{"id":"https://openalex.org/W3108381699","doi":"https://doi.org/10.1109/access.2020.3040790","title":"Commanding Cooperative UGV-UAV With Nested Vehicle Routing for Emergency Resource Delivery","display_name":"Commanding Cooperative UGV-UAV With Nested Vehicle Routing for Emergency Resource Delivery","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3108381699","doi":"https://doi.org/10.1109/access.2020.3040790","mag":"3108381699"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3040790","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3040790","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09272274.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/ielx7/6287639/6514899/09272274.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089346726","display_name":"Gao Wei","orcid":"https://orcid.org/0000-0001-6379-298X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wei Gao","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000620358","display_name":"Junren Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junren Luo","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101893971","display_name":"Wanpeng Zhang","orcid":"https://orcid.org/0000-0002-3486-0928"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanpeng Zhang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068332249","display_name":"Yuan Weilin","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weilin Yuan","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082639249","display_name":"Zhiyong Liao","orcid":"https://orcid.org/0000-0002-4420-6698"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyong Liao","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5089346726"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":32.5601,"has_fulltext":true,"cited_by_count":50,"citation_normalized_percentile":{"value":0.99314678,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"8","issue":null,"first_page":"215691","last_page":"215704"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9995999932289124,"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":0.9995999932289124,"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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"}}],"keywords":[{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.7428708076477051},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6922406554222107},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6111311316490173},{"id":"https://openalex.org/keywords/routing","display_name":"Routing (electronic design automation)","score":0.5562816262245178},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5166485905647278},{"id":"https://openalex.org/keywords/resource-allocation","display_name":"Resource allocation","score":0.49081096053123474},{"id":"https://openalex.org/keywords/vehicle-routing-problem","display_name":"Vehicle routing problem","score":0.4693984091281891},{"id":"https://openalex.org/keywords/resource","display_name":"Resource (disambiguation)","score":0.4169559180736542},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3789365887641907},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.32102227210998535},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2481546700000763},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.19768527150154114},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.16991546750068665},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13957366347312927}],"concepts":[{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.7428708076477051},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6922406554222107},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6111311316490173},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.5562816262245178},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5166485905647278},{"id":"https://openalex.org/C29202148","wikidata":"https://www.wikidata.org/wiki/Q287260","display_name":"Resource allocation","level":2,"score":0.49081096053123474},{"id":"https://openalex.org/C123784306","wikidata":"https://www.wikidata.org/wiki/Q944041","display_name":"Vehicle routing problem","level":3,"score":0.4693984091281891},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.4169559180736542},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3789365887641907},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.32102227210998535},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2481546700000763},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.19768527150154114},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.16991546750068665},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13957366347312927},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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.2020.3040790","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3040790","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09272274.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:2b0f7d736aa14f7ba1d09f1bcd1c7e6c","is_oa":true,"landing_page_url":"https://doaj.org/article/2b0f7d736aa14f7ba1d09f1bcd1c7e6c","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 8, Pp 215691-215704 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3040790","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3040790","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09272274.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":[],"awards":[{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2263791643","display_name":null,"funder_award_id":"61702528","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2702356746","display_name":null,"funder_award_id":"61702","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/G37568934","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"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/G7033253288","display_name":null,"funder_award_id":"Grants","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"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3108381699.pdf","grobid_xml":"https://content.openalex.org/works/W3108381699.grobid-xml"},"referenced_works_count":57,"referenced_works":["https://openalex.org/W21323635","https://openalex.org/W43864169","https://openalex.org/W1601637950","https://openalex.org/W1977319619","https://openalex.org/W2037613780","https://openalex.org/W2111581650","https://openalex.org/W2161289749","https://openalex.org/W2162679657","https://openalex.org/W2245682929","https://openalex.org/W2342478160","https://openalex.org/W2345135050","https://openalex.org/W2471190594","https://openalex.org/W2594436207","https://openalex.org/W2615484421","https://openalex.org/W2621937623","https://openalex.org/W2745115605","https://openalex.org/W2754599614","https://openalex.org/W2789343279","https://openalex.org/W2796596851","https://openalex.org/W2798363178","https://openalex.org/W2800649041","https://openalex.org/W2802483125","https://openalex.org/W2890722280","https://openalex.org/W2893812993","https://openalex.org/W2897497659","https://openalex.org/W2899462042","https://openalex.org/W2902759202","https://openalex.org/W2903944199","https://openalex.org/W2905405687","https://openalex.org/W2910105989","https://openalex.org/W2927378423","https://openalex.org/W2928814937","https://openalex.org/W2936641013","https://openalex.org/W2940865666","https://openalex.org/W2943166133","https://openalex.org/W2947073481","https://openalex.org/W2953134621","https://openalex.org/W2962699365","https://openalex.org/W2963421154","https://openalex.org/W2963624642","https://openalex.org/W2964117926","https://openalex.org/W2967229477","https://openalex.org/W2969973120","https://openalex.org/W2972628411","https://openalex.org/W2995524083","https://openalex.org/W3009770767","https://openalex.org/W3010476620","https://openalex.org/W3029840414","https://openalex.org/W3040965630","https://openalex.org/W3091588709","https://openalex.org/W3099096819","https://openalex.org/W3100570005","https://openalex.org/W3125377832","https://openalex.org/W3125535900","https://openalex.org/W6600873311","https://openalex.org/W6774632131","https://openalex.org/W6980262427"],"related_works":["https://openalex.org/W4312143452","https://openalex.org/W2018691209","https://openalex.org/W4247364272","https://openalex.org/W3133151256","https://openalex.org/W2157331354","https://openalex.org/W2132920749","https://openalex.org/W2101108574","https://openalex.org/W2626773395","https://openalex.org/W1575940985","https://openalex.org/W3131953714"],"abstract_inverted_index":{"Unmanned":[0],"ground":[1],"vehicles":[2,7,146],"(UGVs)":[3],"and":[4,37,67,78,103,149,197,207,215],"unmanned":[5,145],"aerial":[6],"(UAVs)":[8],"have":[9,32,73],"been":[10,74],"widely":[11],"used":[12],"in":[13,21,75],"delivery.":[14],"In":[15,96],"the":[16,19,25,28,39,49,56,64,90,118,123,143,151,170,184,189,194,201,205,208,221,226],"context":[17],"of":[18,27,59,186,212,229],"COVID-2019,":[20],"order":[22,120],"to":[23,35,93,116,126,141,147,199],"control":[24,200],"development":[26],"epidemic,":[29],"many":[30],"places":[31],"adopted":[33],"measures":[34],"isolate":[36],"close":[38],"area":[40,80],"once":[41],"a":[42,76,82,128,177],"confirmed":[43],"case":[44,216],"is":[45,188,193],"found.":[46],"While":[47],"reducing":[48],"contact":[50],"between":[51,204],"people,":[52],"it":[53],"also":[54],"blocks":[55],"normal":[57],"driving":[58],"vehicles.":[60],"Only":[61],"by":[62],"changing":[63],"traditional":[65],"logistics":[66],"distribution":[68,203],"methods":[69],"can":[70],"customers":[71],"who":[72],"closed":[77],"isolated":[79],"for":[81,105],"long":[83],"time":[84],"be":[85],"served.":[86],"Therefore,":[87],"we":[88,109,168],"use":[89],"Cooperative":[91],"UGV-UAV":[92],"achieve":[94],"it.":[95],"this":[97],"article,":[98],"when":[99],"commanding":[100],"cooperative":[101],"UGV":[102,190,195,206],"UAV":[104],"emergency":[106],"resource":[107],"delivery,":[108],"mainly":[110],"focus":[111],"on":[112],"two":[113],"questions:":[114],"how":[115,125,198],"accept":[117,148],"operation":[119],"(OPORD)":[121],"from":[122],"commander,":[124],"generate":[127],"nested":[129,171],"vehicle":[130,172],"routing":[131,173],"planning.":[132],"We":[133],"first":[134],"employ":[135],"one":[136],"intelligent":[137,144],"task":[138],"understanding":[139],"module":[140],"drive":[142],"process":[150],"C-BML":[152],"(Coalition":[153],"Battle":[154],"Management":[155],"Language)":[156],"formatted":[157],"OPORD":[158],"with":[159,183],"5W":[160],"(what,":[161],"who,":[162],"where,":[163],"why,":[164],"when)":[165],"elements.":[166],"Then,":[167],"slove":[169],"planning":[174],"problem":[175],"as":[176],"mixed":[178],"integer":[179],"linear":[180],"program":[181],"(MILP)":[182],"outputs":[185],"what":[187,192],"route,":[191],"sortie,":[196],"customers'":[202],"UAV.":[209],"Experimental":[210],"results":[211],"random":[213],"instances":[214],"study":[217],"show":[218],"that":[219],"using":[220],"iterative":[222],"improvement":[223],"algorithm":[224],"increase":[225],"speed":[227],"rate":[228],"solving":[230],"more":[231],"than":[232],"10%.":[233]},"counts_by_year":[{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}