{"id":"https://openalex.org/W4403598718","doi":"https://doi.org/10.1109/access.2024.3483943","title":"Hierarchical Multi-UAV Path Planning for Urban Low Altitude Environments","display_name":"Hierarchical Multi-UAV Path Planning for Urban Low Altitude Environments","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4403598718","doi":"https://doi.org/10.1109/access.2024.3483943"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3483943","doi":"https://doi.org/10.1109/access.2024.3483943","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3483943","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","ki-jl-1","norway-1","oarl","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2024.3483943","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Haoxiang Lei","orcid":"https://orcid.org/0009-0008-4152-6662","observed_orcids":["https://orcid.org/0009-0008-4152-6662"]},"institutions":[{"id":"https://openalex.org/I64852412","display_name":"Sichuan University of Science and Engineering","ror":"https://ror.org/053fzma23","country_code":"CN","type":"education","lineage":["https://openalex.org/I64852412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoxiang Lei","raw_affiliation_strings":["School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, China"],"raw_orcid":"https://orcid.org/0009-0008-4152-6662","affiliations":[{"raw_affiliation_string":"School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, China","institution_ids":["https://openalex.org/I64852412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100425114","display_name":"Yuehao Yan","orcid":"https://orcid.org/0000-0002-2222-6436","observed_orcids":["https://orcid.org/0000-0002-2222-6436"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuehao Yan","raw_affiliation_strings":["Artificial Intelligence Key Laboratory of Sichuan Province, Yibin, China"],"raw_orcid":"https://orcid.org/0000-0002-2222-6436","affiliations":[{"raw_affiliation_string":"Artificial Intelligence Key Laboratory of Sichuan Province, Yibin, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036897867","display_name":"Jilong Liu","orcid":"https://orcid.org/0009-0008-0159-170X","observed_orcids":["https://orcid.org/0009-0008-0159-170X"]},"institutions":[{"id":"https://openalex.org/I64852412","display_name":"Sichuan University of Science and Engineering","ror":"https://ror.org/053fzma23","country_code":"CN","type":"education","lineage":["https://openalex.org/I64852412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jilong Liu","raw_affiliation_strings":["School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, China"],"raw_orcid":"https://orcid.org/0009-0008-0159-170X","affiliations":[{"raw_affiliation_string":"School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, China","institution_ids":["https://openalex.org/I64852412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010615576","display_name":"Qiang Han","orcid":"https://orcid.org/0000-0001-5646-3950","observed_orcids":["https://orcid.org/0000-0001-5646-3950"]},"institutions":[{"id":"https://openalex.org/I64852412","display_name":"Sichuan University of Science and Engineering","ror":"https://ror.org/053fzma23","country_code":"CN","type":"education","lineage":["https://openalex.org/I64852412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Han","raw_affiliation_strings":["School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, China"],"raw_orcid":"https://orcid.org/0000-0001-5646-3950","affiliations":[{"raw_affiliation_string":"School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, China","institution_ids":["https://openalex.org/I64852412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5106717071","display_name":"Zhouguan Li","orcid":"https://orcid.org/0009-0004-5522-7584","observed_orcids":["https://orcid.org/0009-0004-5522-7584"]},"institutions":[{"id":"https://openalex.org/I64852412","display_name":"Sichuan University of Science and Engineering","ror":"https://ror.org/053fzma23","country_code":"CN","type":"education","lineage":["https://openalex.org/I64852412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhouguan Li","raw_affiliation_strings":["School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, China","institution_ids":["https://openalex.org/I64852412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1995,"currency":"USD","value_usd":1995},"apc_paid":{"value":1995,"currency":"USD","value_usd":1995},"fwci":2.8219,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.91223889,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"12","issue":null,"first_page":"162109","last_page":"162121"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7925000190734863,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7925000190734863,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.20419999957084656,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11489","display_name":"Air Traffic Management and Optimization","score":0.0007999999797903001,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/multi-uav-path-planning","display_name":"multi-UAV path planning","score":0.9929999709129333},{"id":"https://openalex.org/keywords/hierarchical-path-planning","display_name":"hierarchical path planning","score":0.8529999852180481},{"id":"https://openalex.org/keywords/ant-colony-optimization","display_name":"ant colony optimization","score":0.734000027179718},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"particle swarm optimization","score":0.9980000257492065},{"id":"https://openalex.org/keywords/hybrid-metaheuristic-algorithm","display_name":"hybrid metaheuristic","score":0.8109999895095825},{"id":"https://openalex.org/keywords/pheromone-initialization","display_name":"pheromone initialization","score":0.8650000095367432},{"id":"https://openalex.org/keywords/local-optima-avoidance","display_name":"local optima avoidance","score":0.5849999785423279},{"id":"https://openalex.org/keywords/power-consumption-constraints","display_name":"energy consumption constraints","score":0.8840000033378601},{"id":"https://openalex.org/keywords/low-altitude-economy","display_name":"low-altitude economy","score":0.7480000257492065}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6620596647262573},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6492224931716919},{"id":"https://openalex.org/C6350597","wikidata":"https://www.wikidata.org/wiki/Q339495","display_name":"Altitude (triangle)","level":2,"score":0.45621246099472046},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4403686821460724},{"id":"https://openalex.org/C2993172488","wikidata":"https://www.wikidata.org/wiki/Q190200","display_name":"Low altitude","level":3,"score":0.4151831865310669},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3422689735889435},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22851845622062683},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14061573147773743},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11964276432991028},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11417582631111145},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06298646330833435},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3483943","doi":"https://doi.org/10.1109/access.2024.3483943","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3483943","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","ki-jl-1","norway-1","oarl","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:cd8cbf9f4a4b4bbda9fb0025cc3f8f15","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/cd8cbf9f4a4b4bbda9fb0025cc3f8f15","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 162109-162121 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3483943","doi":"https://doi.org/10.1109/access.2024.3483943","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3483943","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","jufo-1","ki-jl-1","norway-1","oarl","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8787999749183655,"display_name":"Sustainable cities and communities"},{"id":"https://metadata.un.org/sdg/9","score":0.4943999946117401,"display_name":"Industry, innovation and infrastructure"}],"study_designs":[],"awards":[{"id":"https://openalex.org/G5139630141","display_name":null,"funder_award_id":"Y2023305","funder_id":"https://openalex.org/F4320322947","funder_display_name":"Sichuan University of Science and Engineering"}],"funders":[{"id":"https://openalex.org/F4320322947","display_name":"Sichuan University of Science and Engineering","ror":"https://ror.org/053fzma23"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1854270966","https://openalex.org/W2470744937","https://openalex.org/W2501646324","https://openalex.org/W2964572210","https://openalex.org/W2997618425","https://openalex.org/W3022095849","https://openalex.org/W3197394860","https://openalex.org/W4211129186","https://openalex.org/W4214555309","https://openalex.org/W4250863246","https://openalex.org/W4285189951","https://openalex.org/W4293103913","https://openalex.org/W4312171787","https://openalex.org/W4316468203","https://openalex.org/W4361761162","https://openalex.org/W4361855254","https://openalex.org/W4387353870","https://openalex.org/W6702340453"],"related_works":["https://openalex.org/W7156758716","https://openalex.org/W4411923487","https://openalex.org/W7133825502","https://openalex.org/W4385731267","https://openalex.org/W7170200351","https://openalex.org/W7168247000","https://openalex.org/W7154985757","https://openalex.org/W4415003620","https://openalex.org/W4414009990","https://openalex.org/W7161252359"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,13,18,27,68,74,81,87,95,99,103,116,129,133,141,147,160,172,177,184,194],"demand":[3],"of":[4,15,86,98,102,140,163,176],"multi-UAV":[5],"missions":[6],"in":[7,26],"urban":[8,19,56],"low-altitude":[9,16],"environment,":[10],"combined":[11],"with":[12,73],"concept":[14],"economy,":[17],"environment":[20,57],"is":[21,179,188],"divided":[22],"into":[23,50],"multiple":[24],"layers":[25],"vertical":[28],"direction":[29],"to":[30,48,62,89,193],"accomplish":[31],"path":[32,58],"planning.":[33,59],"The":[34,167],"traditional":[35,195],"ant":[36],"colony":[37],"algorithm":[38,178,185],"has":[39],"problems":[40],"such":[41],"as":[42,94],"slow":[43],"planning":[44],"speed":[45],"and":[46,79,83,109,118,122,137,145,183],"easy":[47],"fall":[49],"local":[51,123],"optimization":[52,108,112,121,125],"when":[53],"performing":[54],"UAV":[55,157],"In":[60,131],"order":[61],"improve":[63],"these":[64],"problems,":[65],"we":[66],"combine":[67],"Ant":[69],"Colony":[70],"Algorithm":[71,77],"(ACO)":[72],"Particle":[75],"Swarm":[76],"(PSO),":[78],"utilize":[80],"early":[82],"fast":[84],"convergence":[85],"PSO":[88],"generate":[90],"a":[91],"suboptimal":[92],"solution":[93],"initial":[96],"condition":[97],"pheromone":[100],"distribution":[101],"ACO.":[104,196],"Meanwhile,":[105],"parameter":[106,119],"adaptive":[107,120],"forbidden":[110],"strategy":[111],"were":[113,126],"performed":[114,127],"for":[115,128],"ACO,":[117],"optimum":[124],"PSO.":[130],"addition,":[132],"energy":[134],"consumption":[135],"constraints":[136,139],"layering":[138],"UAVs":[142],"are":[143,149],"considered,":[144],"finally":[146],"paths":[148],"optimized":[150],"using":[151],"NURBS":[152],"curves":[153],"so":[154],"that":[155,171],"each":[156],"can":[158],"reach":[159],"end":[161],"point":[162],"its":[164],"respective":[165],"layer.":[166],"experimental":[168],"results":[169],"show":[170],"average":[173],"optimal":[174],"fitness":[175],"improved":[180],"by":[181,190],"22.2%":[182],"running":[186],"time":[187],"reduced":[189],"33.0%":[191],"compared":[192]},"counts_by_year":[{"year":2026,"cited_by_count":14},{"year":2025,"cited_by_count":9}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2024-10-22T00:00:00"}