{"id":"https://openalex.org/W4307647390","doi":"https://doi.org/10.1007/s40747-022-00891-7","title":"Hybrid swarm intelligent algorithm for multi-UAV formation reconfiguration","display_name":"Hybrid swarm intelligent algorithm for multi-UAV formation reconfiguration","publication_year":2022,"publication_date":"2022-10-27","ids":{"openalex":"https://openalex.org/W4307647390","doi":"https://doi.org/10.1007/s40747-022-00891-7"},"language":"en","primary_location":{"id":"doi:10.1007/s40747-022-00891-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-022-00891-7","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-022-00891-7.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex & Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://link.springer.com/content/pdf/10.1007/s40747-022-00891-7.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101425534","display_name":"Chenyang Gao","orcid":"https://orcid.org/0000-0002-6012-3462"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chenyang Gao","raw_affiliation_strings":["The School of Cyber Engineering, Xidian University, Taibai Street, Xi\u2019an, 710071, Shanxi, China","The School of Cyber Engineering, Xidian University, Taibai Street, Xi'an, 710071, Shanxi, China"],"affiliations":[{"raw_affiliation_string":"The School of Cyber Engineering, Xidian University, Taibai Street, Xi\u2019an, 710071, Shanxi, China","institution_ids":["https://openalex.org/I149594827"]},{"raw_affiliation_string":"The School of Cyber Engineering, Xidian University, Taibai Street, Xi'an, 710071, Shanxi, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012016098","display_name":"Jianfeng Ma","orcid":"https://orcid.org/0000-0003-4251-1143"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianfeng Ma","raw_affiliation_strings":["The School of Computer Science and Engineering, Xidian University, Taibai Street, Xi\u2019an, 710071, Shanxi, China","The School of Computer Science and Engineering, Xidian University, Taibai Street, Xi'an, 710071, Shanxi, China"],"affiliations":[{"raw_affiliation_string":"The School of Computer Science and Engineering, Xidian University, Taibai Street, Xi\u2019an, 710071, Shanxi, China","institution_ids":["https://openalex.org/I149594827"]},{"raw_affiliation_string":"The School of Computer Science and Engineering, Xidian University, Taibai Street, Xi'an, 710071, Shanxi, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020227658","display_name":"Teng Li","orcid":"https://orcid.org/0000-0001-5147-8336"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Teng Li","raw_affiliation_strings":["The School of Computer Science and Engineering, Xidian University, Taibai Street, Xi\u2019an, 710071, Shanxi, China","The School of Computer Science and Engineering, Xidian University, Taibai Street, Xi'an, 710071, Shanxi, China"],"affiliations":[{"raw_affiliation_string":"The School of Computer Science and Engineering, Xidian University, Taibai Street, Xi\u2019an, 710071, Shanxi, China","institution_ids":["https://openalex.org/I149594827"]},{"raw_affiliation_string":"The School of Computer Science and Engineering, Xidian University, Taibai Street, Xi'an, 710071, Shanxi, China","institution_ids":["https://openalex.org/I149594827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043356063","display_name":"Yulong Shen","orcid":"https://orcid.org/0000-0002-8448-705X"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yulong Shen","raw_affiliation_strings":["The School of Cyber Engineering, Xidian University, Taibai Street, Xi\u2019an, 710071, Shanxi, China","The School of Cyber Engineering, Xidian University, Taibai Street, Xi'an, 710071, Shanxi, China"],"affiliations":[{"raw_affiliation_string":"The School of Cyber Engineering, Xidian University, Taibai Street, Xi\u2019an, 710071, Shanxi, China","institution_ids":["https://openalex.org/I149594827"]},{"raw_affiliation_string":"The School of Cyber Engineering, Xidian University, Taibai Street, Xi'an, 710071, Shanxi, China","institution_ids":["https://openalex.org/I149594827"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101425534"],"corresponding_institution_ids":["https://openalex.org/I149594827"],"apc_list":{"value":1320,"currency":"GBP","value_usd":1619},"apc_paid":{"value":1320,"currency":"GBP","value_usd":1619},"fwci":4.7087,"has_fulltext":true,"cited_by_count":35,"citation_normalized_percentile":{"value":0.95180698,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"9","issue":"2","first_page":"1929","last_page":"1962"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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":0.998199999332428,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.9306155443191528},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7026609778404236},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.6683268547058105},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6275859475135803},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5375333428382874},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.4478437304496765},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38468030095100403},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3345797061920166},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.26760441064834595},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24952366948127747},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.15829160809516907},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10697492957115173}],"concepts":[{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.9306155443191528},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7026609778404236},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.6683268547058105},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6275859475135803},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5375333428382874},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.4478437304496765},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38468030095100403},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3345797061920166},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26760441064834595},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24952366948127747},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.15829160809516907},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10697492957115173},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s40747-022-00891-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-022-00891-7","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-022-00891-7.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex & Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:799d03bc302d49cb856723be5344086d","is_oa":true,"landing_page_url":"https://doaj.org/article/799d03bc302d49cb856723be5344086d","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complex & Intelligent Systems, Vol 9, Iss 2, Pp 1929-1962 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s40747-022-00891-7","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-022-00891-7","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-022-00891-7.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex & Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8899999856948853}],"awards":[{"id":"https://openalex.org/G1128905624","display_name":null,"funder_award_id":"2019M653567","funder_id":"https://openalex.org/F4320324173","funder_display_name":"Natural Science Foundation of Shaanxi Province"},{"id":"https://openalex.org/G2082826544","display_name":null,"funder_award_id":"Postdoctoral","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2319781933","display_name":null,"funder_award_id":"2019JM-425","funder_id":"https://openalex.org/F4320324173","funder_display_name":"Natural Science Foundation of Shaanxi Province"},{"id":"https://openalex.org/G2944137971","display_name":null,"funder_award_id":"61902291","funder_id":"https://openalex.org/F4320324173","funder_display_name":"Natural Science Foundation of Shaanxi Province"},{"id":"https://openalex.org/G2998417166","display_name":null,"funder_award_id":"No.61902291","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3214160367","display_name":null,"funder_award_id":"No. 11","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4020255992","display_name":null,"funder_award_id":"Project","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4087890495","display_name":null,"funder_award_id":"2019M653567","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4288275935","display_name":null,"funder_award_id":"2019M653567","funder_id":"https://openalex.org/F4320335443","funder_display_name":"Postdoctoral Research Foundation of China"},{"id":"https://openalex.org/G4790357726","display_name":null,"funder_award_id":"2019JM-425","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G5167091242","display_name":null,"funder_award_id":"No. 1","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5386982601","display_name":null,"funder_award_id":"2019M653567","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6137401532","display_name":null,"funder_award_id":"No. 11961","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6386397239","display_name":null,"funder_award_id":"61902291","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G6765809963","display_name":null,"funder_award_id":"No. 61902291","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7001516894","display_name":null,"funder_award_id":"2019M6","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G7021705214","display_name":null,"funder_award_id":"2019JM-425","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7320741009","display_name":null,"funder_award_id":"61902291","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7951436902","display_name":null,"funder_award_id":"11961001","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"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320324173","display_name":"Natural Science Foundation of Shaanxi Province","ror":null},{"id":"https://openalex.org/F4320335443","display_name":"Postdoctoral Research Foundation of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4307647390.pdf","grobid_xml":"https://content.openalex.org/works/W4307647390.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1519549791","https://openalex.org/W1595159159","https://openalex.org/W1993036024","https://openalex.org/W2023086460","https://openalex.org/W2025896589","https://openalex.org/W2070428125","https://openalex.org/W2075956742","https://openalex.org/W2093778275","https://openalex.org/W2100557026","https://openalex.org/W2166307756","https://openalex.org/W2263187709","https://openalex.org/W2313230727","https://openalex.org/W2427635207","https://openalex.org/W2626930290","https://openalex.org/W2756959509","https://openalex.org/W2765082137","https://openalex.org/W2792045855","https://openalex.org/W2799454643","https://openalex.org/W2799558827","https://openalex.org/W2887927735","https://openalex.org/W2891455300","https://openalex.org/W2898877903","https://openalex.org/W2954306940","https://openalex.org/W2963491718","https://openalex.org/W2964884740","https://openalex.org/W2965511420","https://openalex.org/W2969568603","https://openalex.org/W2989957229","https://openalex.org/W2999934039","https://openalex.org/W3034445470","https://openalex.org/W3036610339","https://openalex.org/W3090527148"],"related_works":["https://openalex.org/W2368452559","https://openalex.org/W2758703592","https://openalex.org/W2132372766","https://openalex.org/W2757846229","https://openalex.org/W2143454361","https://openalex.org/W2515592606","https://openalex.org/W4377980640","https://openalex.org/W2392378259","https://openalex.org/W1954753558","https://openalex.org/W2355000347"],"abstract_inverted_index":{"Abstract":[0],"Formation":[1],"flight":[2],"of":[3,15,64,78,105,114,121,130,146,175],"unmanned":[4],"aerial":[5],"vehicles":[6],"(UAVs)":[7],"utilizes":[8],"reconfiguration":[9,66],"procedures":[10],"to":[11,39,44,83,100,141,150,171,186],"handle":[12],"a":[13,81],"variety":[14],"emergencies,":[16],"such":[17],"as":[18],"collision":[19],"avoidance,":[20],"malfunctions,":[21],"fuel":[22],"savings,":[23],"and":[24,33,74,95,109,126,156,180,201,203],"member":[25],"replacement.":[26],"As":[27],"UAVs":[28,50],"have":[29],"limited":[30],"computing":[31,54,112],"power":[32],"energy":[34],"resources,":[35],"it":[36],"is":[37,67,139,207],"necessary":[38],"optimize":[40,101,142],"the":[41,46,53,62,84,103,106,111,119,127,143,147,152,161,166,173,182,204],"control":[42,75,124,144],"inputs":[43],"reduce":[45,110,160],"distance":[47,104],"travelled":[48],"by":[49],"while":[51],"reducing":[52],"costs":[55],"during":[56],"formation":[57,115,132,188],"reconfiguration.":[58,116,189],"In":[59],"this":[60,157],"paper,":[61],"problem":[63],"multi-UAV":[65,131],"decoupled":[68],"into":[69],"two":[70],"stages:":[71],"task":[72],"assignment":[73],"input":[76,145],"optimization":[77,94],"UAVs.":[79],"For":[80],"solution":[82],"above":[85],"problem,":[86],"we":[87],"propose":[88],"an":[89,134],"adaptive":[90],"hybrid":[91],"particle":[92],"swarm":[93],"differential":[96],"evolution":[97],"algorithm":[98],"(AHPSODE)":[99],"minimize":[102],"total":[107],"movement":[108,154],"cost":[113],"Based":[117],"on":[118],"idea":[120],"receding":[122],"horizon":[123],"(RHC)":[125],"nonlinear":[128],"model":[129],"reconfiguration,":[133],"RHC":[135,184,205],"controller":[136,185,206],"using":[137],"AHPSODE":[138,178,196],"designed":[140],"UAV":[148],"group":[149],"obtain":[151],"shortest":[153],"distance,":[155],"method":[158],"can":[159],"computation":[162],"time.":[163],"We":[164],"use":[165],"CEC":[167],"2017":[168],"test":[169,172],"suit":[170],"performance":[174],"our":[176,194],"proposed":[177,195],"algorithm,":[179],"simulate":[181],"AHPSODE-based":[183],"manage":[187],"The":[190],"results":[191],"show":[192],"that":[193],"performed":[197],"well":[198],"in":[199],"convergence":[200],"accuracy":[202],"effective.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}