{"id":"https://openalex.org/W2970226842","doi":"https://doi.org/10.1109/access.2019.2938273","title":"Adaptive Neural Network Control and Optimal Path Planning of UAV Surveillance System With Energy Consumption Prediction","display_name":"Adaptive Neural Network Control and Optimal Path Planning of UAV Surveillance System With Energy Consumption Prediction","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2970226842","doi":"https://doi.org/10.1109/access.2019.2938273","mag":"2970226842"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2938273","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2938273","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08819962.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08819962.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012668663","display_name":"Rong\u2010Jong Wai","orcid":"https://orcid.org/0000-0001-5483-7445"},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Rong-Jong Wai","raw_affiliation_strings":["Department of Electronics and Computer Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083966322","display_name":"Alex S. Prasetia","orcid":null},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Alex S. Prasetia","raw_affiliation_strings":["Department of Electronics and Computer Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Computer Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5012668663"],"corresponding_institution_ids":["https://openalex.org/I154864474"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":80.8699,"has_fulltext":true,"cited_by_count":89,"citation_normalized_percentile":{"value":0.99848419,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"7","issue":null,"first_page":"126137","last_page":"126153"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9994999766349792,"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":0.9961000084877014,"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":0.9736999869346619,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6528768539428711},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.6496385335922241},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.604300856590271},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.5979738235473633},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5645481944084167},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.550389289855957},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.524960994720459},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4613374173641205},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.4389878809452057},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.42998605966567993},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3660176992416382},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35177892446517944},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27566850185394287},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22609904408454895},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.21199995279312134},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.20768886804580688},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18498468399047852},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15475720167160034},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.1291302740573883},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07773062586784363}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6528768539428711},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.6496385335922241},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.604300856590271},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.5979738235473633},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5645481944084167},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.550389289855957},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.524960994720459},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4613374173641205},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.4389878809452057},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.42998605966567993},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3660176992416382},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35177892446517944},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27566850185394287},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22609904408454895},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.21199995279312134},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.20768886804580688},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18498468399047852},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15475720167160034},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.1291302740573883},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07773062586784363},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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:10.1109/access.2019.2938273","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2938273","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08819962.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:f2d897b48183496b99e0988f0c55fcd5","is_oa":true,"landing_page_url":"https://doaj.org/article/f2d897b48183496b99e0988f0c55fcd5","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 126137-126153 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2938273","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2938273","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08819962.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[{"id":"https://openalex.org/G3365722850","display_name":null,"funder_award_id":"MOST 10","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G4693122260","display_name":null,"funder_award_id":"108-2221-E-011-080-MY3","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G7160539585","display_name":null,"funder_award_id":"Technology","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G737106015","display_name":null,"funder_award_id":"MOST 108-","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"},{"id":"https://openalex.org/G8971784381","display_name":null,"funder_award_id":"MOST 108-2221-E-011-080-MY3","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"}],"funders":[{"id":"https://openalex.org/F4320322214","display_name":"Industrial Technology Research Institute","ror":"https://ror.org/05szzwt63"},{"id":"https://openalex.org/F4320322795","display_name":"Ministry of Science and Technology, Taiwan","ror":"https://ror.org/02kv4zf79"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2970226842.pdf","grobid_xml":"https://content.openalex.org/works/W2970226842.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1573676079","https://openalex.org/W1896681425","https://openalex.org/W1975021759","https://openalex.org/W1986935580","https://openalex.org/W1988698908","https://openalex.org/W2030009231","https://openalex.org/W2097749765","https://openalex.org/W2101856617","https://openalex.org/W2120204384","https://openalex.org/W2129861327","https://openalex.org/W2186850925","https://openalex.org/W2199861156","https://openalex.org/W2333206357","https://openalex.org/W2471190594","https://openalex.org/W2539560916","https://openalex.org/W2543499299","https://openalex.org/W2561327785","https://openalex.org/W2745115605","https://openalex.org/W2838655638","https://openalex.org/W2896882484","https://openalex.org/W2910679232","https://openalex.org/W2921100876","https://openalex.org/W2941224826","https://openalex.org/W2942886379","https://openalex.org/W4247034022","https://openalex.org/W4250042253","https://openalex.org/W6639620364"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2150958483","https://openalex.org/W2165013373","https://openalex.org/W2922503265","https://openalex.org/W2147480136","https://openalex.org/W2153629532","https://openalex.org/W2393592727","https://openalex.org/W2368034024"],"abstract_inverted_index":{"A":[0,67],"surveillance":[1,27,60,251],"system":[2,61],"is":[3,40,75,89,106,130,151,174,188],"one":[4],"of":[5,20,82,147,170,183,201,225,231,236],"the":[6,18,26,37,53,79,100,134,148,161,167,171,179,192,223,232,234,237],"most":[7],"interesting":[8],"research":[9],"topics":[10],"for":[11,25,57],"an":[12,22,83,119,248],"unmanned":[13],"aerial":[14],"vehicle":[15],"(UAV).":[16],"However,":[17],"problem":[19,44],"planning":[21,51,86,165,241],"energy-efficient":[23,249],"path":[24,38,50,85,164,173,240],"purpose":[28],"while":[29,137,178],"anticipating":[30],"disturbances":[31],"and":[32,52,69,105,110,156,203,209,218,243],"predicting":[33],"energy":[34,71,168,182],"consumptions":[35],"during":[36],"tracking":[39,205],"still":[41],"a":[42,58,92,139,214,219],"challenging":[43],"in":[45,64,211],"recent":[46],"years.":[47],"The":[48,145],"optimal":[49,84,163,172,239],"disturbance":[54,142,255],"rejection":[55,143,256],"control":[56,135,195,217,221],"UAV":[59,250],"are":[62],"investigated":[63],"this":[65],"paper.":[66],"trained":[68],"tested":[70],"consumption":[72,169],"regression":[73],"model":[74],"used":[76],"to":[77,132,229],"be":[78],"cost":[80],"function":[81],"scheme,":[87,166],"which":[88],"designed":[90,131],"from":[91],"clustered":[93],"3D":[94],"real":[95,184],"pilot":[96,185],"flight":[97,186],"pattern":[98],"with":[99,115,126,213,253],"proposed":[101,149,162,193,238],"K-agglomerative":[102],"clustering":[103],"method,":[104],"processed":[107],"via":[108],"A-star":[109],"set-based":[111],"particle-swarm-optimization":[112],"(S-PSO)":[113],"algorithm":[114],"adaptive":[116,121],"weights.":[117],"Moreover,":[118],"online":[120],"neural":[122],"network":[123],"(ANN)":[124],"controller":[125,245],"varied":[127],"learning":[128],"rates":[129],"ensure":[133],"stability":[136],"having":[138],"reliably":[140],"fast":[141,254],"response.":[144,257],"effectiveness":[146],"framework":[150],"verified":[152],"by":[153,207],"numerical":[154],"simulations":[155],"experimental":[157],"results.":[158],"By":[159],"applying":[160],"only":[175],"72.3397":[176],"Wh":[177],"average":[180,197],"consumed":[181],"data":[187],"96.593Wh.":[189],"In":[190],"addition,":[191],"ANN":[194,244],"improves":[196],"root-mean-square":[198],"error":[199],"(RMSE)":[200],"horizontal":[202],"vertical":[204],"performance":[206],"49.083%":[208],"37.50%":[210],"comparison":[212],"proportional-integral-differential":[215],"(PID)":[216],"fuzzy":[220],"under":[222],"occurrence":[224],"external":[226],"disturbances.":[227],"According":[228],"all":[230],"results,":[233],"combination":[235],"scheme":[242],"can":[246],"achieve":[247],"systems":[252]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":3}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}