{"id":"https://openalex.org/W7225720306","doi":"https://doi.org/10.3390/machines14111326","title":"Resilient Multi-UAV Mission Execution Under Partial Capability Degradation via Event-Triggered Task Reallocation","display_name":"Resilient Multi-UAV Mission Execution Under Partial Capability Degradation via Event-Triggered Task Reallocation","publication_year":2026,"publication_date":"2026-11-10","ids":{"openalex":"https://openalex.org/W7225720306","doi":"https://doi.org/10.3390/machines14111326"},"language":"en","primary_location":{"id":"doi:10.3390/machines14111326","doi":"https://doi.org/10.3390/machines14111326","is_oa":true,"landing_page_url":"https://doi.org/10.3390/machines14111326","pdf_url":null,"source":{"id":"https://openalex.org/S4210219839","display_name":"Machines","issn_l":"2075-1702","issn":["2075-1702"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","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":"Machines","raw_type":"journal-article"},"parent_works":[],"lineage":["https://openalex.org/W7225720306"],"child_works_count":0,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/machines14111326","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023191732","display_name":"Qingyun Yang","orcid":"https://orcid.org/0000-0003-2543-2339","observed_orcids":["https://orcid.org/0000-0003-2543-2339"]},"institutions":[{"id":"https://openalex.org/I4210159676","display_name":"Zaozhuang University","ror":"https://ror.org/05x21tp94","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210159676"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingyun Yang","raw_affiliation_strings":["Jinzhong Hydraulic Rubber Hose Co., Ltd., Zaozhuang 277000, China","School of Mechanical and Electrical Engineering, Zaozhuang University, Zaozhuang 277160, China"],"raw_orcid":"https://orcid.org/0000-0003-2543-2339","affiliations":[{"raw_affiliation_string":"Jinzhong Hydraulic Rubber Hose Co., Ltd., Zaozhuang 277000, China","institution_ids":[]},{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Zaozhuang University, Zaozhuang 277160, China","institution_ids":["https://openalex.org/I4210159676"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102005961","display_name":"Yewei Zhang","orcid":"https://orcid.org/0000-0002-5493-1084","observed_orcids":["https://orcid.org/0000-0002-5493-1084"]},"institutions":[{"id":"https://openalex.org/I4210159676","display_name":"Zaozhuang University","ror":"https://ror.org/05x21tp94","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210159676"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yewei Zhang","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Zaozhuang University, Zaozhuang 277160, China"],"raw_orcid":"https://orcid.org/0000-0002-5493-1084","affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Zaozhuang University, Zaozhuang 277160, China","institution_ids":["https://openalex.org/I4210159676"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161378503","display_name":"Kun Yang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210159676","display_name":"Zaozhuang University","ror":"https://ror.org/05x21tp94","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210159676"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Yang","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Zaozhuang University, Zaozhuang 277160, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Zaozhuang University, Zaozhuang 277160, China","institution_ids":["https://openalex.org/I4210159676"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102292871","display_name":"Zhenyang Xu","orcid":"https://orcid.org/0009-0004-1025-0481","observed_orcids":["https://orcid.org/0009-0004-1025-0481"]},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenyang Xu","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China"],"raw_orcid":"https://orcid.org/0009-0004-1025-0481","affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032282856","display_name":"Shuyi Shao","orcid":"https://orcid.org/0000-0001-9458-661X","observed_orcids":["https://orcid.org/0000-0001-9458-661X"]},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuyi Shao","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China"],"raw_orcid":"https://orcid.org/0000-0001-9458-661X","affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102005961"],"corresponding_institution_ids":["https://openalex.org/I4210159676"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2896},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2896},"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":"14","issue":"11","first_page":"1326","last_page":"1326"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.43290001153945923,"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":0.43290001153945923,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.14010000228881836,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.12110000103712082,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/task-allocation","display_name":"task allocation","score":0.5820000171661377},{"id":"https://openalex.org/keywords/mappo","display_name":"MAPPO","score":0.7749999761581421},{"id":"https://openalex.org/keywords/hierarchical-control","display_name":"hierarchical control","score":0.5460000038146973}],"concepts":[{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.6825000047683716},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6086999773979187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5961999893188477},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.46380001306533813},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3750999867916107},{"id":"https://openalex.org/C2779679103","wikidata":"https://www.wikidata.org/wiki/Q5251805","display_name":"Degradation (telecommunications)","level":2,"score":0.37400001287460327},{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.3555000126361847},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.35530000925064087},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.35199999809265137},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.3109999895095825},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30390000343322754},{"id":"https://openalex.org/C2984822820","wikidata":"https://www.wikidata.org/wiki/Q1123036","display_name":"Processor scheduling","level":3,"score":0.29600000381469727},{"id":"https://openalex.org/C2780609101","wikidata":"https://www.wikidata.org/wiki/Q17156588","display_name":"Resource management (computing)","level":2,"score":0.2831999957561493},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.27889999747276306},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C2776299755","wikidata":"https://www.wikidata.org/wiki/Q432449","display_name":"Carry (investment)","level":2,"score":0.26589998602867126},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26350000500679016},{"id":"https://openalex.org/C2780148112","wikidata":"https://www.wikidata.org/wiki/Q1432581","display_name":"Proxy (statistics)","level":2,"score":0.26260000467300415}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3390/machines14111326","doi":"https://doi.org/10.3390/machines14111326","is_oa":true,"landing_page_url":"https://doi.org/10.3390/machines14111326","pdf_url":null,"source":{"id":"https://openalex.org/S4210219839","display_name":"Machines","issn_l":"2075-1702","issn":["2075-1702"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","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":"Machines","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.3390/machines14111326","doi":"https://doi.org/10.3390/machines14111326","is_oa":true,"landing_page_url":"https://doi.org/10.3390/machines14111326","pdf_url":null,"source":{"id":"https://openalex.org/S4210219839","display_name":"Machines","issn_l":"2075-1702","issn":["2075-1702"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["cwts-core","doaj","norway-1","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":"Machines","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G1503052498","display_name":null,"funder_award_id":"61903324","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"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":31,"referenced_works":["https://openalex.org/W1972391046","https://openalex.org/W2142544818","https://openalex.org/W2144827113","https://openalex.org/W2157488300","https://openalex.org/W2167183308","https://openalex.org/W2557169239","https://openalex.org/W3009925493","https://openalex.org/W3083945816","https://openalex.org/W3140715751","https://openalex.org/W3161213872","https://openalex.org/W4313644221","https://openalex.org/W4391621439","https://openalex.org/W4392709137","https://openalex.org/W4396731267","https://openalex.org/W4398249528","https://openalex.org/W4401548471","https://openalex.org/W4404349628","https://openalex.org/W4404688279","https://openalex.org/W4406612975","https://openalex.org/W4406857017","https://openalex.org/W4409257446","https://openalex.org/W4410856804","https://openalex.org/W4411314323","https://openalex.org/W4412722092","https://openalex.org/W4413917586","https://openalex.org/W4413925118","https://openalex.org/W7129721931","https://openalex.org/W7138181063","https://openalex.org/W7138903282","https://openalex.org/W7213423467","https://openalex.org/W7214024891"],"related_works":["https://openalex.org/W4416185577","https://openalex.org/W7212047793","https://openalex.org/W4389955859","https://openalex.org/W7172311497","https://openalex.org/W7164838371","https://openalex.org/W4406792947","https://openalex.org/W7222604819","https://openalex.org/W2048809959","https://openalex.org/W3206837440","https://openalex.org/W4410856804"],"abstract_inverted_index":{"A":[0,134],"UAV":[1],"may":[2],"remain":[3],"able":[4],"to":[5,32,53,147],"service":[6],"targets":[7],"after":[8],"its":[9,14],"motion-execution":[10],"capability":[11,177],"declines,":[12],"yet":[13],"current":[15,55],"assignment":[16],"can":[17],"become":[18],"inefficient.":[19],"We":[20],"propose":[21],"Event-Triggered":[22],"Capability-Aware":[23],"Task":[24],"Reallocation":[25],"(ETCR),":[26],"a":[27,33,44,74,102],"centralized":[28],"task":[29,173],"layer":[30],"coupled":[31],"standard":[34],"multi-agent":[35],"proximal":[36],"policy":[37],"optimization":[38],"(MAPPO)":[39],"motion":[40],"policy.":[41],"ETCR":[42,119],"uses":[43],"speed-based":[45],"travel-cost":[46],"proxy":[47],"and":[48,50,66,125,130,139,144,159],"switching":[49],"workload":[51],"penalties":[52,138],"reassess":[54],"assignments":[56],"at":[57],"mission":[58],"events.":[59],"In":[60],"planar":[61],"missions":[62],"with":[63,118],"four":[64],"UAVs":[65],"six":[67],"targets,":[68],"the":[69,95,148,169,180],"original":[70,96],"five-pair":[71],"confirmation":[72],"yielded":[73,91,107],"severe-degradation":[75],"success":[76,122],"gain":[77],"of":[78,171],"5.10":[79],"percentage":[80],"points":[81],"(pp;":[82],"bootstrap":[83],"95%":[84],"interval":[85],"2.80\u20136.60).":[86],"Five":[87],"additional":[88,160],"training":[89],"pairs":[90,100],"+7.70":[92],"pp":[93,109,127,146],"on":[94,101],"cases;":[97],"all":[98],"ten":[99],"new":[103],"fixed":[104,141],"case":[105],"bank":[106],"+9.05":[108],"(7.20\u201310.80).":[110],"With":[111],"identical":[112],"frozen":[113],"actors,":[114,132],"replacing":[115],"distance":[116],"allocation":[117],"improved":[120],"severe":[121],"by":[123],"4.3":[124],"4.1":[126],"for":[128],"MAPPO-origin":[129],"ETCR-origin":[131],"respectively.":[133],"separate":[135],"contrast":[136],"holding":[137],"triggers":[140],"attributed":[142],"6.2":[143],"5.9":[145],"speed-aware":[149],"cost.":[150],"Isolated":[151],"degradation":[152],"tests":[153],"support":[154],"speed-related":[155,176],"adaptation;":[156],"stable":[157],"response-only":[158],"soft-trigger":[161],"benefits":[162],"were":[163],"not":[164],"established.":[165],"The":[166],"results":[167],"demonstrate":[168],"value":[170],"updating":[172],"guidance":[174],"from":[175],"information":[178],"within":[179],"tested":[181],"hierarchical":[182],"execution":[183],"setting.":[184]},"counts_by_year":[],"updated_date":"2026-11-14T11:04:58.165337","created_date":"2026-11-11T00:00:00"}
