{"id":"https://openalex.org/W4413126166","doi":"https://doi.org/10.1109/tvt.2025.3596466","title":"Enhancing the Robustness of UAV Search Path Planning Based on Deep Reinforcement Learning for Complex Disaster Scenarios","display_name":"Enhancing the Robustness of UAV Search Path Planning Based on Deep Reinforcement Learning for Complex Disaster Scenarios","publication_year":2025,"publication_date":"2025-08-07","ids":{"openalex":"https://openalex.org/W4413126166","doi":"https://doi.org/10.1109/tvt.2025.3596466"},"language":"en","primary_location":{"id":"doi:10.1109/tvt.2025.3596466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3596466","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/A5059956001","display_name":"Jiakai Liang","orcid":"https://orcid.org/0000-0002-5003-7325"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiakai Liang","raw_affiliation_strings":["ZheJiang Integrated Circuits and Intelligent Hardware Collaborative Innovation Center, Hangzhou Dianzi University, Hangzhou, China","Hangzhou Dianzi University, China"],"affiliations":[{"raw_affiliation_string":"ZheJiang Integrated Circuits and Intelligent Hardware Collaborative Innovation Center, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"Hangzhou Dianzi University, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060668984","display_name":"Jinduo Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinduo Zhao","raw_affiliation_strings":["ZheJiang Integrated Circuits and Intelligent Hardware Collaborative Innovation Center, Hangzhou Dianzi University, Hangzhou, China","Hangzhou Dianzi University, China"],"affiliations":[{"raw_affiliation_string":"ZheJiang Integrated Circuits and Intelligent Hardware Collaborative Innovation Center, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"Hangzhou Dianzi University, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115076700","display_name":"Chao Wang","orcid":"https://orcid.org/0000-0003-4887-923X"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Wang","raw_affiliation_strings":["ZheJiang Integrated Circuits and Intelligent Hardware Collaborative Innovation Center, Hangzhou Dianzi University, Hangzhou, China","Hangzhou Dianzi University, China"],"affiliations":[{"raw_affiliation_string":"ZheJiang Integrated Circuits and Intelligent Hardware Collaborative Innovation Center, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"Hangzhou Dianzi University, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100715119","display_name":"Xingsheng Yang","orcid":"https://orcid.org/0000-0002-4946-2033"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiandeng Yang","raw_affiliation_strings":["ZheJiang Integrated Circuits and Intelligent Hardware Collaborative Innovation Center, Hangzhou Dianzi University, Hangzhou, China","Hangzhou Dianzi University, China"],"affiliations":[{"raw_affiliation_string":"ZheJiang Integrated Circuits and Intelligent Hardware Collaborative Innovation Center, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"Hangzhou Dianzi University, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081891978","display_name":"Keqiang Yue","orcid":"https://orcid.org/0000-0003-0880-9798"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Keqiang Yue","raw_affiliation_strings":["ZheJiang Integrated Circuits and Intelligent Hardware Collaborative Innovation Center, Hangzhou Dianzi University, Hangzhou, China","Hangzhou Dianzi University, China"],"affiliations":[{"raw_affiliation_string":"ZheJiang Integrated Circuits and Intelligent Hardware Collaborative Innovation Center, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"Hangzhou Dianzi University, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100446249","display_name":"Wenjun Li","orcid":"https://orcid.org/0000-0001-6788-3256"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjun Li","raw_affiliation_strings":["ZheJiang Integrated Circuits and Intelligent Hardware Collaborative Innovation Center, Hangzhou Dianzi University, Hangzhou, China","Hangzhou Dianzi University, China"],"affiliations":[{"raw_affiliation_string":"ZheJiang Integrated Circuits and Intelligent Hardware Collaborative Innovation Center, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"Hangzhou Dianzi University, China","institution_ids":["https://openalex.org/I50760025"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5059956001"],"corresponding_institution_ids":["https://openalex.org/I50760025"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23574792,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"75","issue":"1","first_page":"392","last_page":"404"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9939000010490417,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9909999966621399,"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/robustness","display_name":"Robustness (evolution)","score":0.7901039123535156},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7142702341079712},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6239382028579712},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5414507389068604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42097359895706177},{"id":"https://openalex.org/keywords/disaster-response","display_name":"Disaster response","score":0.41924482583999634},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.367387980222702},{"id":"https://openalex.org/keywords/emergency-management","display_name":"Emergency management","score":0.31961455941200256},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19860625267028809}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7901039123535156},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7142702341079712},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6239382028579712},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5414507389068604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42097359895706177},{"id":"https://openalex.org/C3018653863","wikidata":"https://www.wikidata.org/wiki/Q5281355","display_name":"Disaster response","level":3,"score":0.41924482583999634},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.367387980222702},{"id":"https://openalex.org/C62555980","wikidata":"https://www.wikidata.org/wiki/Q1460420","display_name":"Emergency management","level":2,"score":0.31961455941200256},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19860625267028809},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2025.3596466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3596466","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.8700000047683716}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2067040941","https://openalex.org/W2998593207","https://openalex.org/W2998786991","https://openalex.org/W3011589233","https://openalex.org/W3040469843","https://openalex.org/W3056678973","https://openalex.org/W3090573937","https://openalex.org/W3111563271","https://openalex.org/W3119756647","https://openalex.org/W3135798356","https://openalex.org/W3152640450","https://openalex.org/W3159305574","https://openalex.org/W3190173868","https://openalex.org/W3196302005","https://openalex.org/W3200613921","https://openalex.org/W4205783028","https://openalex.org/W4206749896","https://openalex.org/W4210530701","https://openalex.org/W4226094091","https://openalex.org/W4282935706","https://openalex.org/W4293258801","https://openalex.org/W4294691760","https://openalex.org/W4296425622","https://openalex.org/W4308981848","https://openalex.org/W4312334862","https://openalex.org/W4365420889","https://openalex.org/W4381186551","https://openalex.org/W4385061644","https://openalex.org/W4387146027","https://openalex.org/W4390188068","https://openalex.org/W4401942610"],"related_works":["https://openalex.org/W93111763","https://openalex.org/W4241945896","https://openalex.org/W4402721021","https://openalex.org/W2032452226","https://openalex.org/W2394422641","https://openalex.org/W4401497630","https://openalex.org/W3003192696","https://openalex.org/W2578808763","https://openalex.org/W2096153544","https://openalex.org/W4247415845"],"abstract_inverted_index":{"In":[0,113],"disaster":[1],"scenarios,":[2],"unmanned":[3],"aerial":[4],"vehicle":[5],"(UAV)":[6],"rescue":[7,33],"path":[8,28],"search":[9],"missions":[10],"have":[11],"become":[12],"an":[13,94],"increasingly":[14],"critical":[15],"issue.":[16],"This":[17],"paper,":[18],"proposes":[19],"a":[20,77,129],"Double":[21],"Deep":[22],"Q-Network":[23,26],"State":[24],"Splitting":[25],"(DDQN-SSQN)":[27],"planning":[29,32],"algorithm,":[30],"which":[31],"route":[34],"guiding":[35],"UAV":[36],"to":[37,88,98,117,139,158,164,179,187,205,211],"maximize":[38],"the":[39,53,72,114,119,154,170,175,197],"detection":[40,96],"of":[41,47,111,121,172,199],"ground-trapped":[42],"devices":[43],"by":[44],"analyzing":[45],"variations":[46],"communication":[48,56,89],"signal":[49,57,90],"strengths.":[50],"However,":[51],"in":[52,71],"post-disaster":[54],"environment,":[55],"strengths":[58,91],"are":[59],"vulnerable":[60],"disturbed":[61,141],"that":[62,84,146],"severely":[63],"compromise":[64],"DDQN-SSQN":[65,122],"reliability.":[66],"To":[67],"address":[68],"this":[69],"problem,":[70],"first":[73],"stage,":[74,116],"we":[75,127],"propose":[76,128],"novel":[78],"State-and-Reward":[79,130],"Joint":[80,131],"Attack":[81],"method":[82,133],"(Adv-SR)":[83],"simulates":[85],"electromagnetic":[86,124],"perturbation":[87,125],"while":[92,160],"incorporating":[93],"action":[95],"model":[97],"identify":[99],"algorithmic":[100],"vulnerabilities,":[101],"realize":[102],"attacks":[103],"on":[104],"both":[105],"state":[106],"space":[107,110],"and":[108],"reward":[109,214],"DDQN-SSQN.":[112],"second":[115],"enhance":[118],"robustness":[120,171,198],"against":[123],"attacks,":[126],"Defense":[132],"(Def-SR),":[134],"using":[135],"dual":[136],"prediction":[137],"networks":[138],"restore":[140],"space.":[142],"Simulation":[143],"results":[144],"demonstrate":[145],"compared":[147,186,210],"with":[148],"traditional":[149],"attack":[150,162],"methods,":[151],"Adv-SR":[152],"reduces":[153],"task":[155,176,202],"success":[156,177,203],"rate":[157,178],"12.6%":[159],"decreasing":[161],"frequency":[163],"16.67%.":[165],"Moreover,":[166,193],"Def-SR":[167,194],"significantly":[168,195],"improves":[169,196],"DDQN-SSQN,":[173,200],"restoring":[174,201],"98.4%":[180],"under":[181],"attack,":[182],"showing":[183,207],"superior":[184,208],"performance":[185,209],"single-state":[188,212],"or":[189,213],"single-reward":[190],"defense":[191,215],"methods.":[192,216],"rates":[204],"98.4%,":[206]},"counts_by_year":[],"updated_date":"2026-01-22T23:29:09.771500","created_date":"2025-10-10T00:00:00"}