{"id":"https://openalex.org/W7134287208","doi":"https://doi.org/10.1007/s44443-026-00580-2","title":"A multi-graph aggregation network for robust multi-drone trajectory prediction","display_name":"A multi-graph aggregation network for robust multi-drone trajectory prediction","publication_year":2026,"publication_date":"2026-03-09","ids":{"openalex":"https://openalex.org/W7134287208","doi":"https://doi.org/10.1007/s44443-026-00580-2"},"language":"en","primary_location":{"id":"doi:10.1007/s44443-026-00580-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44443-026-00580-2","pdf_url":null,"source":{"id":"https://openalex.org/S2764955546","display_name":"Journal of King Saud University - Computer and Information Sciences","issn_l":"1319-1578","issn":["1319-1578","2213-1248"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"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":"Journal of King Saud University Computer and Information Sciences","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1007/s44443-026-00580-2","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128473923","display_name":"Xiangqian Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangqian Liu","raw_affiliation_strings":["School of Computer Science and Artificial Intelligence, Zhengzhou University, Zhengzhou, 450000, Henan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Artificial Intelligence, Zhengzhou University, Zhengzhou, 450000, Henan, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035014655","display_name":"G. Zhang","orcid":"https://orcid.org/0000-0002-0707-2176"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guangwei Zhang","raw_affiliation_strings":["The School of Computer Sciences, Beijing University of Posts and Telecommunications, Beijing, 100876, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The School of Computer Sciences, Beijing University of Posts and Telecommunications, Beijing, 100876, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047807693","display_name":"Lihong Zhong","orcid":"https://orcid.org/0000-0002-6022-5100"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lihong Zhong","raw_affiliation_strings":["School of Computer Science and Artificial Intelligence, Zhengzhou University, Zhengzhou, 450000, Henan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Artificial Intelligence, Zhengzhou University, Zhengzhou, 450000, Henan, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128567290","display_name":"Bin Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Wang","raw_affiliation_strings":["School of Computer Science and Artificial Intelligence, Zhengzhou University, Zhengzhou, 450000, Henan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Artificial Intelligence, Zhengzhou University, Zhengzhou, 450000, Henan, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5128381860","display_name":"Bing Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bing Zhou","raw_affiliation_strings":["School of Computer Science and Artificial Intelligence, Zhengzhou University, Zhengzhou, 450000, Henan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Artificial Intelligence, Zhengzhou University, Zhengzhou, 450000, Henan, China","institution_ids":["https://openalex.org/I38877650"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5035014655"],"corresponding_institution_ids":["https://openalex.org/I139759216"],"apc_list":{"value":1350,"currency":"USD","value_usd":1350},"apc_paid":{"value":1350,"currency":"USD","value_usd":1350},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.30491982,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"38","issue":"5","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.353300005197525,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.353300005197525,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.2680000066757202,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.1062999963760376,"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/subnetwork","display_name":"Subnetwork","score":0.7290999889373779},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7263000011444092},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.5220000147819519},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5116000175476074},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4893999993801117},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4779999852180481},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4609000086784363},{"id":"https://openalex.org/keywords/feature-learning","display_name":"Feature learning","score":0.4120999872684479}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7401999831199646},{"id":"https://openalex.org/C2780186347","wikidata":"https://www.wikidata.org/wiki/Q11414","display_name":"Subnetwork","level":2,"score":0.7290999889373779},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7263000011444092},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.5220000147819519},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5202999711036682},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5116000175476074},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4893999993801117},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4779999852180481},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4609000086784363},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.4120999872684479},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4025999903678894},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3977000117301941},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.3546999990940094},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.3276999890804291},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.32409998774528503},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.321399986743927},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.3172999918460846},{"id":"https://openalex.org/C101814296","wikidata":"https://www.wikidata.org/wiki/Q5439685","display_name":"Feature model","level":3,"score":0.3077000081539154},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2946000099182129},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.2809999883174896},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.2745000123977661},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.27129998803138733},{"id":"https://openalex.org/C173414695","wikidata":"https://www.wikidata.org/wiki/Q5510276","display_name":"Fusion mechanism","level":4,"score":0.2624000012874603}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s44443-026-00580-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44443-026-00580-2","pdf_url":null,"source":{"id":"https://openalex.org/S2764955546","display_name":"Journal of King Saud University - Computer and Information Sciences","issn_l":"1319-1578","issn":["1319-1578","2213-1248"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"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":"Journal of King Saud University Computer and Information Sciences","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:5f0a7e81e5a04288a61ff9a2267e48f4","is_oa":true,"landing_page_url":"https://doaj.org/article/5f0a7e81e5a04288a61ff9a2267e48f4","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":"Journal of King Saud University: Computer and Information Sciences, Vol 38, Iss 5 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s44443-026-00580-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s44443-026-00580-2","pdf_url":null,"source":{"id":"https://openalex.org/S2764955546","display_name":"Journal of King Saud University - Computer and Information Sciences","issn_l":"1319-1578","issn":["1319-1578","2213-1248"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"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":"Journal of King Saud University Computer and Information Sciences","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W2963727135","https://openalex.org/W2967324759","https://openalex.org/W3035098634","https://openalex.org/W3035461736","https://openalex.org/W3090375251","https://openalex.org/W3109991383","https://openalex.org/W3116359960","https://openalex.org/W3130463448","https://openalex.org/W3170030651","https://openalex.org/W3173664046","https://openalex.org/W3209639308","https://openalex.org/W4210299223","https://openalex.org/W4225986494","https://openalex.org/W4312604822","https://openalex.org/W4312707458","https://openalex.org/W4313639548","https://openalex.org/W4362654659","https://openalex.org/W4362714870","https://openalex.org/W4379382402","https://openalex.org/W4380520357","https://openalex.org/W4383066393","https://openalex.org/W4385764557","https://openalex.org/W4385804883","https://openalex.org/W4385804922","https://openalex.org/W4386075854","https://openalex.org/W4390871936","https://openalex.org/W4390874110","https://openalex.org/W4390874213","https://openalex.org/W4391877825","https://openalex.org/W4396785954","https://openalex.org/W4399426084","https://openalex.org/W4400646419","https://openalex.org/W4401415883","https://openalex.org/W4402261721","https://openalex.org/W4402352048","https://openalex.org/W4402727687","https://openalex.org/W4402780115","https://openalex.org/W4402904006","https://openalex.org/W4405219754","https://openalex.org/W4405717774","https://openalex.org/W4408181588","https://openalex.org/W4408708598","https://openalex.org/W4412530492","https://openalex.org/W4415798746","https://openalex.org/W7126251978","https://openalex.org/W7133232401"],"related_works":[],"abstract_inverted_index":{"Multi-drone":[0],"trajectory":[1,92],"prediction":[2,203],"is":[3,155],"essential":[4],"for":[5,90,127],"enhancing":[6],"the":[7,25,59,66,70,106,134,190,214,217],"efficiency":[8],"and":[9,64,178,184,201],"safety":[10],"of":[11,28,61,69,216],"intelligent":[12],"transportation":[13],"systems.":[14],"However,":[15],"multi-drone":[16,91],"collaborative":[17,143],"perception":[18],"still":[19],"faces":[20],"two":[21],"major":[22],"challenges.":[23],"First,":[24],"perceptual":[26],"quality":[27],"modality-specific":[29],"information":[30],"often":[31],"degrades":[32],"in":[33,105],"complex":[34],"environments,":[35],"making":[36],"it":[37],"difficult":[38],"to":[39,44,116,157,168,211],"adaptively":[40],"assign":[41],"appropriate":[42],"weights":[43],"different":[45,163],"modalities.":[46],"Second,":[47],"existing":[48,197],"methods":[49],"largely":[50],"overlook":[51],"mutual":[52],"learning":[53],"among":[54],"multi-view":[55,147],"images,":[56],"which":[57,141,165],"limits":[58],"understanding":[60],"spatial":[62],"structures":[63],"weakens":[65],"generalization":[67],"capability":[68],"models.":[71],"To":[72],"address":[73],"these":[74],"issues,":[75],"this":[76],"paper":[77],"proposes":[78],"a":[79,97,111],"reliability-aware":[80,98],"LiDAR-Camera":[81,99],"fusion":[82,100,126],"with":[83],"adaptive":[84,119,135],"multi-graph":[85,136,171],"feature":[86,125,137,144],"aggregation":[87,138],"network":[88],"(RFMANet)":[89],"prediction.":[93],"Specifically,":[94],"we":[95,132],"design":[96],"(RLCF)":[101],"module":[102],"that":[103,194],"operates":[104],"BEV":[107,148],"space.":[108],"We":[109,205],"employ":[110],"dynamically":[112],"gated":[113],"multi-expert":[114],"subnetwork":[115],"compute":[117],"spatially":[118],"modality":[120],"weights,":[121],"guiding":[122],"cross-attention-based":[123],"fine-grained":[124],"subsequent":[128],"graph":[129],"construction.":[130],"Furthermore,":[131],"introduce":[133],"(AMGFA)":[139],"module,":[140],"constructs":[142],"maps":[145],"from":[146,162],"representations.":[149,172],"The":[150],"Top-K":[151],"sparse":[152],"attention":[153],"mechanism":[154],"employed":[156],"extract":[158],"salient":[159],"multi-scale":[160],"features":[161],"viewpoints,":[164],"are":[166],"used":[167],"build":[169],"structured":[170],"Graph":[173],"interactions":[174],"capture":[175],"both":[176],"intra-view":[177],"cross-view":[179],"dependencies,":[180],"modeling":[181],"geometric":[182],"consistency":[183],"semantic":[185],"complementarity.":[186],"Experimental":[187],"results":[188],"on":[189],"Air-Co-Pred":[191],"dataset":[192],"show":[193],"RFMANet":[195],"outperforms":[196],"methods,":[198],"demonstrating":[199],"robustness":[200,215],"high":[202],"accuracy.":[204],"also":[206],"simulate":[207],"sensor":[208],"degradation":[209],"scenarios":[210],"further":[212],"verify":[213],"proposed":[218],"method.":[219]},"counts_by_year":[],"updated_date":"2026-06-10T14:10:52.464848","created_date":"2026-03-10T00:00:00"}
