Spatiotemporal Risk-Aware Patrol Planning Using Value-Based Policy Optimization and Sensor-Integrated Graph Navigation in Urban Environments
Bibliographic record
Abstract
This study proposes an intelligent patrol planning framework that leverages reinforcement learning, spatiotemporal crime forecasting, and simulated sensor telemetry to optimize autonomous vehicle (AV) navigation in urban environments. Crime incidents from Washington DC (2024–2025) and Seattle (2008–2024) are modeled as a dynamic spatiotemporal graph, capturing the evolving intensity and distribution of criminal activity across neighborhoods and time windows. The agent’s state space incorporates synthetic AV sensor inputs—including fuel level, visual anomaly detection, and threat signals—to reflect real-world operational constraints. We evaluate and compare three learning strategies: Deep Q-Network (DQN), Double Deep Q-Network (DDQN), and Proximal Policy Optimization (PPO). Experimental results show that DDQN outperforms DQN in convergence speed and reward accumulation, while PPO demonstrates greater adaptability in sensor-rich, high-noise conditions. Real-map simulations and hourly risk heatmaps validate the effectiveness of our approach, highlighting its potential to inform scalable, data-driven patrol strategies in next-generation smart cities.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.003 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".