{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,16]],"date-time":"2026-05-16T00:00:01Z","timestamp":1778889601154,"version":"3.51.4"},"reference-count":37,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2025,12,1]],"date-time":"2025-12-01T00:00:00Z","timestamp":1764547200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2025,12,1]],"date-time":"2025-12-01T00:00:00Z","timestamp":1764547200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2025,12,1]],"date-time":"2025-12-01T00:00:00Z","timestamp":1764547200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2025,12,1]],"date-time":"2025-12-01T00:00:00Z","timestamp":1764547200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2025,12,1]],"date-time":"2025-12-01T00:00:00Z","timestamp":1764547200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2025,12,1]],"date-time":"2025-12-01T00:00:00Z","timestamp":1764547200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,12,1]],"date-time":"2025-12-01T00:00:00Z","timestamp":1764547200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Journal of Network and Computer Applications"],"published-print":{"date-parts":[[2025,12]]},"DOI":"10.1016\/j.jnca.2025.104336","type":"journal-article","created":{"date-parts":[[2025,9,24]],"date-time":"2025-09-24T08:14:45Z","timestamp":1758701685000},"page":"104336","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":3,"special_numbering":"C","title":["3D UAV path planning based on an improved TD3 deep reinforcement learning for data collection in an urban environment"],"prefix":"10.1016","volume":"244","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-5580-4725","authenticated-orcid":false,"given":"Mohammad","family":"Nazemi Jenabi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7500-2073","authenticated-orcid":false,"given":"Hadi","family":"Asharioun","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9679-1067","authenticated-orcid":false,"given":"Mahdi","family":"Pourgholi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"78","reference":[{"key":"10.1016\/j.jnca.2025.104336_bib1","doi-asserted-by":"crossref","DOI":"10.1016\/j.jnca.2020.102706","article-title":"UAV assistance paradigm: state-of-the-art in applications and challenges","volume":"166","author":"Alzahrani","year":"2020","journal-title":"J. Netw. Comput. Appl."},{"key":"10.1016\/j.jnca.2025.104336_bib2","doi-asserted-by":"crossref","first-page":"110446","DOI":"10.1109\/ACCESS.2020.3002538","article-title":"A UAV-assisted data collection for wireless sensor networks: autonomous navigation and scheduling","volume":"8","author":"Bouhamed","year":"2020","journal-title":"IEEE Access"},{"issue":"7","key":"10.1016\/j.jnca.2025.104336_bib3","doi-asserted-by":"crossref","first-page":"5778","DOI":"10.1109\/JIOT.2022.3151201","article-title":"Joint speed control and energy replenishment optimization for UAV-assisted IoT data collection with deep reinforcement transfer learning","volume":"10","author":"Chu","year":"2023","journal-title":"IEEE Internet Things J."},{"issue":"5","key":"10.1016\/j.jnca.2025.104336_bib4","doi-asserted-by":"crossref","first-page":"4117","DOI":"10.1109\/JIOT.2022.3230786","article-title":"Unmanned-aerial-vehicle-assisted wireless networks: advancements, challenges, and solutions","volume":"10","author":"Dai","year":"2023","journal-title":"IEEE Internet Things J."},{"issue":"12","key":"10.1016\/j.jnca.2025.104336_bib5","doi-asserted-by":"crossref","first-page":"7796","DOI":"10.1109\/TWC.2020.3016024","article-title":"3D UAV trajectory design and frequency band allocation for energy-efficient and fair communication: a deep reinforcement learning approach","volume":"19","author":"Ding","year":"2020","journal-title":"IEEE Trans. Wireless Commun."},{"issue":"1","key":"10.1016\/j.jnca.2025.104336_bib6","doi-asserted-by":"crossref","first-page":"632","DOI":"10.1109\/TVT.2022.3203008","article-title":"RIS-assisted UAV for fresh data collection in 3D urban environments: a deep reinforcement learning approach","volume":"72","author":"Fan","year":"2023","journal-title":"IEEE Trans. Veh. Technol."},{"issue":"10","key":"10.1016\/j.jnca.2025.104336_bib7","doi-asserted-by":"crossref","first-page":"2722","DOI":"10.1109\/LCOMM.2023.3305537","article-title":"Multi-agent deep reinforcement learning for energy-efficient UAV-aided hybrid NOMA data collection","volume":"27","author":"Feng","year":"2023","journal-title":"IEEE Commun. Lett."},{"key":"10.1016\/j.jnca.2025.104336_bib8","doi-asserted-by":"crossref","first-page":"98","DOI":"10.1016\/j.comcom.2021.07.014","article-title":"Reinforcement and deep reinforcement learning for wireless internet of things: a survey","volume":"178","author":"Frikha","year":"2021","journal-title":"Comput. Commun."},{"issue":"12","key":"10.1016\/j.jnca.2025.104336_bib9","doi-asserted-by":"crossref","first-page":"10209","DOI":"10.1109\/JIOT.2021.3051370","article-title":"Energy-efficient UAV-Enabled data collection via wireless charging: a reinforcement learning approach","volume":"8","author":"Fu","year":"2021","journal-title":"IEEE Internet Things J."},{"key":"10.1016\/j.jnca.2025.104336_bib10","series-title":"International Conference on Machine Learning","article-title":"Addressing function approximation error in actor-critic methods","author":"Fujimoto","year":"2018"},{"issue":"9","key":"10.1016\/j.jnca.2025.104336_bib12","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1016\/j.cja.2021.04.025","article-title":"Green UAV communications for 6G: a survey","volume":"35","author":"Jiang","year":"2022","journal-title":"Chin. J. Aeronaut."},{"issue":"15","key":"10.1016\/j.jnca.2025.104336_bib13","doi-asserted-by":"crossref","first-page":"13901","DOI":"10.1109\/JIOT.2022.3145008","article-title":"Reinforcement-learning-aided safe planning for aerial robots to collect data in dynamic environments","volume":"9","author":"Khamidehi","year":"2022","journal-title":"IEEE Internet Things J."},{"key":"10.1016\/j.jnca.2025.104336_bib14","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1109\/OJVT.2021.3085421","article-title":"Deep reinforcement learning based energy efficient Multi-UAV data collection for IoT networks","volume":"2","author":"Khodaparast","year":"2021","journal-title":"IEEE Open Journal of Vehicular Technology"},{"issue":"3","key":"10.1016\/j.jnca.2025.104336_bib15","doi-asserted-by":"crossref","first-page":"1722","DOI":"10.1109\/COMST.2020.2988367","article-title":"Deep reinforcement learning for autonomous internet of things: model, applications and challenges","volume":"22","author":"Lei","year":"2020","journal-title":"IEEE Communications Surveys & Tutorials"},{"key":"10.1016\/j.jnca.2025.104336_bib16","article-title":"Continuous control with deep reinforcement learning","author":"Lillicrap","year":"2015","journal-title":"arXiv preprint arXiv:1509.02971"},{"issue":"2","key":"10.1016\/j.jnca.2025.104336_bib17","doi-asserted-by":"crossref","first-page":"54","DOI":"10.1007\/s10462-024-11062-0","article-title":"Advances and challenges in learning from experience replay","volume":"58","author":"Neves","year":"2024","journal-title":"Artif. Intell. Rev."},{"issue":"4","key":"10.1016\/j.jnca.2025.104336_bib18","doi-asserted-by":"crossref","first-page":"2358","DOI":"10.1109\/TCOMM.2022.3148364","article-title":"3D UAV trajectory and data collection optimisation via deep reinforcement learning","volume":"70","author":"Nguyen","year":"2022","journal-title":"IEEE Trans. Commun."},{"key":"10.1016\/j.jnca.2025.104336_bib19","doi-asserted-by":"crossref","first-page":"98073","DOI":"10.1109\/ACCESS.2020.2994494","article-title":"Softwarization of UAV networks: a survey of applications and future trends","volume":"8","author":"Oubbati","year":"2020","journal-title":"IEEE Access"},{"issue":"6","key":"10.1016\/j.jnca.2025.104336_bib20","doi-asserted-by":"crossref","first-page":"2499","DOI":"10.1007\/s11276-022-02983-1","article-title":"EDGO: UAV-based effective data gathering scheme for wireless sensor networks with obstacles","volume":"28","author":"Pravija Raj","year":"2022","journal-title":"Wirel. Netw."},{"key":"10.1016\/j.jnca.2025.104336_bib21","doi-asserted-by":"crossref","first-page":"53172","DOI":"10.1109\/ACCESS.2020.2981403","article-title":"Energy efficient 3-D UAV control for persistent communication service and fairness: a deep reinforcement learning approach","volume":"8","author":"Qi","year":"2020","journal-title":"IEEE Access"},{"key":"10.1016\/j.jnca.2025.104336_bib22","series-title":"Prioritized Experience Replay","author":"Schaul","year":"2015"},{"key":"10.1016\/j.jnca.2025.104336_bib23","doi-asserted-by":"crossref","DOI":"10.1016\/j.jnca.2021.103114","article-title":"UAV assisted 5G and beyond wireless networks: a survey","volume":"189","author":"Shahzadi","year":"2021","journal-title":"J. Netw. Comput. Appl."},{"key":"10.1016\/j.jnca.2025.104336_bib24","doi-asserted-by":"crossref","first-page":"48572","DOI":"10.1109\/ACCESS.2019.2909530","article-title":"Unmanned aerial vehicles (UAVs): a survey on civil applications and key research challenges","volume":"7","author":"Shakhatreh","year":"2019","journal-title":"IEEE Access"},{"issue":"19","key":"10.1016\/j.jnca.2025.104336_bib25","doi-asserted-by":"crossref","first-page":"19214","DOI":"10.1109\/JIOT.2022.3165220","article-title":"Energy-efficient multidimensional trajectory of UAV-aided IoT networks with reinforcement learning","volume":"9","author":"Silvirianti","year":"2022","journal-title":"IEEE Internet Things J."},{"issue":"1","key":"10.1016\/j.jnca.2025.104336_bib26","first-page":"1929","article-title":"Dropout: a simple way to prevent neural networks from overfitting","volume":"15","author":"Srivastava","year":"2014","journal-title":"The journal of machine learning research"},{"issue":"2","key":"10.1016\/j.jnca.2025.104336_bib27","doi-asserted-by":"crossref","first-page":"530","DOI":"10.1109\/LWC.2023.3335037","article-title":"Average AoI-Minimal trajectory design for UAV-assisted IoT data collection system: a Safe-TD3 approach","volume":"13","author":"Sun","year":"2024","journal-title":"IEEE Wireless Communications Letters"},{"issue":"7","key":"10.1016\/j.jnca.2025.104336_bib28","doi-asserted-by":"crossref","DOI":"10.1002\/ett.4133","article-title":"A survey on recent optimal techniques for securing unmanned aerial vehicles applications","volume":"32","author":"Syed","year":"2021","journal-title":"Transactions on Emerging Telecommunications Technologies"},{"key":"10.1016\/j.jnca.2025.104336_bib39","article-title":"Deep graph reinforcement learning for UAV-enabled multi-user secure communications","author":"Tang","year":"2025","journal-title":"IEEE Trans. Mobile Comput."},{"issue":"17","key":"10.1016\/j.jnca.2025.104336_bib29","doi-asserted-by":"crossref","first-page":"16663","DOI":"10.1109\/JIOT.2022.3153585","article-title":"Learning-based UAV path planning for data collection with integrated collision avoidance","volume":"9","author":"Wang","year":"2022","journal-title":"IEEE Internet Things J."},{"issue":"5","key":"10.1016\/j.jnca.2025.104336_bib30","doi-asserted-by":"crossref","first-page":"3899","DOI":"10.1109\/JIOT.2021.3102185","article-title":"Trajectory design for UAV-based internet of things data collection: a deep reinforcement learning approach","volume":"9","author":"Wang","year":"2022","journal-title":"IEEE Internet Things J."},{"issue":"9","key":"10.1016\/j.jnca.2025.104336_bib31","doi-asserted-by":"crossref","first-page":"6361","DOI":"10.1109\/TCOMM.2021.3089476","article-title":"Multi-objective optimization for UAV-assisted wireless powered IoT networks based on extended DDPG algorithm","volume":"69","author":"Yu","year":"2021","journal-title":"IEEE Trans. Commun."},{"issue":"4","key":"10.1016\/j.jnca.2025.104336_bib32","doi-asserted-by":"crossref","first-page":"2329","DOI":"10.1109\/TWC.2019.2902559","article-title":"Energy minimization for wireless communication with rotary-wing UAV","volume":"18","author":"Zeng","year":"2019","journal-title":"IEEE Trans. Wireless Commun."},{"issue":"9","key":"10.1016\/j.jnca.2025.104336_bib33","doi-asserted-by":"crossref","first-page":"2398","DOI":"10.1109\/LCOMM.2023.3292816","article-title":"Deep reinforcement learning based trajectory design and resource allocation for UAV-assisted communications","volume":"27","author":"Zhang","year":"2023","journal-title":"IEEE Commun. Lett."},{"issue":"12","key":"10.1016\/j.jnca.2025.104336_bib34","doi-asserted-by":"crossref","first-page":"4323","DOI":"10.1109\/TMC.2021.3075083","article-title":"Energy-efficient trajectory optimization for UAV-assisted IoT networks","volume":"21","author":"Zhang","year":"2022","journal-title":"IEEE Trans. Mobile Comput."},{"issue":"12","key":"10.1016\/j.jnca.2025.104336_bib35","doi-asserted-by":"crossref","first-page":"3019","DOI":"10.1109\/LCOMM.2022.3210660","article-title":"Multi-objective optimization for UAV-enabled wireless powered IoT networks: an LSTM-based deep reinforcement learning approach","volume":"26","author":"Zhang","year":"2022","journal-title":"IEEE Commun. Lett."},{"issue":"11","key":"10.1016\/j.jnca.2025.104336_bib36","first-page":"14734","article-title":"Completion time minimization for data collection in a UAV-Enabled IoT network: a deep reinforcement learning approach","volume":"72","author":"Zhang","year":"2023","journal-title":"IEEE Trans. Veh. Technol."},{"issue":"1","key":"10.1016\/j.jnca.2025.104336_bib37","doi-asserted-by":"crossref","first-page":"600","DOI":"10.1109\/TVT.2020.3047800","article-title":"Three-dimension trajectory design for Multi-UAV wireless network with deep reinforcement learning","volume":"70","author":"Zhang","year":"2021","journal-title":"IEEE Trans. Veh. Technol."}],"container-title":["Journal of Network and Computer Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S1084804525002334?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S1084804525002334?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2025,10,31]],"date-time":"2025-10-31T07:55:05Z","timestamp":1761897305000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S1084804525002334"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,12]]},"references-count":37,"alternative-id":["S1084804525002334"],"URL":"https:\/\/doi.org\/10.1016\/j.jnca.2025.104336","relation":{},"ISSN":["1084-8045"],"issn-type":[{"value":"1084-8045","type":"print"}],"subject":[],"published":{"date-parts":[[2025,12]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"3D UAV path planning based on an improved TD3 deep reinforcement learning for data collection in an urban environment","name":"articletitle","label":"Article Title"},{"value":"Journal of Network and Computer Applications","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.jnca.2025.104336","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2025 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"104336"}}