{"id":"https://openalex.org/W4210451995","doi":"https://doi.org/10.1109/access.2022.3148145","title":"Communication-Free MPC-Based Neighbors Trajectory Prediction for Distributed Multi-UAV Motion Planning","display_name":"Communication-Free MPC-Based Neighbors Trajectory Prediction for Distributed Multi-UAV Motion Planning","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4210451995","doi":"https://doi.org/10.1109/access.2022.3148145"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3148145","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3148145","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09698180.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/ielx7/6287639/9668973/09698180.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071732772","display_name":"Zijia Niu","orcid":"https://orcid.org/0000-0003-3769-2859"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zijia Niu","raw_affiliation_strings":["Key Laboratory of Mathematics, Informatics and Behavioral Semantics, Ministry of Education, Beijing, China","Peng Cheng Laboratory, Shenzhen, China","School of Mathematical Sciences, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3769-2859","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mathematics, Informatics and Behavioral Semantics, Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"Peng Cheng Laboratory, Shenzhen, China","institution_ids":["https://openalex.org/I4210136793"]},{"raw_affiliation_string":"School of Mathematical Sciences, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102716809","display_name":"Xiaohu Jia","orcid":"https://orcid.org/0000-0003-2043-1863"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I4210136793","display_name":"Peng Cheng Laboratory","ror":"https://ror.org/03qdqbt06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210136793"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaohu Jia","raw_affiliation_strings":["Key Laboratory of Mathematics, Informatics and Behavioral Semantics, Ministry of Education, Beijing, China","Peng Cheng Laboratory, Shenzhen, China","School of Mathematical Sciences, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2043-1863","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mathematics, Informatics and Behavioral Semantics, Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"Peng Cheng Laboratory, Shenzhen, China","institution_ids":["https://openalex.org/I4210136793"]},{"raw_affiliation_string":"School of Mathematical Sciences, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030067518","display_name":"Wang Yao","orcid":"https://orcid.org/0000-0002-5316-1962"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Yao","raw_affiliation_strings":["Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, China","Institute of Artificial Intelligence, Beihang University, Beijing, China","Key Laboratory of Mathematics, Informatics and Behavioral Semantics, Ministry of Education, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5316-1962","affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I4210165198","https://openalex.org/I82880672"]},{"raw_affiliation_string":"Institute of Artificial Intelligence, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Key Laboratory of Mathematics, Informatics and Behavioral Semantics, Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I1327237609"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.3703,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.81355352,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"10","issue":null,"first_page":"13481","last_page":"13489"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991999864578247,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9987000226974487,"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/trajectory","display_name":"Trajectory","score":0.8223947286605835},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.738839864730835},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5579715967178345},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5112414360046387},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38842499256134033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.354595422744751},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1202208399772644}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8223947286605835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.738839864730835},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5579715967178345},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5112414360046387},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38842499256134033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.354595422744751},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1202208399772644},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3148145","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3148145","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09698180.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:fc828d08c8c340909e770832e023d012","is_oa":true,"landing_page_url":"https://doaj.org/article/fc828d08c8c340909e770832e023d012","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 10, Pp 13481-13489 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3148145","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3148145","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09698180.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":[{"display_name":"Sustainable cities and communities","score":0.5,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4210451995.pdf","grobid_xml":"https://content.openalex.org/works/W4210451995.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1490137407","https://openalex.org/W1542670833","https://openalex.org/W2015098966","https://openalex.org/W2082585576","https://openalex.org/W2105850748","https://openalex.org/W2120481993","https://openalex.org/W2135721925","https://openalex.org/W2166813035","https://openalex.org/W2167052694","https://openalex.org/W2532516272","https://openalex.org/W2608775622","https://openalex.org/W2736730865","https://openalex.org/W2752463559","https://openalex.org/W2891214310","https://openalex.org/W2909324603","https://openalex.org/W2963001155","https://openalex.org/W2963809389","https://openalex.org/W2963898834","https://openalex.org/W2964079724","https://openalex.org/W2964319688","https://openalex.org/W3008967682","https://openalex.org/W3034159639","https://openalex.org/W3038664116","https://openalex.org/W3106159961","https://openalex.org/W3130046404","https://openalex.org/W3184078521","https://openalex.org/W3198819272"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"In":[0],"an":[1,70],"environment":[2],"with":[3,10,80,109],"multiple":[4],"static":[5,110],"obstacles,":[6],"UAVs":[7],"usually":[8],"communicate":[9],"each":[11,50],"other":[12],"to":[13,28,52,101],"avoid":[14,78],"collisions":[15],"during":[16],"trajectory":[17,39,104],"planning.":[18],"However,":[19],"such":[20],"communication":[21,107],"may":[22],"become":[23],"infeasible":[24],"or":[25,30],"unreliable":[26],"due":[27],"interference":[29],"jam":[31],"in":[32,82,122],"practice.":[33],"This":[34],"paper":[35],"introduces":[36],"a":[37],"neighbors":[38,59],"prediction":[40],"algorithm":[41,93],"based":[42],"on":[43],"model":[44,66,96],"predictive":[45,97],"control":[46,98],"(MPC),":[47],"which":[48],"enables":[49],"UAV":[51,71],"predict":[53,73],"the":[54,64,83,87,91],"motion":[55],"behavior":[56],"of":[57,67,114],"its":[58,68],"without":[60,106],"communication.":[61],"By":[62],"solving":[63],"MPC":[65],"neighbors,":[69],"can":[72],"their":[74],"trajectories":[75],"and":[76,108],"then":[77],"collision":[79],"them":[81],"future.":[84],"To":[85],"prove":[86],"practicability,":[88],"we":[89],"integrate":[90],"proposed":[92],"into":[94],"distributed":[95],"(DMPC)":[99],"framework":[100],"realize":[102],"multi-UAV":[103],"planning":[105],"obstacles.":[111],"The":[112],"performance":[113],"our":[115],"method":[116],"is":[117],"verified":[118],"by":[119],"simulation":[120],"experiments":[121],"two":[123],"scenes.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
