{"id":"https://openalex.org/W4387126674","doi":"https://doi.org/10.1145/3565287.3617622","title":"Generalized Path Planning for Collaborative UAVs using Reinforcement and Imitation Learning","display_name":"Generalized Path Planning for Collaborative UAVs using Reinforcement and Imitation Learning","publication_year":2023,"publication_date":"2023-09-28","ids":{"openalex":"https://openalex.org/W4387126674","doi":"https://doi.org/10.1145/3565287.3617622"},"language":"en","primary_location":{"id":"doi:10.1145/3565287.3617622","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3565287.3617622","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Twenty-fourth International Symposium on Theory, Algorithmic Foundations, and Protocol Design for Mobile Networks and Mobile Computing","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/A5079179232","display_name":"Jack Farley","orcid":"https://orcid.org/0009-0005-7749-0743"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jack Farley","raw_affiliation_strings":["Department of Computer Science, Duke University, Durham, NC, United States of America"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Duke University, Durham, NC, United States of America","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034852125","display_name":"Amirahmad Chapnevis","orcid":"https://orcid.org/0000-0003-2258-3449"},"institutions":[{"id":"https://openalex.org/I184840846","display_name":"Virginia Commonwealth University","ror":"https://ror.org/02nkdxk79","country_code":"US","type":"education","lineage":["https://openalex.org/I184840846"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amirahmad Chapnevis","raw_affiliation_strings":["Department of Computer Science, Virginia Commonwealth University, Richmond, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Virginia Commonwealth University, Richmond, USA","institution_ids":["https://openalex.org/I184840846"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004397715","display_name":"Eyuphan Bulut","orcid":"https://orcid.org/0000-0003-4744-9211"},"institutions":[{"id":"https://openalex.org/I184840846","display_name":"Virginia Commonwealth University","ror":"https://ror.org/02nkdxk79","country_code":"US","type":"education","lineage":["https://openalex.org/I184840846"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eyuphan Bulut","raw_affiliation_strings":["Department of Computer Science, Virginia Commonwealth University, Richmond, United States of America"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Virginia Commonwealth University, Richmond, United States of America","institution_ids":["https://openalex.org/I184840846"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5079179232"],"corresponding_institution_ids":["https://openalex.org/I170897317"],"apc_list":null,"apc_paid":null,"fwci":0.4412,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.75443556,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"457","last_page":"462"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9861000180244446,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9664999842643738,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8317747712135315},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7782999873161316},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.6618844270706177},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5663272738456726},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5438611507415771},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5026531219482422},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.46013444662094116},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4457840025424957},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.4346771240234375},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.41917654871940613},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.36067748069763184},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3309408724308014},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1734016239643097},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.102163165807724}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8317747712135315},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7782999873161316},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.6618844270706177},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5663272738456726},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5438611507415771},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5026531219482422},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.46013444662094116},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4457840025424957},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.4346771240234375},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.41917654871940613},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.36067748069763184},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3309408724308014},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1734016239643097},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.102163165807724},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3565287.3617622","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3565287.3617622","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Twenty-fourth International Symposium on Theory, Algorithmic Foundations, and Protocol Design for Mobile Networks and Mobile Computing","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.46000000834465027,"display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G7274683475","display_name":null,"funder_award_id":"2050958","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W2617547828","https://openalex.org/W2892258706","https://openalex.org/W3004553564","https://openalex.org/W3103635569","https://openalex.org/W3145843217","https://openalex.org/W3149599232","https://openalex.org/W4213147678","https://openalex.org/W4241400051","https://openalex.org/W4244078256"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4379143281","https://openalex.org/W2605096541","https://openalex.org/W3200286695","https://openalex.org/W4386322305"],"abstract_inverted_index":{"Cellular-connected":[0],"Unmanned":[1],"Aerial":[2],"Vehicles":[3],"(UAVs)":[4],"need":[5],"consistent":[6],"cellular":[7],"network":[8,181],"connectivity":[9],"to":[10,44,79,162,171],"effectively":[11],"accomplish":[12],"their":[13],"designated":[14],"missions.":[15],"However,":[16],"when":[17],"navigating":[18],"through":[19],"regions":[20],"with":[21,77,120],"partial":[22],"coverage,":[23],"such":[24],"as":[25,95,186],"rural":[26],"areas,":[27],"the":[28,32,80,92,118,177],"task":[29],"of":[30,82,117,179],"planning":[31],"flight":[33],"paths":[34],"for":[35,55],"these":[36,71],"UAV":[37],"missions":[38],"becomes":[39],"notably":[40],"intricate.":[41],"Algorithms":[42],"designed":[43],"solve":[45],"this":[46,88,132],"issue":[47],"require":[48],"significant":[49],"computational":[50,157],"resources,":[51],"making":[52],"them":[53],"infeasible":[54],"active":[56],"deployment":[57],"where":[58,165],"an":[59],"algorithm":[60],"must":[61],"run":[62],"in":[63,75,202],"real":[64],"time":[65],"using":[66,154,176],"small":[67,156],"compute":[68],"power.":[69],"Furthermore,":[70],"algorithms":[72],"exponentially":[73],"scale":[74],"run-time":[76],"respect":[78],"number":[81],"UAVs":[83],"being":[84],"considered.":[85],"To":[86],"tackle":[87],"problem,":[89],"we":[90],"model":[91],"parameter":[93],"space":[94],"a":[96,114,126,180,187],"discrete":[97],"grid-world,":[98],"enable":[99],"collaboration":[100,167],"between":[101],"drones,":[102],"and":[103,110,134,141,159],"gather":[104],"supervised":[105,184],"data":[106,112,133,185],"from":[107,113],"nonlinear":[108],"programming":[109],"unsupervised":[111],"simulated":[115],"version":[116],"environment":[119],"associated":[121],"rewards.":[122],"We":[123],"then":[124],"train":[125],"Deep":[127],"Neural":[128],"Network":[129],"(DNN)":[130],"on":[131,183],"approximate":[135],"optimal":[136],"results":[137,178,197],"by":[138],"combining":[139],"imitation":[140],"reinforcement":[142,193],"learning":[143,194],"methods.":[144],"This":[145],"DNN":[146],"can":[147,160,168],"successfully":[148],"be":[149,169],"deployed":[150],"at":[151],"fast":[152],"speeds":[153],"relatively":[155],"power":[158],"generalize":[161],"unseen":[163],"maps":[164],"drone":[166],"used":[170],"reduce":[172],"mission":[173],"time.":[174],"By":[175],"trained":[182],"guiding":[188],"hand":[189],"during":[190],"training,":[191],"our":[192],"approach":[195],"achieves":[196],"better":[198],"than":[199],"either":[200],"method":[201],"isolation.":[203]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
