000104904175}],"concepts":[{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6898000240325928},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6722000241279602},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.6431000232696533},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6424999833106995},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5228000283241272},{"id":"https://openalex.org/C175859090","wikidata":"https://www.wikidata.org/wiki/Q322212","display_name":"Travelling salesman problem","level":2,"score":0.44350001215934753},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.44040000438690186},{"id":"https://openalex.org/C52121051","wikidata":"https://www.wikidata.org/wiki/Q43193","display_name":"Truck","level":2,"score":0.42239999771118164},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.3776000142097473},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.36890000104904175},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3555000126361847},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.34450000524520874},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.33480000495910645},{"id":"https://openalex.org/C95491727","wikidata":"https://www.wikidata.org/wiki/Q992968","display_name":"Mobile telephony","level":3,"score":0.3280999958515167},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.29789999127388},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2935999929904938},{"id":"https://openalex.org/C144543869","wikidata":"https://www.wikidata.org/wiki/Q2738570","display_name":"Mobile computing","level":2,"score":0.28049999475479126},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.2736999988555908},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.26899999380111694},{"id":"https://openalex.org/C91765299","wikidata":"https://www.wikidata.org/wiki/Q3424292","display_name":"Lagrangian relaxation","level":2,"score":0.26589998602867126},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.26579999923706055},{"id":"https://openalex.org/C108037233","wikidata":"https://www.wikidata.org/wiki/Q11375","display_name":"Wireless network","level":3,"score":0.2565999925136566},{"id":"https://openalex.org/C188919014","wikidata":"https://www.wikidata.org/wiki/Q5422296","display_name":"Extremal optimization","level":4,"score":0.25360000133514404}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3607709","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3607709","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6890799570","display_name":null,"funder_award_id":"62422312","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1584583246","https://openalex.org/W1977319619","https://openalex.org/W2059409198","https://openalex.org/W2245682929","https://openalex.org/W2754599614","https://openalex.org/W2897497659","https://openalex.org/W2903944199","https://openalex.org/W2905789584","https://openalex.org/W2940865666","https://openalex.org/W2963019567","https://openalex.org/W2963421154","https://openalex.org/W2972055356","https://openalex.org/W3122711124","https://openalex.org/W3125377832","https://openalex.org/W4220894234","https://openalex.org/W4226340499","https://openalex.org/W4281701107","https://openalex.org/W4285296730","https://openalex.org/W4289080106","https://openalex.org/W4293107948","https://openalex.org/W4312800397","https://openalex.org/W4313678757","https://openalex.org/W4366308858","https://openalex.org/W4366678306","https://openalex.org/W4377090877","https://openalex.org/W4380303644","https://openalex.org/W4387682344","https://openalex.org/W4393033503","https://openalex.org/W4394828176","https://openalex.org/W4399526732","https://openalex.org/W4402653818","https://openalex.org/W6922480057"],"related_works":[],"abstract_inverted_index":{"The":[0],"truck-drone":[1],"collaborative":[2],"delivery":[3],"problem,":[4],"modeled":[5],"as":[6,33],"a":[7,60,123],"Traveling":[8],"Salesman":[9],"Problem":[10],"with":[11,21,48,78],"Drones":[12],"(TSP-D),":[13],"presents":[14],"critical":[15,102],"challenges":[16],"in":[17,30],"coordinating":[18],"heterogeneous":[19],"vehicles":[20],"distinct":[22],"operational":[23],"constraints.":[24],"A":[25],"key":[26],"optimization":[27],"opportunity":[28],"lies":[29],"using":[31],"trucks":[32,93],"mobile":[34,55],"charging":[35,56,103,115,130],"stations,":[36],"enabling":[37],"extended":[38],"drone":[39],"operations":[40],"beyond":[41],"battery":[42],"limitations.":[43],"While":[44],"existing":[45],"approaches":[46],"struggle":[47],"scalability":[49],"and":[50,94,117,136,146],"inefficient":[51],"exploration":[52,111],"of":[53],"this":[54],"paradigm,":[57],"we":[58],"propose":[59],"relational":[61,98],"trajectory-entropy":[62],"augmented":[63],"(R-TEA)":[64],"Multi-Agent":[65],"Deep":[66],"Reinforcement":[67],"Learning":[68],"(MADRL)":[69],"framework":[70],"that":[71,112,127],"synergizes":[72],"Relational":[73],"Graph":[74],"Convolutional":[75],"Networks":[76],"(R-GCN)":[77],"Trajectory-Entropy":[79],"Reward":[80],"(TER).":[81],"Our":[82],"method":[83],"addresses":[84],"three":[85],"core":[86],"challenges:":[87],"1)":[88],"modeling":[89],"spatiotemporal":[90],"dependencies":[91],"between":[92],"drones":[95],"via":[96,109,122],"R-GCN\u2019s":[97],"inductive":[99],"biases,":[100],"including":[101],"coordination;":[104],"2)":[105],"escaping":[106],"local":[107],"optima":[108],"trajectory":[110],"considers":[113],"dynamic":[114],"opportunities;":[116],"3)":[118],"balancing":[119],"time-cost":[120],"trade-offs":[121],"compound":[124],"reward":[125],"design":[126],"accounts":[128],"for":[129],"efficiency.":[131],"Extensive":[132],"experiments":[133],"on":[134],"TSPLib":[135],"synthetic":[137],"benchmarks":[138],"demonstrate":[139],"R-TEA\u2019s":[140],"superiority":[141],"over":[142],"heuristic,":[143],"attention-based":[144],"RL,":[145],"evolutionary":[147],"baselines.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}