{"id":"https://openalex.org/W4416340555","doi":"https://doi.org/10.1007/s40747-025-02159-2","title":"A multi-stage optimization strategy for multi-UAV path planning in complex urban 3D environments with obstacle avoidance","display_name":"A multi-stage optimization strategy for multi-UAV path planning in complex urban 3D environments with obstacle avoidance","publication_year":2025,"publication_date":"2025-11-18","ids":{"openalex":"https://openalex.org/W4416340555","doi":"https://doi.org/10.1007/s40747-025-02159-2"},"language":"en","primary_location":{"id":"doi:10.1007/s40747-025-02159-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-025-02159-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-025-02159-2.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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","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/s40747-025-02159-2.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101943598","display_name":"Gang Liu","orcid":"https://orcid.org/0000-0001-6984-1869"},"institutions":[{"id":"https://openalex.org/I178232147","display_name":"Guizhou University","ror":"https://ror.org/02wmsc916","country_code":"CN","type":"education","lineage":["https://openalex.org/I178232147"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Liu","raw_affiliation_strings":["Aviation College, Guizhou Open University, Guiyang, 550023, China"],"raw_orcid":"https://orcid.org/0000-0001-6984-1869","affiliations":[{"raw_affiliation_string":"Aviation College, Guizhou Open University, Guiyang, 550023, China","institution_ids":["https://openalex.org/I178232147"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084554054","display_name":"Yu Tang","orcid":"https://orcid.org/0000-0002-9221-6591"},"institutions":[{"id":"https://openalex.org/I4210122543","display_name":"Guangdong Polytechnic Normal University","ror":"https://ror.org/02pcb5m77","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210122543"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Tang","raw_affiliation_strings":["Academy of Interdisciplinary Studies, Guangdong Polytechnic Normal University, Guangzhou, 510665, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Academy of Interdisciplinary Studies, Guangdong Polytechnic Normal University, Guangzhou, 510665, China","institution_ids":["https://openalex.org/I4210122543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082137576","display_name":"Zhiping Tan","orcid":"https://orcid.org/0000-0002-5331-0980"},"institutions":[{"id":"https://openalex.org/I4210122543","display_name":"Guangdong Polytechnic Normal University","ror":"https://ror.org/02pcb5m77","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210122543"]},{"id":"https://openalex.org/I61057504","display_name":"Fujian Agriculture and Forestry University","ror":"https://ror.org/04kx2sy84","country_code":"CN","type":"education","lineage":["https://openalex.org/I61057504"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhiping Tan","raw_affiliation_strings":["Academy of Interdisciplinary Studies, Guangdong Polytechnic Normal University, Guangzhou, 510665, China","College of Mechanical and Electrical Engineering, Fujian Agriculture and Forestry University, Fuzhou, 350002, China"],"raw_orcid":"https://orcid.org/0000-0002-5331-0980","affiliations":[{"raw_affiliation_string":"Academy of Interdisciplinary Studies, Guangdong Polytechnic Normal University, Guangzhou, 510665, China","institution_ids":["https://openalex.org/I4210122543"]},{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Fujian Agriculture and Forestry University, Fuzhou, 350002, China","institution_ids":["https://openalex.org/I61057504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064442188","display_name":"Mingwei Fang","orcid":"https://orcid.org/0000-0003-3313-9386"},"institutions":[{"id":"https://openalex.org/I4210122543","display_name":"Guangdong Polytechnic Normal University","ror":"https://ror.org/02pcb5m77","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210122543"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingwei Fang","raw_affiliation_strings":["Academy of Interdisciplinary Studies, Guangdong Polytechnic Normal University, Guangzhou, 510665, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Academy of Interdisciplinary Studies, Guangdong Polytechnic Normal University, Guangzhou, 510665, China","institution_ids":["https://openalex.org/I4210122543"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5082137576"],"corresponding_institution_ids":["https://openalex.org/I4210122543","https://openalex.org/I61057504"],"apc_list":{"value":1320,"currency":"GBP","value_usd":1619},"apc_paid":{"value":1320,"currency":"GBP","value_usd":1619},"fwci":2.7618,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.91812646,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"12","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8852999806404114,"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":0.8852999806404114,"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/T11133","display_name":"UAV Applications and Optimization","score":0.05950000137090683,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.013700000010430813,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7566999793052673},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6844000220298767},{"id":"https://openalex.org/keywords/ant-colony-optimization-algorithms","display_name":"Ant colony optimization algorithms","score":0.6371999979019165},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6326000094413757},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5794000029563904},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5307000279426575},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4571000039577484},{"id":"https://openalex.org/keywords/computational-intelligence","display_name":"Computational intelligence","score":0.4551999866962433}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7566999793052673},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6844000220298767},{"id":"https://openalex.org/C40128228","wikidata":"https://www.wikidata.org/wiki/Q460851","display_name":"Ant colony optimization algorithms","level":2,"score":0.6371999979019165},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6326000094413757},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.628600001335144},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5794000029563904},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5307000279426575},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4571000039577484},{"id":"https://openalex.org/C139502532","wikidata":"https://www.wikidata.org/wiki/Q1122090","display_name":"Computational intelligence","level":2,"score":0.4551999866962433},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.4487000107765198},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4133000075817108},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.3995000123977661},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.38530001044273376},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.31769999861717224},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3041999936103821},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.30230000615119934},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.26440000534057617},{"id":"https://openalex.org/C141934464","wikidata":"https://www.wikidata.org/wiki/Q3305386","display_name":"Local optimum","level":2,"score":0.2639999985694885},{"id":"https://openalex.org/C60891933","wikidata":"https://www.wikidata.org/wiki/Q796575","display_name":"Ant colony","level":3,"score":0.2612999975681305},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2563000023365021},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2554999887943268}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s40747-025-02159-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-025-02159-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-025-02159-2.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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex & Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:b41450c80c154bca899c3b36eafb1533","is_oa":true,"landing_page_url":"https://doaj.org/article/b41450c80c154bca899c3b36eafb1533","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,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complex & Intelligent Systems, Vol 12, Iss 1, Pp 1-26 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s40747-025-02159-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-025-02159-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-025-02159-2.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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex & Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1031393575","display_name":null,"funder_award_id":"2023KTSCX066","funder_id":"https://openalex.org/F4320336627","funder_display_name":"Special Fund Project for Science and Technology Innovation Strategy of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320336627","display_name":"Special Fund Project for Science and Technology Innovation Strategy of Guangdong Province","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4416340555.pdf","grobid_xml":"https://content.openalex.org/works/W4416340555.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W2100561003","https://openalex.org/W2417637069","https://openalex.org/W2555005230","https://openalex.org/W2799820594","https://openalex.org/W2898165977","https://openalex.org/W2907725463","https://openalex.org/W2997926118","https://openalex.org/W3007236819","https://openalex.org/W3094093649","https://openalex.org/W3113900168","https://openalex.org/W3126277736","https://openalex.org/W3134587582","https://openalex.org/W3134645133","https://openalex.org/W3151306683","https://openalex.org/W3180097365","https://openalex.org/W3200051743","https://openalex.org/W3207475576","https://openalex.org/W4210438369","https://openalex.org/W4213080495","https://openalex.org/W4295832395","https://openalex.org/W4316506832","https://openalex.org/W4318777652","https://openalex.org/W4379055177","https://openalex.org/W4388760395","https://openalex.org/W4389787330","https://openalex.org/W4390057438","https://openalex.org/W4390563204","https://openalex.org/W4391341768","https://openalex.org/W4391741219","https://openalex.org/W4399039614","https://openalex.org/W4403166762","https://openalex.org/W4405615029","https://openalex.org/W4407025393","https://openalex.org/W4409831555","https://openalex.org/W4411270316","https://openalex.org/W4412995543"],"related_works":[],"abstract_inverted_index":{"Efficient":[0],"path":[1,29,51],"planning":[2],"and":[3,31,66,75,84,104,131,156],"obstacle":[4,32,79],"avoidance":[5,80],"are":[6],"key":[7],"challenges":[8],"for":[9,40,96,143],"multi-UAV":[10,144],"systems":[11],"in":[12,109,146,153],"complex":[13,91],"3D":[14],"urban":[15,111,147],"environments.":[16],"This":[17],"paper":[18],"presents":[19],"a":[20,67],"multi-stage":[21],"optimization":[22],"framework":[23,140],"that":[24,137],"integrates":[25],"task":[26],"allocation,":[27,44],"global":[28,50],"planning,":[30,52],"avoidance.":[33],"A":[34],"weighted":[35],"clustering":[36],"method":[37],"is":[38,60,141],"used":[39],"efficient":[41,105],"patrol":[42,148],"point":[43],"ensuring":[45,102],"balanced":[46],"UAV":[47],"workload.":[48],"For":[49],"an":[53],"enhanced":[54],"Ant":[55],"Colony":[56],"Optimization":[57],"(IACO)":[58],"algorithm":[59],"proposed,":[61],"incorporating":[62],"dynamic":[63,98],"pheromone":[64],"updates":[65],"2-opt":[68],"local":[69],"search":[70],"strategy":[71],"to":[72,89,123],"refine":[73],"paths":[74,126],"improve":[76],"optimization.":[77],"The":[78,134],"approach":[81],"combines":[82],"A*":[83],"Rapidly-exploring":[85],"Random":[86],"Trees":[87],"(RRT)":[88],"navigate":[90],"environments,":[92],"with":[93],"additional":[94],"capabilities":[95],"handling":[97],"obstacles":[99],"when":[100],"encountered,":[101],"safe":[103],"paths.":[106],"Extensive":[107],"simulations":[108],"large-scale":[110],"environments":[112],"validate":[113],"the":[114,117,138],"effectiveness":[115],"of":[116],"proposed":[118,139],"framework,":[119],"demonstrating":[120],"its":[121],"ability":[122],"generate":[124],"collision-free":[125],"while":[127],"minimizing":[128],"energy":[129],"consumption":[130],"flight":[132],"time.":[133],"results":[135],"show":[136],"well-suited":[142],"operations":[145],"tasks,":[149],"offering":[150],"significant":[151],"improvements":[152],"operational":[154],"efficiency":[155],"safety.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2025-11-18T00:00:00"}