{"id":"https://openalex.org/W4381734765","doi":"https://doi.org/10.1109/cscwd57460.2023.10152811","title":"Path Planning based on Reinforcement Learning with Improved APF model for Synergistic Multi-UAVs","display_name":"Path Planning based on Reinforcement Learning with Improved APF model for Synergistic Multi-UAVs","publication_year":2023,"publication_date":"2023-05-24","ids":{"openalex":"https://openalex.org/W4381734765","doi":"https://doi.org/10.1109/cscwd57460.2023.10152811"},"language":"en","primary_location":{"id":"doi:10.1109/cscwd57460.2023.10152811","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cscwd57460.2023.10152811","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 26th International Conference on Computer Supported Cooperative Work in Design (CSCWD)","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/A5048986916","display_name":"Qun Ding","orcid":"https://orcid.org/0000-0002-5520-6001"},"institutions":[{"id":"https://openalex.org/I4210126530","display_name":"Data Assurance and Communication Security","ror":"https://ror.org/02z2gfm30","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210126530","https://openalex.org/I4210156404"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qun Ding","raw_affiliation_strings":["Jiangsu Key Laboratory of Big Data Security & Intelligent Processing,Nanjing,China,210023"],"affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory of Big Data Security & Intelligent Processing,Nanjing,China,210023","institution_ids":["https://openalex.org/I4210126530"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100777027","display_name":"Xiaolong Xu","orcid":"https://orcid.org/0000-0001-6254-5864"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolong Xu","raw_affiliation_strings":["Nanjing University of Posts and Telecommunications,School of Computer Science,Nanjing,China,210023"],"affiliations":[{"raw_affiliation_string":"Nanjing University of Posts and Telecommunications,School of Computer Science,Nanjing,China,210023","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058659340","display_name":"Wenming Gui","orcid":"https://orcid.org/0000-0002-1230-1631"},"institutions":[{"id":"https://openalex.org/I4210166603","display_name":"Jinling Institute of Technology","ror":"https://ror.org/05em1gq62","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210166603"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenming Gui","raw_affiliation_strings":["Jinling Institute of Technology,School of Computer Science,Nanjing,China,211169"],"affiliations":[{"raw_affiliation_string":"Jinling Institute of Technology,School of Computer Science,Nanjing,China,211169","institution_ids":["https://openalex.org/I4210166603"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5048986916"],"corresponding_institution_ids":["https://openalex.org/I4210126530"],"apc_list":null,"apc_paid":null,"fwci":0.6149,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.68776427,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"432","last_page":"437"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9915000200271606,"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":0.9778000116348267,"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/motion-planning","display_name":"Motion planning","score":0.8075350522994995},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7349715232849121},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6789128184318542},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5613604187965393},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.43991348147392273},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4172295331954956},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3768676519393921},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3704835772514343},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3359009921550751},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3111085295677185}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8075350522994995},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7349715232849121},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6789128184318542},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5613604187965393},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.43991348147392273},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4172295331954956},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3768676519393921},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3704835772514343},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3359009921550751},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3111085295677185},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cscwd57460.2023.10152811","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cscwd57460.2023.10152811","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 26th International Conference on Computer Supported Cooperative Work in Design (CSCWD)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.5799999833106995,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4362501864","https://openalex.org/W4306904969","https://openalex.org/W4380318855","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3154539612"],"abstract_inverted_index":{"As":[0],"the":[1,29,51,56,63,69,76,82,102,114,125,129,138,143,158,184,189,192,197,203,222,225,232,236],"emerging":[2],"technology":[3],"of":[4,24,31,35,55,75,116,128,142,152,171,180,224,234,239],"Unmanned":[5],"Aerial":[6],"Vehicles":[7],"(UAVs)":[8],"becomes":[9],"mature,":[10],"UAVs":[11,57],"are":[12],"widely":[13],"used":[14],"in":[15,101,112,146,214],"environmental":[16,181],"monitoring,":[17],"communication":[18],"and":[19,38,68,89,169,178,196],"other":[20],"fields.":[21],"In":[22,164],"view":[23],"this,":[25],"this":[26],"paper":[27],"analyzed":[28],"task":[30,54],"synergistic":[32],"multi-UAVs":[33,173],"exploration":[34,71,160,182],"unknown":[36],"environments,":[37],"proposed":[39,204],"a":[40,147,215],"path":[41,52,64,103,119,132,141],"planning":[42,53],"method":[43,195,205],"for":[44],"them":[45],"based":[46,80],"on":[47,81],"reinforcement":[48],"learning.":[49],"Firstly,":[50],"was":[58,99,109],"divided":[59],"into":[60],"two":[61,77],"parts:":[62],"travel":[65,104,133],"strategy":[66,72,105,134,161],"module":[67,135,162],"information":[70,159],"module.":[73,106],"Models":[74],"modules":[78],"were":[79],"Deep":[83],"Deterministic":[84],"Policy":[85],"Gradient":[86],"algorithm":[87],"(DDPG),":[88],"an":[90],"improved":[91],"Artificial":[92],"Potential":[93],"Field":[94],"(APF)":[95],"force":[96],"traction":[97],"mechanism":[98],"introduced":[100],"Its":[107],"aim":[108],"to":[110,210],"assist":[111],"guiding":[113],"generation":[115],"UAV":[117],"flight":[118,140],"trajectories.":[120],"Also":[121],"it":[122],"could":[123,174],"enhance":[124],"learning":[126],"capability":[127],"model.":[130],"The":[131],"would":[136],"generate":[137],"complete":[139],"whole":[144],"cluster":[145],"distributed":[148],"manner.":[149],"A":[150,193],"series":[151],"temporary":[153],"target":[154],"points":[155],"provided":[156],"by":[157,183],"helped.":[163],"maps":[165],"with":[166,188],"21.5%,":[167],"25.3%":[168],"29.6%":[170],"obstacles,":[172],"achieve":[175],"84.2%,":[176],"76.7%":[177],"69.9%":[179],"designed":[185],"method.":[186],"Compared":[187],"APF":[190],"method,":[191,202],"star":[194],"Breath":[198],"First":[199],"Search":[200],"(BFS)":[201],"is":[206,228],"not":[207],"only":[208],"able":[209],"plan":[211],"feasible":[212],"paths":[213,227],"more":[216],"complex":[217],"map":[218],"model,":[219],"but":[220],"also":[221],"curvature":[223],"planned":[226],"smoother,":[229],"thus":[230],"achieving":[231],"goal":[233],"reducing":[235],"energy":[237],"cost":[238],"UAVs.":[240]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}