{"id":"https://openalex.org/W7220439377","doi":"https://doi.org/10.3390/math14193593","title":"A Novel Framework for Energy-Aware Optimal Path Planning of Unmanned Aerial Vehicles","display_name":"A Novel Framework for Energy-Aware Optimal Path Planning of Unmanned Aerial Vehicles","publication_year":2026,"publication_date":"2026-10-03","ids":{"openalex":"https://openalex.org/W7220439377","doi":"https://doi.org/10.3390/math14193593"},"language":"en","primary_location":{"id":"doi:10.3390/math14193593","doi":"https://doi.org/10.3390/math14193593","is_oa":true,"landing_page_url":"https://doi.org/10.3390/math14193593","pdf_url":null,"source":{"id":"https://openalex.org/S4210192031","display_name":"Mathematics","issn_l":"2227-7390","issn":["2227-7390"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","poland-20","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mathematics","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/10.3390/math14193593","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109707384","display_name":"Shrishti Chamoli","orcid":"https://orcid.org/0009-0004-0018-242X","observed_orcids":["https://orcid.org/0009-0004-0018-242X"]},"institutions":[{"id":"https://openalex.org/I70971781","display_name":"Dr. B. R. Ambedkar National Institute of Technology Jalandhar","ror":"https://ror.org/03xt0bg88","country_code":"IN","type":"education","lineage":["https://openalex.org/I70971781"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Shrishti Chamoli","raw_affiliation_strings":["Department of Mathematics and Computing, Dr. B. R. Ambedkar National Institute of Technology Jalandhar, Jalandhar 144008, India"],"raw_orcid":"https://orcid.org/0009-0004-0018-242X","affiliations":[{"raw_affiliation_string":"Department of Mathematics and Computing, Dr. B. R. Ambedkar National Institute of Technology Jalandhar, Jalandhar 144008, India","institution_ids":["https://openalex.org/I70971781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043565079","display_name":"Rammohan Mallipeddi","orcid":"https://orcid.org/0000-0001-9071-1145","observed_orcids":["https://orcid.org/0000-0001-9071-1145"]},"institutions":[{"id":"https://openalex.org/I31419693","display_name":"Kyungpook National University","ror":"https://ror.org/040c17130","country_code":"KR","type":"education","lineage":["https://openalex.org/I31419693"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Rammohan Mallipeddi","raw_affiliation_strings":["Department of Artificial Intelligence, Kyungpook National University, Daehak-ro, Buk-gu, Daegu 41566, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-9071-1145","affiliations":[{"raw_affiliation_string":"Department of Artificial Intelligence, Kyungpook National University, Daehak-ro, Buk-gu, Daegu 41566, Republic of Korea","institution_ids":["https://openalex.org/I31419693"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005025571","display_name":"Anupam Yadav","orcid":"https://orcid.org/0000-0002-9179-3151","observed_orcids":["https://orcid.org/0000-0002-9179-3151"]},"institutions":[{"id":"https://openalex.org/I70971781","display_name":"Dr. B. R. Ambedkar National Institute of Technology Jalandhar","ror":"https://ror.org/03xt0bg88","country_code":"IN","type":"education","lineage":["https://openalex.org/I70971781"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Anupam Yadav","raw_affiliation_strings":["Department of Mathematics and Computing, Dr. B. R. Ambedkar National Institute of Technology Jalandhar, Jalandhar 144008, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematics and Computing, Dr. B. R. Ambedkar National Institute of Technology Jalandhar, Jalandhar 144008, India","institution_ids":["https://openalex.org/I70971781"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5005025571","https://openalex.org/A5043565079"],"corresponding_institution_ids":["https://openalex.org/I31419693","https://openalex.org/I70971781"],"apc_list":{"value":2600,"currency":"CHF","value_usd":3137},"apc_paid":{"value":2600,"currency":"CHF","value_usd":3137},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.6606851,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":"19","first_page":"3593","last_page":"3593"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9794999957084656,"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":0.9794999957084656,"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":0.017799999564886093,"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/T11133","display_name":"UAV Applications 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/unmanned-aerial-vehicles","display_name":"unmanned aerial vehicles","score":0.9079999923706055},{"id":"https://openalex.org/keywords/energy-aware-path-planning","display_name":"energy-aware path planning","score":0.9539999961853027},{"id":"https://openalex.org/keywords/communication-energy-consumption","display_name":"communication energy consumption","score":0.6259999871253967},{"id":"https://openalex.org/keywords/signal-strength","display_name":"signal strength","score":0.8700000047683716},{"id":"https://openalex.org/keywords/battery-power","display_name":"battery power","score":0.3240000009536743},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"obstacle avoidance","score":0.7099999785423279},{"id":"https://openalex.org/keywords/threat-avoidance","display_name":"threat avoidance","score":0.6970000267028809},{"id":"https://openalex.org/keywords/altitude-constraints","display_name":"altitude constraints","score":0.5460000038146973},{"id":"https://openalex.org/keywords/path-smoothness","display_name":"path smoothness","score":0.7350000143051147},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"particle swarm optimization","score":0.6060000061988831},{"id":"https://openalex.org/keywords/differential-evolution","display_name":"differential evolution","score":0.824999988079071},{"id":"https://openalex.org/keywords/cma-es","display_name":"CMA-ES","score":0.9039999842643738},{"id":"https://openalex.org/keywords/multi-objective-optimization","display_name":"multi-objective optimization","score":0.6549999713897705}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7064999938011169},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6707000136375427},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6265000104904175},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5565000176429749},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.492000013589859},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4733999967575073},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4586000144481659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45649999380111694},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41280001401901245},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3977999985218048},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.3813999891281128},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.37619999051094055},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.37470000982284546},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.36820000410079956},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3666999936103821},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36079999804496765},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.3449000120162964},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3409000039100647},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.32409998774528503},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.31839999556541443},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31690001487731934},{"id":"https://openalex.org/C175859090","wikidata":"https://www.wikidata.org/wiki/Q322212","display_name":"Travelling salesman problem","level":2,"score":0.3050999939441681},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.2948000133037567},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.28760001063346863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28459998965263367},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27639999985694885},{"id":"https://openalex.org/C29825287","wikidata":"https://www.wikidata.org/wiki/Q1427940","display_name":"Warning system","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.2721000015735626},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27140000462532043},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.2596000134944916},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.25369998812675476}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/math14193593","doi":"https://doi.org/10.3390/math14193593","is_oa":true,"landing_page_url":"https://doi.org/10.3390/math14193593","pdf_url":null,"source":{"id":"https://openalex.org/S4210192031","display_name":"Mathematics","issn_l":"2227-7390","issn":["2227-7390"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","poland-20","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mathematics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:c1480cdc82864013be59478f1944479e","doi":null,"is_oa":false,"landing_page_url":"https://doaj.org/article/c1480cdc82864013be59478f1944479e","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mathematics, Vol 14, Iss 19, p 3593 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/math14193593","doi":"https://doi.org/10.3390/math14193593","is_oa":true,"landing_page_url":"https://doi.org/10.3390/math14193593","pdf_url":null,"source":{"id":"https://openalex.org/S4210192031","display_name":"Mathematics","issn_l":"2227-7390","issn":["2227-7390"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-scientific","cwts-core","doaj","poland-20","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mathematics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.7207000255584717},{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.571399986743927}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1497256448","https://openalex.org/W1530490667","https://openalex.org/W1561867011","https://openalex.org/W1988304323","https://openalex.org/W1991642951","https://openalex.org/W2031834036","https://openalex.org/W2071065188","https://openalex.org/W2077831477","https://openalex.org/W2081749411","https://openalex.org/W2122097005","https://openalex.org/W2152195021","https://openalex.org/W2156194072","https://openalex.org/W2268751503","https://openalex.org/W2304302387","https://openalex.org/W2342656438","https://openalex.org/W2501646324","https://openalex.org/W2592158815","https://openalex.org/W2740005962","https://openalex.org/W2789361148","https://openalex.org/W2790412092","https://openalex.org/W2989326040","https://openalex.org/W3151306683","https://openalex.org/W3156330606","https://openalex.org/W3189163650","https://openalex.org/W4213147678","https://openalex.org/W4242036132","https://openalex.org/W4312932456","https://openalex.org/W4391301137","https://openalex.org/W4405614931","https://openalex.org/W4407413733","https://openalex.org/W4410469213","https://openalex.org/W4410557248","https://openalex.org/W4416450359","https://openalex.org/W7119506225","https://openalex.org/W7135038192","https://openalex.org/W7160321446"],"related_works":["https://openalex.org/W4415196376","https://openalex.org/W7118285248","https://openalex.org/W3100590984","https://openalex.org/W6990808318","https://openalex.org/W4407466239","https://openalex.org/W1561867011","https://openalex.org/W7164386349","https://openalex.org/W7135038192","https://openalex.org/W2888783801","https://openalex.org/W4413204912"],"abstract_inverted_index":{"Unmanned":[0],"Aerial":[1],"Vehicles":[2],"(UAVs)":[3],"are":[4],"becoming":[5],"vital":[6],"in":[7,22,84,154,222,240,249],"many":[8,16],"fields":[9],"like":[10,49],"robotics":[11],"and":[12,54,126,133,196,244,278],"aerospace.":[13],"UAVs":[14,30,291],"have":[15,47,66],"applications,":[17],"ranging":[18],"from":[19,236,245],"delivering":[20],"goods":[21],"disaster":[23],"areas":[24],"to":[25,65,70,75,78,112,166,238,247],"agriculture.":[26],"To":[27],"make":[28],"sure":[29],"complete":[31,71],"their":[32],"mission":[33,73],"efficiently,":[34],"path":[35,45,53,120,180],"planning":[36,46],"becomes":[37],"an":[38,100,171],"important":[39],"problem.":[40],"The":[41,109],"traditional":[42],"models":[43],"of":[44,88,234,296],"constraints":[48],"finding":[50],"the":[51,59,62,72,79,139,147,174,209,232,254,261,272,285,297],"shortest":[52],"obstacle":[55,131],"avoidance.":[56],"They":[57],"ignore":[58],"fact":[60],"that":[61,118,199,284],"UAV":[63,152],"needs":[64],"sufficient":[67],"battery":[68],"power":[69,165],"or":[74],"stay":[76,167],"connected":[77],"ground":[80],"station":[81],"(GS).":[82],"But":[83],"reality,":[85],"this":[86,96],"assumption":[87],"enough":[89],"energy":[90,206,287],"does":[91],"not":[92],"work.":[93],"We":[94,137],"address":[95],"gap":[97],"by":[98,104],"proposing":[99],"energy-aware":[101,172],"model,":[102],"SPSO-EA,":[103],"considering":[105],"communication":[106,127],"signal":[107,148],"strength.":[108,149],"objective":[110],"is":[111],"minimize":[113],"a":[114,151,155],"weighted":[115],"cost":[116],"function":[117],"includes":[119],"length,":[121],"threat":[122],"avoidance,":[123],"altitude,":[124],"smoothness,":[125],"energy,":[128],"while":[129,269],"satisfying":[130],"avoidance":[132],"altitude":[134],"boundary":[135],"constraints.":[136],"divide":[138],"whole":[140],"region":[141,156],"into":[142],"three":[143],"zones":[144],"depending":[145],"on":[146],"If":[150],"navigates":[153],"with":[157,204,258],"low":[158,266],"signal,":[159],"it":[160,226],"ends":[161],"up":[162],"using":[163,189],"more":[164],"connected.":[168],"By":[169],"adding":[170],"constraint,":[173],"proposed":[175,210],"model":[176,211],"works":[177],"towards":[178],"sustainable":[179],"planning.":[181],"Experimental":[182],"evaluation":[183],"across":[184],"16":[185],"benchmark":[186],"test":[187],"cases":[188],"four":[190,255],"optimization":[191,299],"algorithms,":[192],"PSO,":[193],"GWO,":[194],"DE,":[195],"CMA-ES,":[197],"demonstrates":[198],"SPSO-EA":[200,259],"consistently":[201],"produces":[202],"paths":[203,294],"superior":[205],"efficiency.":[207,280],"While":[208],"yields":[212],"higher":[213],"mean":[214],"costs":[215],"(e.g.,":[216],"4924":[217],"vs.":[218],"4652":[219],"for":[220],"PSO":[221,270],"Test":[223,241,250],"Case":[224,242,251],"1),":[225],"significantly":[227],"improves":[228],"solution":[229,276],"consistency,":[230],"reducing":[231],"Coefficient":[233],"Variation":[235],"7.4%":[237],"4.8%":[239],"3":[243],"22.3%":[246],"16.8%":[248],"11.":[252],"Among":[253],"optimizers,":[256],"DE":[257],"achieves":[260],"lowest":[262],"variance":[263],"(CV":[264],"as":[265,267],"4.7%),":[268],"offers":[271],"best":[273],"balance":[274],"between":[275],"quality":[277],"computational":[279],"These":[281],"results":[282],"confirm":[283],"communication-aware":[286],"constraint":[288],"reliably":[289],"guides":[290],"toward":[292],"energy-efficient":[293],"regardless":[295],"underlying":[298],"algorithm.":[300]},"counts_by_year":[],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2026-10-06T00:00:00"}