{"id":"https://openalex.org/W4213246061","doi":"https://doi.org/10.1109/tnnls.2022.3146976","title":"Game of Drones: Multi-UAV Pursuit-Evasion Game With Online Motion Planning by Deep Reinforcement Learning","display_name":"Game of Drones: Multi-UAV Pursuit-Evasion Game With Online Motion Planning by Deep Reinforcement Learning","publication_year":2022,"publication_date":"2022-02-14","ids":{"openalex":"https://openalex.org/W4213246061","doi":"https://doi.org/10.1109/tnnls.2022.3146976","pmid":"https://pubmed.ncbi.nlm.nih.gov/35157597"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2022.3146976","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2022.3146976","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5101794430","display_name":"Ruilong Zhang","orcid":"https://orcid.org/0000-0002-1278-0556"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ruilong Zhang","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073871408","display_name":"Qun Zong","orcid":"https://orcid.org/0000-0003-0734-6728"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qun Zong","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-0734-6728","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100744361","display_name":"Xiuyun Zhang","orcid":"https://orcid.org/0000-0001-5309-6147"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiuyun Zhang","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-5309-6147","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044375216","display_name":"Liqian Dou","orcid":"https://orcid.org/0000-0002-3979-0420"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liqian Dou","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003234602","display_name":"Bailing Tian","orcid":"https://orcid.org/0000-0003-1004-8350"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bailing Tian","raw_affiliation_strings":["School of Electrical and Information Engineering, Tianjin University, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-1004-8350","affiliations":[{"raw_affiliation_string":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101794430"],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":null,"apc_paid":null,"fwci":105.0533,"has_fulltext":false,"cited_by_count":181,"citation_normalized_percentile":{"value":0.99970188,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"34","issue":"10","first_page":"7900","last_page":"7909"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9983999729156494,"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/T12158","display_name":"Guidance and Control Systems","score":0.9983999729156494,"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":0.9973000288009644,"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":0.9969000220298767,"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/pursuit-evasion","display_name":"Pursuit-evasion","score":0.823058009147644},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7806211709976196},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7050642371177673},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.6722501516342163},{"id":"https://openalex.org/keywords/evasion","display_name":"Evasion (ethics)","score":0.6502688527107239},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5245076417922974},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5038227438926697}],"concepts":[{"id":"https://openalex.org/C2778388243","wikidata":"https://www.wikidata.org/wiki/Q7261573","display_name":"Pursuit-evasion","level":2,"score":0.823058009147644},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7806211709976196},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7050642371177673},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.6722501516342163},{"id":"https://openalex.org/C2781251061","wikidata":"https://www.wikidata.org/wiki/Q5416089","display_name":"Evasion (ethics)","level":3,"score":0.6502688527107239},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5245076417922974},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5038227438926697},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C8891405","wikidata":"https://www.wikidata.org/wiki/Q1059","display_name":"Immune system","level":2,"score":0.0},{"id":"https://openalex.org/C203014093","wikidata":"https://www.wikidata.org/wiki/Q101929","display_name":"Immunology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tnnls.2022.3146976","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2022.3146976","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},{"id":"pmid:35157597","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35157597","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on neural networks and learning systems","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7400000095367432}],"awards":[{"id":"https://openalex.org/G1763732274","display_name":null,"funder_award_id":"62022060","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G463011087","display_name":null,"funder_award_id":"2018AAA0102401","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6497725696","display_name":null,"funder_award_id":"62073234","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7161920209","display_name":null,"funder_award_id":"62003236","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7491594886","display_name":null,"funder_award_id":"61873340","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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W192986218","https://openalex.org/W1974812331","https://openalex.org/W2007640554","https://openalex.org/W2023775503","https://openalex.org/W2096282629","https://openalex.org/W2107726111","https://openalex.org/W2110144538","https://openalex.org/W2131774270","https://openalex.org/W2136848157","https://openalex.org/W2141426220","https://openalex.org/W2145339207","https://openalex.org/W2150355110","https://openalex.org/W2160363664","https://openalex.org/W2553405792","https://openalex.org/W2567355071","https://openalex.org/W2602275733","https://openalex.org/W2617547828","https://openalex.org/W2756196406","https://openalex.org/W2766447205","https://openalex.org/W2886509985","https://openalex.org/W2889987506","https://openalex.org/W2894976951","https://openalex.org/W2904455790","https://openalex.org/W2908261578","https://openalex.org/W2950373453","https://openalex.org/W2950688771","https://openalex.org/W2958390482","https://openalex.org/W2962887844","https://openalex.org/W2962959294","https://openalex.org/W2963890729","https://openalex.org/W2964043796","https://openalex.org/W2964338167","https://openalex.org/W2964937097","https://openalex.org/W2981038142","https://openalex.org/W2982316857","https://openalex.org/W3004201988","https://openalex.org/W3005243570","https://openalex.org/W3039632299","https://openalex.org/W3041517319","https://openalex.org/W3100019413","https://openalex.org/W3106530718","https://openalex.org/W3126890992","https://openalex.org/W3127834470","https://openalex.org/W4295312788","https://openalex.org/W4299802797","https://openalex.org/W6607789260","https://openalex.org/W6692846177","https://openalex.org/W6713411898","https://openalex.org/W6735650757","https://openalex.org/W6737849119","https://openalex.org/W6738796088","https://openalex.org/W6744309734","https://openalex.org/W6744537943","https://openalex.org/W6753526802","https://openalex.org/W6755069753","https://openalex.org/W6766978945","https://openalex.org/W6779862443","https://openalex.org/W6785224798"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W2743170747","https://openalex.org/W4385625905","https://openalex.org/W2066807010","https://openalex.org/W2352258019","https://openalex.org/W4248803515","https://openalex.org/W3037033265","https://openalex.org/W2124277904","https://openalex.org/W4220855336","https://openalex.org/W4308732150"],"abstract_inverted_index":{"As":[0],"one":[1],"of":[2,38,88,100,129,140,151],"the":[3,15,25,32,39,44,51,67,98,101,122,127,141,148,152,157],"tiniest":[4],"flying":[5],"objects,":[6],"unmanned":[7],"aerial":[8],"vehicles":[9],"(UAVs)":[10],"are":[11,144],"often":[12],"expanded":[13],"as":[14],"\"swarm\"":[16,103],"to":[17,49,61,96,125,146],"execute":[18],"missions.":[19],"In":[20],"this":[21,70],"article,":[22],"we":[23,42,72,112],"investigate":[24],"multiquadcopter":[26],"and":[27,64,159],"target":[28,79,115],"pursuit-evasion":[29,45,106,142],"game":[30,143],"in":[31,105,121,156],"obstacles":[33],"environment.":[34,68],"For":[35],"high-quality":[36],"simulation":[37],"urban":[40],"environment,":[41],"propose":[43],"scenario":[46],"(PES)":[47],"framework":[48,124],"create":[50],"environment":[52],"with":[53,66,78,84],"a":[54,85,114],"physics":[55],"engine,":[56],"which":[57],"enables":[58],"quadcopter":[59],"agents":[60],"take":[62],"actions":[63],"interact":[65],"On":[69],"basis,":[71],"construct":[73],"multiagent":[74,89],"coronal":[75],"bidirectionally":[76],"coordinated":[77],"prediction":[80,116,133],"network":[81,117],"(CBC-TP":[82],"Net)":[83,119],"vectorized":[86],"extension":[87],"deep":[90],"deterministic":[91],"policy":[92],"gradient":[93],"(MADDPG)":[94],"formulation":[95],"ensure":[97],"effectiveness":[99],"damaged":[102],"system":[104],"mission.":[107],"Unlike":[108],"traditional":[109],"reinforcement":[110],"learning,":[111],"design":[113],"(TP":[118],"innovatively":[120],"common":[123],"imitate":[126],"way":[128],"human":[130],"thinking:":[131],"situation":[132],"is":[134],"always":[135],"before":[136],"decision-making.":[137],"The":[138],"experiments":[139],"conducted":[145],"verify":[147],"state-of-the-art":[149],"performance":[150],"proposed":[153],"strategy,":[154],"both":[155],"normal":[158],"antidamaged":[160],"situations.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":16},{"year":2025,"cited_by_count":80},{"year":2024,"cited_by_count":53},{"year":2023,"cited_by_count":26},{"year":2022,"cited_by_count":6}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
