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, respectively. An agent have to check out Every single sensor by its respective deadline though The present point out is developed. In accordance with the proposed DQN-primarily based UAV detouring algorithm, an episode corresponds to one occasion on the UAV sensor going to tour (comparable to a TSP tour), which includes all sensors with out repetition.
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When any constraint is violated, new chromosomes are generated using the crossover and mutation operators having a mutation and crossover likelihood. Right here, T i j
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In contrast, in our proposal, the UAV’s trajectory is actually a Hamiltonian tour the place data collection and sensor charging are concluded in the specified flight time and Electrical power allotments within an environment with obstacles. In addition, sensor deadline and residual Strength constraints are viewed as to finish data collection and recharge Each and every sensor. In this situation, the shortest path in between Just about every set of sensors—averting obstructions—could be the sub-tour. Additionally, the purchase the UAV visits the sensors (i.e., its trajectory or flight path) is Hamiltonian; to the best of our knowledge, no prior investigate has actually been uncovered the place the UAV collects data and recharges the sensor nodes even though steering clear of several obstacles by fixing the challenge using a DQN-based algorithm, and that is really hard to do.