{"id":"https://openalex.org/W4307186829","doi":"https://doi.org/10.1145/3555661.3560865","title":"When digital twin meets deep reinforcement learning in multi-UAV path planning","display_name":"When digital twin meets deep reinforcement learning in multi-UAV path planning","publication_year":2022,"publication_date":"2022-10-17","ids":{"openalex":"https://openalex.org/W4307186829","doi":"https://doi.org/10.1145/3555661.3560865"},"language":"en","primary_location":{"id":"doi:10.1145/3555661.3560865","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3555661.3560865","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 5th International ACM Mobicom Workshop on Drone Assisted Wireless Communications for 5G and Beyond","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/A5100406629","display_name":"Siyuan Li","orcid":"https://orcid.org/0000-0002-5045-9472"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Siyuan Li","raw_affiliation_strings":["Shanghai Jiao Tong University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106746347","display_name":"Xi Lin","orcid":"https://orcid.org/0000-0001-5303-1191"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xi Lin","raw_affiliation_strings":["Shanghai Jiao Tong University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004673608","display_name":"Jun Wu","orcid":"https://orcid.org/0000-0003-2483-6980"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Jun Wu","raw_affiliation_strings":["Shanghai Jiao Tong University, China and Waseda University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, China and Waseda University, Japan","institution_ids":["https://openalex.org/I150744194","https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088617561","display_name":"Ali Kashif Bashir","orcid":"https://orcid.org/0000-0003-2601-9327"},"institutions":[{"id":"https://openalex.org/I11983389","display_name":"Manchester Metropolitan University","ror":"https://ror.org/02hstj355","country_code":"GB","type":"education","lineage":["https://openalex.org/I11983389"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ali Kashif Bashir","raw_affiliation_strings":["Manchester Metropolitan University, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Manchester Metropolitan University, UK","institution_ids":["https://openalex.org/I11983389"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087735486","display_name":"Raheel Nawaz","orcid":"https://orcid.org/0000-0001-9588-0052"},"institutions":[{"id":"https://openalex.org/I198012923","display_name":"University of Staffordshire","ror":"https://ror.org/00d6k8y35","country_code":"GB","type":"education","lineage":["https://openalex.org/I198012923"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Raheel Nawaz","raw_affiliation_strings":["Staffordshire University, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Staffordshire University, UK","institution_ids":["https://openalex.org/I198012923"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100406629"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":10.1838,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.9747288,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"61","last_page":"66"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9940000176429749,"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":0.9940000176429749,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10616","display_name":"Smart Agriculture and AI","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8292348384857178},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7629643678665161},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7090909481048584},{"id":"https://openalex.org/keywords/pooling","display_name":"Pooling","score":0.6076310873031616},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5125893950462341},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4994218349456787},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.47137129306793213},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.42758649587631226},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.41839057207107544},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.415780246257782},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1619204580783844},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.13433536887168884},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11881217360496521}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8292348384857178},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7629643678665161},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7090909481048584},{"id":"https://openalex.org/C70437156","wikidata":"https://www.wikidata.org/wiki/Q7228652","display_name":"Pooling","level":2,"score":0.6076310873031616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5125893950462341},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4994218349456787},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.47137129306793213},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42758649587631226},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.41839057207107544},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.415780246257782},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1619204580783844},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.13433536887168884},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11881217360496521},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3555661.3560865","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3555661.3560865","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 5th International ACM Mobicom Workshop on Drone Assisted Wireless Communications for 5G and Beyond","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.staffs.ac.uk:8470","is_oa":false,"landing_page_url":"http://eprints.staffs.ac.uk/8470/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401113","display_name":"Staffordshire Online Repository (Staffordshire University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I198012923","host_organization_name":"University of Staffordshire","host_organization_lineage":["https://openalex.org/I198012923"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2119693819","https://openalex.org/W2746883830","https://openalex.org/W2947324800","https://openalex.org/W2963001155","https://openalex.org/W2989847975","https://openalex.org/W3019187101","https://openalex.org/W3101739879","https://openalex.org/W3118210634","https://openalex.org/W3127305823","https://openalex.org/W3213649788","https://openalex.org/W3213750164","https://openalex.org/W4206431153"],"related_works":["https://openalex.org/W2953234277","https://openalex.org/W2626256601","https://openalex.org/W147410782","https://openalex.org/W2900413183","https://openalex.org/W4390975304","https://openalex.org/W3022252430","https://openalex.org/W4287804464","https://openalex.org/W3103989898","https://openalex.org/W3211292372","https://openalex.org/W803346624"],"abstract_inverted_index":{"Unmanned":[0],"aerial":[1],"vehicles":[2],"(UAVs)":[3],"path":[4,33,77,103],"planning":[5,78,104],"is":[6],"one":[7],"of":[8,26,49,122],"the":[9,13,24,47,131],"promising":[10],"technologies":[11],"in":[12,31,85,100,142],"fifth-generation":[14],"wireless":[15],"communications.":[16],"The":[17,126],"gap":[18],"between":[19],"simulation":[20,123,127],"and":[21,124,139],"reality":[22],"limits":[23],"application":[25],"deep":[27,41,70],"reinforcement":[28,42],"learning":[29,43],"(DRL)":[30],"UAV":[32],"planning.":[34],"Therefore,":[35],"we":[36,67,87,107],"propose":[37,68],"a":[38,69,89,101,110,119],"digital":[39,50,111],"twin-based":[40],"training":[44,65],"framework.":[45],"With":[46],"help":[48],"twin,":[51],"DRL":[52],"model":[53],"can":[54,134],"be":[55],"trained":[56],"more":[57,147],"effectively":[58],"deployed":[59],"to":[60,94],"real":[61],"UAVs.":[62],"In":[63],"this":[64],"framework,":[66],"deterministic":[71],"policy":[72],"gradient":[73],"(DDPG)":[74],"based":[75],"multi-UAV":[76,102,115],"algorithm.":[79],"Based":[80],"on":[81],"decomposed":[82],"actor":[83],"structure":[84],"DRL,":[86],"design":[88],"pooling-based":[90],"combined":[91],"LSTM":[92],"network":[93],"better":[95],"understand":[96],"different":[97],"state":[98],"information":[99],"task.":[105],"Moreover,":[106],"also":[108],"establish":[109],"twin":[112],"platform":[113],"for":[114],"system,":[116],"which":[117],"has":[118],"high":[120],"degree":[121],"visualization.":[125],"result":[128],"shows":[129],"that":[130],"proposed":[132],"algorithm":[133],"achieve":[135],"higher":[136],"mean":[137],"rewards,":[138],"outperforms":[140],"DDPG":[141],"average":[143],"arrival":[144],"rate":[145],"by":[146],"than":[148],"30%.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":3}],"updated_date":"2026-06-02T09:04:35.204637","created_date":"2025-10-10T00:00:00"}