{"id":"https://openalex.org/W3112291986","doi":"https://doi.org/10.1109/access.2020.3044055","title":"VMCS: Elaborating APF-Based Swarm Intelligence for Mission-Oriented Multi-UV Control","display_name":"VMCS: Elaborating APF-Based Swarm Intelligence for Mission-Oriented Multi-UV Control","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3112291986","doi":"https://doi.org/10.1109/access.2020.3044055","mag":"3112291986"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3044055","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3044055","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09291063.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/ielx7/6287639/6514899/09291063.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047657377","display_name":"Seongjoon Park","orcid":"https://orcid.org/0000-0001-5118-0572"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seongjoon Park","raw_affiliation_strings":["Department of Electrical Engineering, Korea University, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-5118-0572","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Korea University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048697049","display_name":"Hyeong Tae Kim","orcid":"https://orcid.org/0000-0002-7490-5406"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyeong Tae Kim","raw_affiliation_strings":["Department of Electrical Engineering, Korea University, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-7490-5406","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Korea University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028781455","display_name":"Hwangnam Kim","orcid":"https://orcid.org/0000-0003-4322-8518"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hwangnam Kim","raw_affiliation_strings":["Department of Electrical Engineering, Korea University, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-4322-8518","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Korea University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I197347611"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I197347611"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.3242,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.64353498,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"8","issue":null,"first_page":"223101","last_page":"223113"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/flocking","display_name":"Flocking (texture)","score":0.810819149017334},{"id":"https://openalex.org/keywords/swarm-intelligence","display_name":"Swarm intelligence","score":0.7207090854644775},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6835558414459229},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6685143113136292},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5427231788635254},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.513232946395874},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4903724193572998},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43436336517333984},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4248512089252472},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.41398119926452637},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.4133756160736084},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2850949168205261},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.25690844655036926},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2408377230167389},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.21483230590820312},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.20668786764144897},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15139663219451904},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.13523361086845398},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08913370966911316}],"concepts":[{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.810819149017334},{"id":"https://openalex.org/C119487961","wikidata":"https://www.wikidata.org/wiki/Q863960","display_name":"Swarm intelligence","level":3,"score":0.7207090854644775},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6835558414459229},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6685143113136292},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5427231788635254},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.513232946395874},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4903724193572998},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43436336517333984},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4248512089252472},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.41398119926452637},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.4133756160736084},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2850949168205261},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25690844655036926},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2408377230167389},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.21483230590820312},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.20668786764144897},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15139663219451904},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.13523361086845398},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08913370966911316},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3044055","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3044055","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09291063.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:c0638fdd5cca4f20a03af4386149b7fd","is_oa":true,"landing_page_url":"https://doaj.org/article/c0638fdd5cca4f20a03af4386149b7fd","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":"IEEE Access, Vol 8, Pp 223101-223113 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3044055","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3044055","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09291063.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/9","score":0.5,"display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G4156884364","display_name":null,"funder_award_id":"UD190029ED","funder_id":"https://openalex.org/F4320323103","funder_display_name":"Agency for Defense Development"},{"id":"https://openalex.org/G8308550076","display_name":null,"funder_award_id":"UD190029ED","funder_id":"https://openalex.org/F4320334874","funder_display_name":"Defense Acquisition Program Administration"}],"funders":[{"id":"https://openalex.org/F4320323103","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85"},{"id":"https://openalex.org/F4320334874","display_name":"Defense Acquisition Program Administration","ror":"https://ror.org/04bjg9m96"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3112291986.pdf","grobid_xml":"https://content.openalex.org/works/W3112291986.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W280721395","https://openalex.org/W1492719521","https://openalex.org/W1502496420","https://openalex.org/W1563826663","https://openalex.org/W2025368718","https://openalex.org/W2030775133","https://openalex.org/W2058860728","https://openalex.org/W2075956742","https://openalex.org/W2098508993","https://openalex.org/W2109014985","https://openalex.org/W2116966230","https://openalex.org/W2125240595","https://openalex.org/W2129209579","https://openalex.org/W2130647945","https://openalex.org/W2142928312","https://openalex.org/W2148158851","https://openalex.org/W2150312211","https://openalex.org/W2162598825","https://openalex.org/W2165677640","https://openalex.org/W2241553860","https://openalex.org/W2612536646","https://openalex.org/W2617499418","https://openalex.org/W2780751950","https://openalex.org/W2791039565","https://openalex.org/W2802818280","https://openalex.org/W2808172345","https://openalex.org/W2886401384","https://openalex.org/W2887211702","https://openalex.org/W2910561533","https://openalex.org/W2912361519","https://openalex.org/W2936641013","https://openalex.org/W2963546922","https://openalex.org/W2991441395","https://openalex.org/W3090650657","https://openalex.org/W4234048677","https://openalex.org/W6610201302"],"related_works":["https://openalex.org/W4387113913","https://openalex.org/W1596835606","https://openalex.org/W2138105113","https://openalex.org/W4233987368","https://openalex.org/W65954170","https://openalex.org/W1988876749","https://openalex.org/W2182522217","https://openalex.org/W4386001959","https://openalex.org/W4234675952","https://openalex.org/W4304182880"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"a":[3,20,28,121],"novel":[4,122],"approach":[5],"for":[6,72,154],"multi-agent":[7],"control":[8,149],"systems":[9],"including":[10],"Unmanned":[11],"Vehicles":[12],"(UV).":[13],"As":[14],"UV":[15],"technology":[16],"advances,":[17],"one":[18],"or":[19,33,90],"group":[21],"of":[22,31,61],"UVs":[23,110],"can":[24,52,131,148],"be":[25],"used":[26],"in":[27,114,141],"wide":[29],"range":[30],"industrial":[32],"military":[34],"applications.":[35],"Centralized":[36],"monitoring":[37],"has":[38],"limitations":[39],"on":[40,82],"various":[41,115],"resources":[42],"(e.g.":[43],"communication":[44],"bandwidth,":[45],"propagation":[46],"delay,":[47],"and":[48,108,144],"computational":[49],"power),":[50],"but":[51,76],"lead":[53],"to":[54,58],"an":[55],"optimal":[56],"solution":[57],"the":[59,62,126,134,139,150],"movement":[60],"swarm.":[63],"The":[64],"artificial":[65],"potential":[66],"field":[67],"(APF)":[68],"method":[69],"is":[70],"well-known":[71],"modeling":[73],"decentralized":[74],"behavior,":[75],"most":[77],"APF":[78,107,128],"research":[79],"only":[80],"focuses":[81],"naive":[83],"actions":[84],"such":[85],"as":[86,106],"collision":[87],"avoidance,":[88],"flocking,":[89],"path":[91],"planning.":[92],"In":[93],"our":[94,146],"proposed":[95],"design":[96],"Versatile":[97],"Multi-Vehicle":[98],"Control":[99],"System":[100],"(VMCS),":[101],"we":[102,119],"defined":[103],"high-level":[104],"conditions":[105],"let":[109],"perform":[111],"swarm":[112],"intelligence":[113],"mission":[116,135,152],"environments.":[117],"Furthermore,":[118],"devised":[120],"algorithm":[123],"that":[124],"controls":[125],"UVs'":[127],"topology":[129],"which":[130],"significantly":[132],"enhance":[133],"efficiency.":[136],"We":[137],"simulated":[138],"VMCS":[140],"3D":[142],"space":[143],"showed":[145],"scheme":[147],"dynamic":[151],"scenarios":[153],"multi-UV":[155],"systems.":[156]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}