{"id":"https://openalex.org/W4362014545","doi":"https://doi.org/10.1109/tvt.2023.3262778","title":"Bayesian Optimization Enhanced Deep Reinforcement Learning for Trajectory Planning and Network Formation in Multi-UAV Networks","display_name":"Bayesian Optimization Enhanced Deep Reinforcement Learning for Trajectory Planning and Network Formation in Multi-UAV Networks","publication_year":2023,"publication_date":"2023-03-29","ids":{"openalex":"https://openalex.org/W4362014545","doi":"https://doi.org/10.1109/tvt.2023.3262778"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2023.3262778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2023.3262778","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5042460024","display_name":"Shimin Gong","orcid":"https://orcid.org/0000-0003-4874-8766"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shimin Gong","raw_affiliation_strings":["School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-4874-8766","affiliations":[{"raw_affiliation_string":"School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358","https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100377249","display_name":"Meng Wang","orcid":"https://orcid.org/0000-0003-4203-0390"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meng Wang","raw_affiliation_strings":["School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-4203-0390","affiliations":[{"raw_affiliation_string":"School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358","https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013964496","display_name":"Bo Gu","orcid":"https://orcid.org/0000-0003-0556-2769"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Gu","raw_affiliation_strings":["School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-0556-2769","affiliations":[{"raw_affiliation_string":"School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China","institution_ids":["https://openalex.org/I157773358","https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100385513","display_name":"Wenjie Zhang","orcid":"https://orcid.org/0000-0002-7470-3011"},"institutions":[{"id":"https://openalex.org/I9356336","display_name":"Minnan Normal University","ror":"https://ror.org/02vj1vm13","country_code":"CN","type":"education","lineage":["https://openalex.org/I9356336"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjie Zhang","raw_affiliation_strings":["School of Computer Sciences, Minnan Normal University, Fujian, China"],"raw_orcid":"https://orcid.org/0000-0002-7470-3011","affiliations":[{"raw_affiliation_string":"School of Computer Sciences, Minnan Normal University, Fujian, China","institution_ids":["https://openalex.org/I9356336"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007992576","display_name":"Dinh Thai Hoang","orcid":"https://orcid.org/0000-0002-9528-0863"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Dinh Thai Hoang","raw_affiliation_strings":["School of Electrical and Data Engineering, University of Technology Sydney, Sydney, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-9528-0863","affiliations":[{"raw_affiliation_string":"School of Electrical and Data Engineering, University of Technology Sydney, Sydney, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091266202","display_name":"Dusit Niyato","orcid":"https://orcid.org/0000-0002-7442-7416"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Dusit Niyato","raw_affiliation_strings":["School of Computer Science and Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-7442-7416","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":60.8658,"has_fulltext":false,"cited_by_count":88,"citation_normalized_percentile":{"value":0.99916781,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"72","issue":"8","first_page":"10933","last_page":"10948"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":1.0,"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":1.0,"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":0.9887999892234802,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.984000027179718,"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/computer-science","display_name":"Computer science","score":0.7197675704956055},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6602296829223633},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6359025835990906},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5434804558753967},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.4715183973312378},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.47064393758773804},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4308125376701355},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4301162660121918},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.33866384625434875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26119840145111084},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.2248995304107666},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1607934534549713}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7197675704956055},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6602296829223633},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6359025835990906},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5434804558753967},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.4715183973312378},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.47064393758773804},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4308125376701355},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4301162660121918},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.33866384625434875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26119840145111084},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.2248995304107666},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1607934534549713},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tvt.2023.3262778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2023.3262778","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/170818","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/170818","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.9100000262260437}],"awards":[{"id":"https://openalex.org/G269058668","display_name":null,"funder_award_id":"JCYJ20220818103201004","funder_id":"https://openalex.org/F4320329791","funder_display_name":"Shenzhen Fundamental Research Program"},{"id":"https://openalex.org/G2975121715","display_name":null,"funder_award_id":"JCYJ20190807154009444","funder_id":"https://openalex.org/F4320329791","funder_display_name":"Shenzhen Fundamental Research Program"},{"id":"https://openalex.org/G6812608597","display_name":"\u878d\u5408\u53cd\u5411\u6563\u5c04\u901a\u4fe1\u7684\u591a\u6a21\u4f20\u8f93\u673a\u5236\u4e0e\u7f51\u7edc\u4f18\u5316\u65b9\u6cd5\u7814\u7a76","funder_award_id":"61972434","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7167224382","display_name":null,"funder_award_id":"U20A20175","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/F4320329791","display_name":"Shenzhen Fundamental Research Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W2020199432","https://openalex.org/W2099201756","https://openalex.org/W2327622231","https://openalex.org/W2342656438","https://openalex.org/W2604830243","https://openalex.org/W2739825710","https://openalex.org/W2740005962","https://openalex.org/W2754349741","https://openalex.org/W2796882881","https://openalex.org/W2898035736","https://openalex.org/W2901790394","https://openalex.org/W2942012181","https://openalex.org/W2962804513","https://openalex.org/W2962847915","https://openalex.org/W2969525674","https://openalex.org/W2972656576","https://openalex.org/W2976344064","https://openalex.org/W3000653182","https://openalex.org/W3013536937","https://openalex.org/W3014297757","https://openalex.org/W3025789438","https://openalex.org/W3033034581","https://openalex.org/W3035330356","https://openalex.org/W3046988891","https://openalex.org/W3048217314","https://openalex.org/W3048651570","https://openalex.org/W3096894748","https://openalex.org/W3101050753","https://openalex.org/W3101996971","https://openalex.org/W3102527375","https://openalex.org/W3117267439","https://openalex.org/W3123188912","https://openalex.org/W3131382839","https://openalex.org/W3133735442","https://openalex.org/W3134949638","https://openalex.org/W3161553238","https://openalex.org/W3161863910","https://openalex.org/W3162366242","https://openalex.org/W3173360237","https://openalex.org/W3194789261","https://openalex.org/W3197321928","https://openalex.org/W3214825004","https://openalex.org/W4224640192","https://openalex.org/W4285326917","https://openalex.org/W6675200109","https://openalex.org/W6738796088"],"related_works":["https://openalex.org/W4400868993","https://openalex.org/W3096874164","https://openalex.org/W1985560493","https://openalex.org/W2386410636","https://openalex.org/W2357975469","https://openalex.org/W2145363145","https://openalex.org/W1626977535","https://openalex.org/W2341346307","https://openalex.org/W3168977894","https://openalex.org/W179829755"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,83,137],"employ":[4,139],"multiple":[5],"UAVs":[6,25],"coordinated":[7],"by":[8,77,90,117],"a":[9,78,92],"base":[10],"station":[11],"(BS)":[12],"to":[13,19,33,44,60,95,142],"help":[14],"the":[15,50,55,62,85,97,107,111,125,134,144,161,165,176,192],"ground":[16],"users":[17],"(GUs)":[18],"offload":[20],"their":[21,28],"sensing":[22],"data.":[23],"Different":[24],"can":[26,189],"adapt":[27],"trajectories":[29,113],"and":[30,65,72,101,129,159,180,202],"network":[31,52,58,70,87,109,181],"formation":[32,53,71,88],"expedite":[34],"data":[35,102,196],"transmissions":[36],"via":[37],"multi-hop":[38,56],"relaying.":[39],"The":[40,68,168],"trajectory":[41,73,151,178],"planning":[42,179],"aims":[43],"collect":[45],"all":[46],"GUs'":[47,126],"data,":[48],"while":[49],"UAVs'":[51,98,112,145,177,193],"optimizes":[54],"UAV":[57],"topology":[59],"minimize":[61],"energy":[63,99,200],"consumption":[64,100],"transmission":[66],"delay.":[67],"joint":[69],"optimization":[74,141],"is":[75],"solved":[76],"two-step":[79],"iterative":[80],"approach.":[81],"Firstly,":[82],"devise":[84],"adaptive":[86],"scheme":[89],"using":[91,118],"heuristic":[93],"algorithm":[94],"balance":[96],"queue":[103],"size.":[104],"Then,":[105],"with":[106,184],"fixed":[108],"formation,":[110],"are":[114],"further":[115,138],"optimized":[116],"multi-agent":[119],"deep":[120],"reinforcement":[121],"learning":[122,135],"without":[123],"knowing":[124],"traffic":[127],"demands":[128],"spatial":[130],"distribution.":[131],"To":[132],"improve":[133],"efficiency,":[136],"Bayesian":[140],"estimate":[143],"flying":[146],"decisions":[147],"based":[148],"on":[149],"historical":[150],"points.":[152],"This":[153],"helps":[154],"avoid":[155],"inefficient":[156],"action":[157],"explorations":[158],"improves":[160],"convergence":[162],"rate":[163],"in":[164,195],"model":[166],"training.":[167],"simulation":[169],"results":[170],"reveal":[171],"close":[172],"spatial-temporal":[173],"couplings":[174],"between":[175],"formation.":[182],"Compared":[183],"several":[185],"baselines,":[186],"our":[187],"solution":[188],"better":[190],"exploit":[191],"cooperation":[194],"offloading,":[197],"thus":[198],"improving":[199],"efficiency":[201],"delay":[203],"performance.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":12},{"year":2025,"cited_by_count":40},{"year":2024,"cited_by_count":31},{"year":2023,"cited_by_count":5}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
