{"id":"https://openalex.org/W7201833910","doi":"https://doi.org/10.1142/s2301385028500525","title":"D-ALF: Deadlock-Recovery Asymmetric L\u00e9vy Flight for Swarm Coverage","display_name":"D-ALF: Deadlock-Recovery Asymmetric L\u00e9vy Flight for Swarm Coverage","publication_year":2026,"publication_date":"2026-08-07","ids":{"openalex":"https://openalex.org/W7201833910","doi":"https://doi.org/10.1142/s2301385028500525"},"language":"en","primary_location":{"id":"doi:10.1142/s2301385028500525","doi":"https://doi.org/10.1142/s2301385028500525","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385028500525","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-1","poland-20","russia-white-list-1"],"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"},"parent_works":[],"lineage":["https://openalex.org/W7201833910"],"child_works_count":0,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5145985767","display_name":"Xiaohan Wang","orcid":"https://orcid.org/0000-0001-8493-8773","observed_orcids":["https://orcid.org/0000-0001-8493-8773"]},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaohan Wang","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen 518107, P. R. China","Zhuhai Key Laboratory on Collective Intelligence and Unmanned Systems, Zhuhai 519082, P. R. China"],"raw_orcid":"https://orcid.org/0000-0001-8493-8773","affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen 518107, P. R. China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Zhuhai Key Laboratory on Collective Intelligence and Unmanned Systems, Zhuhai 519082, P. R. China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5144281630","display_name":"Zijian Ruan","orcid":"https://orcid.org/0009-0005-2126-3074","observed_orcids":["https://orcid.org/0009-0005-2126-3074"]},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zijian Ruan","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen 518107, P. R. China"],"raw_orcid":"https://orcid.org/0009-0005-2126-3074","affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen 518107, P. R. China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5145965435","display_name":"Yifan Chang","orcid":"https://orcid.org/0009-0009-8893-2518","observed_orcids":["https://orcid.org/0009-0009-8893-2518"]},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Chang","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen 518107, P. R. China","Zhuhai Key Laboratory on Collective Intelligence and Unmanned Systems, Zhuhai 519082, P. R. China"],"raw_orcid":"https://orcid.org/0009-0009-8893-2518","affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen 518107, P. R. China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Zhuhai Key Laboratory on Collective Intelligence and Unmanned Systems, Zhuhai 519082, P. R. China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5145968977","display_name":"Hao Li","orcid":"https://orcid.org/0009-0008-4677-8914","observed_orcids":["https://orcid.org/0009-0008-4677-8914"]},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Li","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen 518107, P. R. China","Zhuhai Key Laboratory on Collective Intelligence and Unmanned Systems, Zhuhai 519082, P. R. China"],"raw_orcid":"https://orcid.org/0009-0008-4677-8914","affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen 518107, P. R. China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Zhuhai Key Laboratory on Collective Intelligence and Unmanned Systems, Zhuhai 519082, P. R. China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076233549","display_name":"Tianjiang Hu","orcid":"https://orcid.org/0000-0002-0587-6752","observed_orcids":["https://orcid.org/0000-0002-0587-6752"]},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianjiang Hu","raw_affiliation_strings":["School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen 518107, P. R. China","Zhuhai Key Laboratory on Collective Intelligence and Unmanned Systems, Zhuhai 519082, P. R. China"],"raw_orcid":"https://orcid.org/0000-0002-0587-6752","affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Sun Yat-sen University, Shenzhen 518107, P. R. China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Zhuhai Key Laboratory on Collective Intelligence and Unmanned Systems, Zhuhai 519082, P. R. China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.47360000014305115,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.47360000014305115,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.37450000643730164,"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":0.08240000158548355,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/deadlock-recovery","display_name":"deadlock recovery","score":0.8859999775886536},{"id":"https://openalex.org/keywords/swarm-deployment","display_name":"swarm deployment","score":0.3370000123977661},{"id":"https://openalex.org/keywords/stochastic-exploration","display_name":"stochastic exploration","score":0.6869999766349792},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"obstacle avoidance","score":0.6290000081062317},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"search and rescue","score":0.7559999823570251},{"id":"https://openalex.org/keywords/decentralized-decision-making","display_name":"decentralized decision-making","score":0.6169999837875366},{"id":"https://openalex.org/keywords/coverage-efficiency","display_name":"coverage efficiency","score":0.5450000166893005}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.8217999935150146},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7059999704360962},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.683899998664856},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5644999742507935},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.47279998660087585},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37549999356269836},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.3504999876022339},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.34139999747276306},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.321399986743927},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.30730000138282776},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.28049999475479126},{"id":"https://openalex.org/C159023740","wikidata":"https://www.wikidata.org/wiki/Q623276","display_name":"Deadlock","level":2,"score":0.27320000529289246},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.2524999976158142}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s2301385028500525","doi":"https://doi.org/10.1142/s2301385028500525","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s2301385028500525","pdf_url":null,"source":{"id":"https://openalex.org/S4210169569","display_name":"Unmanned Systems","issn_l":"2301-3850","issn":["2301-3850","2301-3869"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","dongbi-d","jufo-1","poland-20","russia-white-list-1"],"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Unmanned Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4943999946117401,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W3119132534","https://openalex.org/W7124138705","https://openalex.org/W7136714272","https://openalex.org/W7154482424","https://openalex.org/W2925641663","https://openalex.org/W4417257533","https://openalex.org/W3084845571","https://openalex.org/W4412698662","https://openalex.org/W4415180720"],"abstract_inverted_index":{"High-efficiency":[0],"area":[1],"coverage":[2,52,100,131,164,187],"using":[3],"unmanned":[4],"aerial":[5],"vehicle":[6],"swarms":[7],"is":[8],"a":[9,35,45,128,135],"fundamental":[10],"capability":[11],"for":[12,49,73,181],"large-scale":[13],"search-and-rescue":[14],"missions.":[15],"In":[16],"disaster":[17],"scenarios":[18],"lacking":[19],"prior":[20],"knowledge,":[21],"where":[22,85],"agents":[23,91,149],"rely":[24],"on":[25,61,106],"local":[26,153],"sensing":[27],"and":[28,67,102,157,161,173,184,191],"decentralized":[29],"decision-making,":[30],"stochastic":[31,129,159],"exploration":[32,137],"strategies":[33,71],"provide":[34],"practical":[36],"solution.":[37],"Asymmetric":[38],"L\u00e9vy":[39,197],"flight":[40,198],"has":[41],"recently":[42],"emerged":[43],"as":[44,90],"promising":[46],"theoretical":[47,163],"framework":[48,147],"scalable":[50],"autonomous":[51],"in":[53,64,82],"complex":[54],"environments.":[55],"However,":[56],"existing":[57],"studies":[58],"primarily":[59],"focus":[60],"kinematic":[62],"optimization":[63],"particle-level":[65],"simulations":[66,172],"rarely":[68],"consider":[69],"practicable":[70],"tailored":[72],"real-world":[74,174],"swarm":[75,130,169],"deployment.":[76],"This":[77],"limitation":[78],"becomes":[79],"particularly":[80],"critical":[81],"dense":[83],"swarms,":[84],"execution-level":[86,182],"deadlocks":[87,114,183],"frequently":[88],"arise":[89],"mutually":[92],"obstruct":[93],"access":[94],"to":[95,150],"their":[96],"intended":[97],"waypoints,":[98],"undermining":[99],"continuity":[101],"reliability.":[103],"When":[104],"deployed":[105],"physical":[107],"platforms":[108],"with":[109,134,194],"standard":[110],"obstacle-avoidance":[111],"mechanisms,":[112],"these":[113],"can":[115],"severely":[116],"degrade":[117],"operational":[118,189],"performance.":[119],"To":[120],"address":[121],"this":[122,124],"challenge,":[123],"paper":[125],"proposes":[126],"D-ALF,":[127],"planner":[132],"augmented":[133],"deadlock-aware":[136],"policy.":[138],"By":[139],"integrating":[140],"an":[141],"asymmetric":[142,196],"collaborative":[143],"consensus":[144],"mechanism,":[145],"the":[146],"enables":[148],"actively":[151,179],"resolve":[152],"congestion,":[154],"maintain":[155],"continuous":[156],"coordinated":[158],"exploration,":[160],"translate":[162],"efficiency":[165],"into":[166],"physically":[167],"realizable":[168],"operation.":[170],"Extensive":[171],"experiments":[175],"demonstrate":[176],"that":[177],"D-ALF":[178],"accounts":[180],"consistently":[185],"enhances":[186],"efficiency,":[188],"reliability,":[190],"scalability":[192],"compared":[193],"classical":[195],"strategies.":[199]},"counts_by_year":[],"updated_date":"2026-11-14T11:04:58.165337","created_date":"2026-08-08T00:00:00"}
