{"id":"https://openalex.org/W2800027611","doi":"https://doi.org/10.1007/s10846-018-0861-1","title":"Bi-level Flight Path Planning of UAV Formations with Collision Avoidance","display_name":"Bi-level Flight Path Planning of UAV Formations with Collision Avoidance","publication_year":2018,"publication_date":"2018-05-11","ids":{"openalex":"https://openalex.org/W2800027611","doi":"https://doi.org/10.1007/s10846-018-0861-1","mag":"2800027611"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-018-0861-1","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-018-0861-1","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","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/A5050399810","display_name":"Egidio D\u2019Amato","orcid":"https://orcid.org/0000-0002-2766-3862"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Egidio D\u2019Amato","raw_affiliation_strings":["Department of Engineering, University of Campania L. Vanvitelli, 81031, Aversa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-2766-3862","affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Campania L. Vanvitelli, 81031, Aversa, Italy","institution_ids":["https://openalex.org/I197809005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018460472","display_name":"M. Mattei","orcid":"https://orcid.org/0000-0001-7951-6584"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimiliano Mattei","raw_affiliation_strings":["Department of Engineering, University of Campania L. Vanvitelli, 81031, Aversa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Campania L. Vanvitelli, 81031, Aversa, Italy","institution_ids":["https://openalex.org/I197809005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039848174","display_name":"Immacolata Notaro","orcid":"https://orcid.org/0000-0001-7997-039X"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Immacolata Notaro","raw_affiliation_strings":["Department of Engineering, University of Campania L. Vanvitelli, 81031, Aversa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Campania L. Vanvitelli, 81031, Aversa, Italy","institution_ids":["https://openalex.org/I197809005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050399810"],"corresponding_institution_ids":["https://openalex.org/I197809005"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":2.2308,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.91296584,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"93","issue":"1-2","first_page":"193","last_page":"211"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.996999979019165,"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/climb","display_name":"Climb","score":0.6034695506095886},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5945838689804077},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5222043395042419},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5190789699554443},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.494688481092453},{"id":"https://openalex.org/keywords/visibility-graph","display_name":"Visibility graph","score":0.4899574816226959},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4830187261104584},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47130048274993896},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.44776517152786255},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.444571852684021},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42908450961112976},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3677247166633606},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3463055193424225},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3159635066986084},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3158913850784302},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30902189016342163},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25054657459259033},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.20312261581420898},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16098040342330933},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14595380425453186}],"concepts":[{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.6034695506095886},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5945838689804077},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5222043395042419},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5190789699554443},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.494688481092453},{"id":"https://openalex.org/C173362246","wikidata":"https://www.wikidata.org/wiki/Q8216024","display_name":"Visibility graph","level":3,"score":0.4899574816226959},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4830187261104584},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47130048274993896},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.44776517152786255},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.444571852684021},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42908450961112976},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3677247166633606},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3463055193424225},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3159635066986084},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3158913850784302},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30902189016342163},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25054657459259033},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.20312261581420898},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16098040342330933},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14595380425453186},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-018-0861-1","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-018-0861-1","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:ricerca.uniparthenope.it:11367/78569","is_oa":false,"landing_page_url":"http://hdl.handle.net/11367/78569","pdf_url":null,"source":{"id":"https://openalex.org/S4377196432","display_name":"CINECA IRIS Institutial research information system (Parthenope University of Naples)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183638586","host_organization_name":"Parthenope University of Naples","host_organization_lineage":["https://openalex.org/I183638586"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320318741","display_name":"A\u011fr\u0131 \u0130brahim \u00c7e\u00e7en \u00dcniversitesi","ror":"https://ror.org/054y2mb78"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W167756786","https://openalex.org/W196129739","https://openalex.org/W1507120924","https://openalex.org/W1540305004","https://openalex.org/W1571100798","https://openalex.org/W1594114333","https://openalex.org/W1630241696","https://openalex.org/W1672288194","https://openalex.org/W1960351623","https://openalex.org/W1979234447","https://openalex.org/W1981800580","https://openalex.org/W1987604987","https://openalex.org/W1988053224","https://openalex.org/W1992106482","https://openalex.org/W1994511420","https://openalex.org/W1995965025","https://openalex.org/W2000657518","https://openalex.org/W2005629858","https://openalex.org/W2019586060","https://openalex.org/W2027391043","https://openalex.org/W2033052486","https://openalex.org/W2039165878","https://openalex.org/W2039627949","https://openalex.org/W2046888405","https://openalex.org/W2054136157","https://openalex.org/W2068353912","https://openalex.org/W2075092260","https://openalex.org/W2078219854","https://openalex.org/W2078980743","https://openalex.org/W2079104779","https://openalex.org/W2084575232","https://openalex.org/W2099255501","https://openalex.org/W2114126791","https://openalex.org/W2115986224","https://openalex.org/W2117374887","https://openalex.org/W2117869333","https://openalex.org/W2118425327","https://openalex.org/W2121750169","https://openalex.org/W2127154035","https://openalex.org/W2139175486","https://openalex.org/W2140337663","https://openalex.org/W2149384754","https://openalex.org/W2152427109","https://openalex.org/W2152454256","https://openalex.org/W2155873302","https://openalex.org/W2169528473","https://openalex.org/W2169529464","https://openalex.org/W2171409677","https://openalex.org/W2312058173","https://openalex.org/W2313274380","https://openalex.org/W2317568091","https://openalex.org/W2321353921","https://openalex.org/W2325643132","https://openalex.org/W2327902530","https://openalex.org/W2463394261","https://openalex.org/W2491068463","https://openalex.org/W2501076807","https://openalex.org/W2521809336","https://openalex.org/W2589618410","https://openalex.org/W2602889778","https://openalex.org/W2744050494","https://openalex.org/W2754311268","https://openalex.org/W2754479591","https://openalex.org/W2764297064","https://openalex.org/W3147742675","https://openalex.org/W3173838801","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2624388109","https://openalex.org/W2022120107","https://openalex.org/W4322628047","https://openalex.org/W2102947728"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
