{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,10]],"date-time":"2026-07-10T04:40:26Z","timestamp":1783658426644,"version":"3.55.0"},"reference-count":33,"publisher":"Springer Science and Business Media LLC","issue":"10","license":[{"start":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T00:00:00Z","timestamp":1756857600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T00:00:00Z","timestamp":1756857600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Cluster Comput"],"published-print":{"date-parts":[[2025,10]]},"DOI":"10.1007\/s10586-025-05393-y","type":"journal-article","created":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T14:05:34Z","timestamp":1756908334000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Integrated task offloading scheduling and trajectory optimization for UAV-MEC using SAC-UTO"],"prefix":"10.1007","volume":"28","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-9433-0067","authenticated-orcid":false,"given":"Kai","family":"Pan","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiadong","family":"Dong","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chunxiang","family":"Zheng","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-5794-0189","authenticated-orcid":false,"given":"Xiaoxiao","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2025,9,3]]},"reference":[{"issue":"8","key":"5393_CR1","doi-asserted-by":"publisher","first-page":"1738","DOI":"10.1109\/JPROC.2019.2918951","volume":"107","author":"Z Zhou","year":"2019","unstructured":"Zhou, Z., et al.: Edge intelligence: paving the last mile of artificial intelligence with edge computing. Proceed IEEE 107(8), 1738\u20131762 (2019)","journal-title":"Proceed IEEE"},{"issue":"4","key":"5393_CR2","doi-asserted-by":"publisher","first-page":"2322","DOI":"10.1109\/COMST.2017.2745201","volume":"19","author":"M Yuyi","year":"2017","unstructured":"Yuyi, M., et al.: A survey on mobile edge computing: the communication perspective. IEEE Commun. Surv. Tutorials 19(4), 2322\u20132358 (2017)","journal-title":"IEEE Commun. Surv. Tutorials"},{"issue":"5","key":"5393_CR3","doi-asserted-by":"publisher","first-page":"637","DOI":"10.1109\/JIOT.2016.2579198","volume":"3","author":"W Shi","year":"2016","unstructured":"Shi, W., et al.: Edge computing: vision and challenges. IEEE Internet Things J. 3(5), 637\u2013646 (2016)","journal-title":"IEEE Internet Things J."},{"issue":"3","key":"5393_CR4","doi-asserted-by":"publisher","first-page":"1628","DOI":"10.1109\/COMST.2017.2682318","volume":"19","author":"P Mach","year":"2017","unstructured":"Mach, P., Becvar, Z.: Mobile edge computing: a survey on architecture and computation offloading. IEEE Commun. Surv. Tutorials 19(3), 1628\u20131656 (2017)","journal-title":"IEEE Commun. Surv. Tutorials"},{"issue":"1","key":"5393_CR5","first-page":"383","volume":"20","author":"Z Li","year":"2018","unstructured":"Li, Z., et al.: Big data analytics in intelligent transportation systems: a survey. IEEE Trans. Intell. Trans. Syst 20(1), 383\u2013398 (2018)","journal-title":"IEEE Trans. Intell. Trans. Syst"},{"issue":"3","key":"5393_CR6","doi-asserted-by":"publisher","first-page":"1351","DOI":"10.1109\/JIOT.2018.2797187","volume":"5","author":"X Li","year":"2018","unstructured":"Li, X., Li, D., Wan, J., Liu, C., Imran, M.: Adaptive transmission optimization in SDN-based industrial internet of things with edge computing. IEEE Internet Things J. 5(3), 1351\u20131360 (2018)","journal-title":"IEEE Internet Things J."},{"issue":"1","key":"5393_CR7","doi-asserted-by":"publisher","first-page":"789","DOI":"10.1007\/s10586-022-03914-7","volume":"26","author":"AA Ateya","year":"2023","unstructured":"Ateya, A.A., et al.: Energy efficient offloading scheme for MEC-based augmented reality system. Clust. Comput. 26(1), 789\u2013806 (2023)","journal-title":"Clust. Comput."},{"issue":"3","key":"5393_CR8","doi-asserted-by":"publisher","first-page":"38","DOI":"10.1109\/MCOM.2017.1600249CM","volume":"55","author":"T Taleb","year":"2017","unstructured":"Taleb, T., Dutta, S., Ksentini, A., Iqbal, M., Flinck, H.: Mobile edge computing potential in making cities smarter. IEEE Commun. Mag. 55(3), 38\u201343 (2017)","journal-title":"IEEE Commun. Mag."},{"issue":"7","key":"5393_CR9","doi-asserted-by":"publisher","first-page":"3305","DOI":"10.1007\/s11276-022-03051-4","volume":"28","author":"Z Xiao","year":"2022","unstructured":"Xiao, Z., et al.: Resource management in UAV-assisted MEC: state-of-the-art and open challenges. Wireless Netw. 28(7), 3305\u20133322 (2022)","journal-title":"Wireless Netw."},{"key":"5393_CR10","doi-asserted-by":"publisher","first-page":"1687","DOI":"10.1007\/s11277-020-07446-4","volume":"114","author":"A Khanna","year":"2020","unstructured":"Khanna, A., Kaur, S.: Internet of things (IoT), applications and challenges: A comprehensive review. Wireless Pers. Commun. 114, 1687\u20131762 (2020)","journal-title":"Wireless Pers. Commun."},{"key":"5393_CR11","doi-asserted-by":"publisher","DOI":"10.1016\/j.jnca.2022.103341","volume":"201","author":"SMA Huda","year":"2022","unstructured":"Huda, S.M.A., Moh, S.: Survey on computation offloading in UAV-enabled mobile edge computing. J. Netw. Comput. Appl. 201, 103341 (2022)","journal-title":"J. Netw. Comput. Appl."},{"key":"5393_CR12","doi-asserted-by":"publisher","DOI":"10.1016\/j.cosrev.2023.100615","volume":"51","author":"MH Adnan","year":"2024","unstructured":"Adnan, M.H., Ahmad Zukarnain, Z., Amodu, O.A.: Fundamental design aspects of UAV-enabled MEC systems: a review on models, challenges, and future opportunities. Computer Science Review 51, 100615 (2024)","journal-title":"Computer Science Review"},{"key":"5393_CR13","doi-asserted-by":"publisher","first-page":"57413","DOI":"10.1109\/ACCESS.2022.3176362","volume":"10","author":"Z Yu","year":"2022","unstructured":"Yu, Z., Fan, G.: Joint differential evolution and successive convex approximation in UAV-enabled mobile edge computing. IEEE Access 10, 57413\u201357426 (2022)","journal-title":"IEEE Access"},{"key":"5393_CR14","doi-asserted-by":"publisher","first-page":"194","DOI":"10.1007\/s12083-021-01245-9","volume":"15","author":"Z Chen","year":"2022","unstructured":"Chen, Z., et al.: Joint computation offloading and deployment optimization in multi-UAV-enabled MEC systems. Peer-to-Peer Networking and Applications 15, 194\u2013205 (2022)","journal-title":"Peer-to-Peer Networking and Applications"},{"key":"5393_CR15","doi-asserted-by":"crossref","unstructured":"Chen, J., & Xie, J.: Joint task scheduling, routing, and charging for multi-UAV based mobile edge computing. ICC 2022-IEEE International Conference on Communications. IEEE, 1\u20136 (2022).","DOI":"10.1109\/ICC45855.2022.9839040"},{"issue":"4","key":"5393_CR16","doi-asserted-by":"publisher","first-page":"3038","DOI":"10.1109\/COMST.2023.3323344","volume":"25","author":"Y Bai","year":"2023","unstructured":"Bai, Y., et al.: Toward autonomous multi-UAV wireless network: a survey of reinforcement learning-based approaches. IEEE Commun. Surv. Tutorials 25(4), 3038\u20133067 (2023)","journal-title":"IEEE Commun. Surv. Tutorials"},{"issue":"4","key":"5393_CR17","doi-asserted-by":"publisher","first-page":"6006","DOI":"10.1109\/TVT.2023.3335210","volume":"73","author":"Y Ding","year":"2024","unstructured":"Ding, Y., et al.: DDQN-based trajectory and resource optimization for UAV-aided MEC secure communications. IEEE Trans. Veh. Technol. 73(4), 6006\u20136011 (2024)","journal-title":"IEEE Trans. Veh. Technol."},{"key":"5393_CR18","doi-asserted-by":"publisher","first-page":"2991","DOI":"10.1007\/s11276-021-02632-z","volume":"27","author":"Y Wang","year":"2021","unstructured":"Wang, Y., Fang, W., Ding, Y., et al.: Computation offloading optimization for UAV-assisted mobile edge computing: a deep deterministic policy gradient approach. Wireless Netw. 27, 2991\u20133006 (2021)","journal-title":"Wireless Netw."},{"issue":"12","key":"5393_CR19","doi-asserted-by":"publisher","first-page":"8876","DOI":"10.1109\/TWC.2023.3266497","volume":"22","author":"N Lin","year":"2023","unstructured":"Lin, N., Tang, H., Zhao, L., Wan, S., Hawbani, A., Guizani, M.: A PDDQNLP algorithm for energy efficient computation offloading in UAV-assisted MEC. IEEE Trans. Wireless Commun. 22(12), 8876\u20138890 (2023)","journal-title":"IEEE Trans. Wireless Commun."},{"key":"5393_CR20","doi-asserted-by":"publisher","DOI":"10.1016\/j.comnet.2021.108439","volume":"199","author":"D Wei","year":"2021","unstructured":"Wei, D., et al.: Computation offloading over multi-UAV MEC network: A distributed deep reinforcement learning approach. Comput. Netw. 199, 108439 (2021)","journal-title":"Comput. Netw."},{"issue":"3","key":"5393_CR21","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3476512","volume":"18","author":"T Tan","year":"2022","unstructured":"Tan, T., Zhao, M., Zeng, Z.: Joint offloading and resource allocation based on UAV-assisted mobile edge computing. ACM Transactions on Sensor Networks (TOSN) 18(3), 1\u201321 (2022)","journal-title":"ACM Transactions on Sensor Networks (TOSN)"},{"issue":"6","key":"5393_CR22","doi-asserted-by":"publisher","first-page":"10600","DOI":"10.1109\/JIOT.2023.3326820","volume":"11","author":"J Du","year":"2024","unstructured":"Du, J., et al.: MADDPG-based joint service placement and task offloading in MEC empowered air\u2013ground integrated networks. IEEE Internet Things J. 11(6), 10600\u201310615 (2024)","journal-title":"IEEE Internet Things J."},{"issue":"16","key":"5393_CR23","doi-asserted-by":"publisher","first-page":"27421","DOI":"10.1109\/JIOT.2024.3397823","volume":"11","author":"Z Feng","year":"2024","unstructured":"Feng, Z., Wu, D., Huang, M., Yuen, C.: Graph-attention-based reinforcement learning for trajectory design and resource assignment in multi-UAV-assisted communication. IEEE Internet Things J. 11(16), 27421\u201327434 (2024)","journal-title":"IEEE Internet Things J."},{"issue":"4","key":"5393_CR24","doi-asserted-by":"publisher","first-page":"3147","DOI":"10.1109\/JIOT.2020.2965898","volume":"7","author":"Z Yu","year":"2020","unstructured":"Yu, Z., et al.: Joint task offloading and resource allocation in UAV-enabled mobile edge computing. IEEE Internet Things J. 7(4), 3147\u20133159 (2020)","journal-title":"IEEE Internet Things J."},{"key":"5393_CR25","doi-asserted-by":"publisher","first-page":"54664","DOI":"10.1109\/ACCESS.2023.3278591","volume":"11","author":"T Khurshid","year":"2023","unstructured":"Khurshid, T., et al.: A DRL strategy for optimal resource allocation along with 3D trajectory dynamics in UAV-MEC network. IEEE Access 11, 54664\u201354678 (2023)","journal-title":"IEEE Access"},{"key":"5393_CR26","doi-asserted-by":"publisher","first-page":"42521","DOI":"10.1109\/ACCESS.2024.3378512","volume":"12","author":"C Zheng","year":"2024","unstructured":"Zheng, C., et al.: Multi-agent collaborative optimization of UAV trajectory and latency-aware DAG task offloading in UAV-assisted MEC. IEEE Access 12, 42521\u201342534 (2024)","journal-title":"IEEE Access"},{"issue":"10","key":"5393_CR27","doi-asserted-by":"publisher","first-page":"3536","DOI":"10.1109\/TMC.2021.3059691","volume":"21","author":"L Wang","year":"2021","unstructured":"Wang, L., et al.: Deep reinforcement learning based dynamic trajectory control for UAV-assisted mobile edge computing. IEEE Trans. Mob. Comput. 21(10), 3536\u20133550 (2021)","journal-title":"IEEE Trans. Mob. Comput."},{"issue":"13","key":"5393_CR28","doi-asserted-by":"publisher","first-page":"11383","DOI":"10.1109\/JIOT.2023.3241087","volume":"10","author":"Y He","year":"2023","unstructured":"He, Y., et al.: Fairness-based 3-D multi-UAV trajectory optimization in multi-UAV-assisted MEC system. IEEE Internet Things J. 10(13), 11383\u201311395 (2023)","journal-title":"IEEE Internet Things J."},{"issue":"12","key":"5393_CR29","doi-asserted-by":"publisher","first-page":"14281","DOI":"10.1109\/TITS.2023.3296769","volume":"24","author":"Z Feng","year":"2023","unstructured":"Feng, Z., Huang, M., Wu, D., Wu, E.Q., Yuen, C.: Multi-agent reinforcement learning with policy clipping and average evaluation for UAV-assisted communication markov game. IEEE Trans. Intell. Transport. Syst 24(12), 14281\u201314293 (2023)","journal-title":"IEEE Trans. Intell. Transport. Syst"},{"issue":"8","key":"5393_CR30","doi-asserted-by":"publisher","first-page":"5343","DOI":"10.1109\/TWC.2021.3067163","volume":"20","author":"C Sun","year":"2021","unstructured":"Sun, C., Ni, W., Wang, X.: Joint computation offloading and trajectory planning for UAV-assisted edge computing. IEEE Trans. Wireless Commun. 20(8), 5343\u20135358 (2021)","journal-title":"IEEE Trans. Wireless Commun."},{"issue":"2","key":"5393_CR31","doi-asserted-by":"publisher","first-page":"3417","DOI":"10.1109\/JIOT.2023.3296774","volume":"11","author":"W Lee","year":"2024","unstructured":"Lee, W., Kim, T.: Multiagent reinforcement learning in controlling offloading ratio and trajectory for multi-UAV mobile-edge computing. IEEE Internet Things J. 11(2), 3417\u20133429 (2024)","journal-title":"IEEE Internet Things J."},{"key":"5393_CR32","doi-asserted-by":"publisher","first-page":"53708","DOI":"10.1109\/ACCESS.2021.3070908","volume":"9","author":"L Zhang","year":"2021","unstructured":"Zhang, L., et al.: Task offloading and trajectory control for UAV-assisted mobile edge computing using deep reinforcement learning. IEEE Access 9, 53708\u201353719 (2021)","journal-title":"IEEE Access"},{"key":"5393_CR33","doi-asserted-by":"crossref","unstructured":"Bor-Yaliniz, R. I., El-Keyi, A., & Yanikomeroglu, H.: Efficient 3-D placement of an aerial base station in next generation cellular networks. In 2016 IEEE International Conference on Communications (ICC), 1\u20135 (2016).","DOI":"10.1109\/ICC.2016.7510820"}],"container-title":["Cluster Computing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10586-025-05393-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10586-025-05393-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10586-025-05393-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,6]],"date-time":"2025-10-06T09:35:04Z","timestamp":1759743304000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10586-025-05393-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9,3]]},"references-count":33,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2025,10]]}},"alternative-id":["5393"],"URL":"https:\/\/doi.org\/10.1007\/s10586-025-05393-y","relation":{},"ISSN":["1386-7857","1573-7543"],"issn-type":[{"value":"1386-7857","type":"print"},{"value":"1573-7543","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,9,3]]},"assertion":[{"value":"18 August 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 March 2025","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 April 2025","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 September 2025","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}],"article-number":"642"}}