{"id":"https://openalex.org/W3005756519","doi":"https://doi.org/10.1109/uemcon47517.2019.8992966","title":"Inter-UAV Collision Avoidance using Deep-Q-Learning in Flocking Environment","display_name":"Inter-UAV Collision Avoidance using Deep-Q-Learning in Flocking Environment","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W3005756519","doi":"https://doi.org/10.1109/uemcon47517.2019.8992966","mag":"3005756519"},"language":"en","primary_location":{"id":"doi:10.1109/uemcon47517.2019.8992966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/uemcon47517.2019.8992966","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 10th Annual Ubiquitous Computing, Electronics & Mobile Communication Conference (UEMCON)","raw_type":"proceedings-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/A5010314794","display_name":"Gunasekaran Raja","orcid":"https://orcid.org/0000-0002-2253-7648"},"institutions":[{"id":"https://openalex.org/I33585257","display_name":"Anna University, Chennai","ror":"https://ror.org/01qhf1r47","country_code":"IN","type":"education","lineage":["https://openalex.org/I33585257"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Gunasekaran Raja","raw_affiliation_strings":["Department of Computer Technology, Anna University, Chennai, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Technology, Anna University, Chennai, India","institution_ids":["https://openalex.org/I33585257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090908380","display_name":"Sudha Anbalagan","orcid":"https://orcid.org/0000-0002-7886-2327"},"institutions":[{"id":"https://openalex.org/I145286018","display_name":"SRM Institute of Science and Technology","ror":"https://ror.org/050113w36","country_code":"IN","type":"education","lineage":["https://openalex.org/I145286018"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sudha Anbalagan","raw_affiliation_strings":["Department of Computer Science and Engineering, SRM Institute of Science and Technology, Chennai, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, SRM Institute of Science and Technology, Chennai, India","institution_ids":["https://openalex.org/I145286018"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057500735","display_name":"Vikraman Sathiya Narayanan","orcid":null},"institutions":[{"id":"https://openalex.org/I33585257","display_name":"Anna University, Chennai","ror":"https://ror.org/01qhf1r47","country_code":"IN","type":"education","lineage":["https://openalex.org/I33585257"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Vikraman Sathiya Narayanan","raw_affiliation_strings":["Department of Computer Technology, Anna University, Chennai, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Technology, Anna University, Chennai, India","institution_ids":["https://openalex.org/I33585257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057622092","display_name":"Srinivas Jayaram","orcid":"https://orcid.org/0009-0002-5066-7893"},"institutions":[{"id":"https://openalex.org/I33585257","display_name":"Anna University, Chennai","ror":"https://ror.org/01qhf1r47","country_code":"IN","type":"education","lineage":["https://openalex.org/I33585257"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Srinivas Jayaram","raw_affiliation_strings":["Department of Computer Technology, Anna University, Chennai, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Technology, Anna University, Chennai, India","institution_ids":["https://openalex.org/I33585257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028134113","display_name":"Aishwarya Ganapathisubramaniyan","orcid":null},"institutions":[{"id":"https://openalex.org/I33585257","display_name":"Anna University, Chennai","ror":"https://ror.org/01qhf1r47","country_code":"IN","type":"education","lineage":["https://openalex.org/I33585257"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Aishwarya Ganapathisubramaniyan","raw_affiliation_strings":["Department of Computer Technology, Anna University, Chennai, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Technology, Anna University, Chennai, India","institution_ids":["https://openalex.org/I33585257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7287,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.88338293,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1089","last_page":"1095"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9994000196456909,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9986000061035156,"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/flocking","display_name":"Flocking (texture)","score":0.7987720966339111},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.762683093547821},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7170681953430176},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6620419025421143},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6575224995613098},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6358669996261597},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.620577335357666},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49138036370277405},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4269687533378601},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3859592080116272},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3284061551094055},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08106675744056702},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0676373839378357}],"concepts":[{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.7987720966339111},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.762683093547821},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7170681953430176},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6620419025421143},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6575224995613098},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6358669996261597},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.620577335357666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49138036370277405},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4269687533378601},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3859592080116272},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3284061551094055},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08106675744056702},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0676373839378357},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/uemcon47517.2019.8992966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/uemcon47517.2019.8992966","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 10th Annual Ubiquitous Computing, Electronics & Mobile Communication Conference (UEMCON)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1676631450","https://openalex.org/W1686810756","https://openalex.org/W1849277567","https://openalex.org/W2097117768","https://openalex.org/W2133233905","https://openalex.org/W2144789976","https://openalex.org/W2163605009","https://openalex.org/W2166559794","https://openalex.org/W2171541671","https://openalex.org/W2282034761","https://openalex.org/W2345097924","https://openalex.org/W2395611524","https://openalex.org/W2417429787","https://openalex.org/W2486722903","https://openalex.org/W2523026762","https://openalex.org/W2582119245","https://openalex.org/W2741786784","https://openalex.org/W2793865950","https://openalex.org/W2794824091","https://openalex.org/W2808421695","https://openalex.org/W2891487062","https://openalex.org/W2962835968","https://openalex.org/W2997698549","https://openalex.org/W3021947017","https://openalex.org/W3118608800","https://openalex.org/W6637373629","https://openalex.org/W6639204139","https://openalex.org/W6679847170","https://openalex.org/W6683974378","https://openalex.org/W6684191040","https://openalex.org/W6716929502","https://openalex.org/W6777169163","https://openalex.org/W6787972765"],"related_works":["https://openalex.org/W2002188687","https://openalex.org/W2142589698","https://openalex.org/W2794811781","https://openalex.org/W4327740834","https://openalex.org/W2166744572","https://openalex.org/W2138105113","https://openalex.org/W4387445286","https://openalex.org/W1596835606","https://openalex.org/W2182108128","https://openalex.org/W2543440791"],"abstract_inverted_index":{"In":[0],"the":[1,64,76,98,106,125,151,158,173,200,210,221],"past":[2],"twenty":[3],"years,":[4],"Unmanned":[5],"Aerial":[6],"Vehicles":[7],"(UAVs)":[8],"have":[9,139],"demonstrated":[10],"their":[11,131],"ability":[12],"in":[13,25,145,240],"supporting":[14],"both":[15],"military":[16],"and":[17,53,155,232],"civilian":[18],"applications.":[19],"It":[20],"has":[21,92,112,120],"proved":[22],"itself":[23],"useful":[24],"tasks":[26,40,56],"which":[27,41,57,143,160],"are":[28],"dangerous":[29],"or":[30,88,108],"too":[31],"costly":[32],"with":[33],"usual":[34],"methods.":[35],"Certain":[36],"applications":[37,228],"also":[38,170],"contains":[39],"can":[42,58,102],"be":[43,59,94,103,114,122],"processed":[44],"faster":[45],"by":[46,177],"using":[47,189],"multiple":[48],"UAVs":[49,80,126,152,211,239],"that":[50,91,172,220],"work":[51],"together":[52],"perform":[54],"smaller":[55],"further":[60],"combined":[61],"to":[62,68,93,113,121,130,153,156,165,198,212],"get":[63],"intended":[65],"result.":[66],"However,":[67],"achieve":[69],"this,":[70],"we":[71],"need":[72],"autonomous":[73],"coordination":[74],"among":[75],"multi":[77],"UAVs.":[78],"Multiple":[79],"flying":[81],"as":[82,127,229],"a":[83,86,89,135,205],"swarm,":[84],"incorporates":[85],"pattern":[87,107],"shape":[90,109],"maintained":[95],"through":[96],"out":[97],"flight.":[99],"But":[100],"there":[101],"cases":[104],"where":[105],"of":[110],"swarm":[111],"changed.":[115],"Under":[116],"such":[117],"circumstances,":[118],"collision":[119,162,206],"avoided":[123],"between":[124],"they":[128],"travel":[129],"new":[132,136],"position":[133,185],"forming":[134],"shape.":[137],"We":[138,169],"proposed":[140],"an":[141],"algorithm":[142,222],"helps":[144],"finding":[146],"optimal":[147,183,201,230],"goal":[148,184],"positions":[149],"for":[150,204,209,226,237],"flock":[154],"find":[157,199],"trajectory":[159,208],"supports":[161],"free":[163,207],"movement":[164],"its":[166,214],"assigned":[167],"position.":[168],"ensure":[171],"total":[174],"distance":[175],"travelled":[176],"individual":[178],"UAV":[179],"is":[180,187,196,223],"minimized.":[181],"The":[182],"assignment":[186],"done":[188],"Hungarian":[190],"Algorithm.":[191],"Deep":[192],"Q":[193],"Learning":[194],"method":[195],"used":[197],"flight":[202,233],"parameters":[203,234],"reach":[213],"goal.":[215],"Results":[216],"from":[217],"simulation":[218],"show":[219],"sufficiently":[224],"fast":[225],"practical":[227],"assignments":[231],"were":[235],"computed":[236],"50":[238],"less":[241],"than":[242],"1s.":[243]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}