{"id":"https://openalex.org/W4388755773","doi":"https://doi.org/10.1109/access.2023.3334264","title":"Tilted Circumnavigation of Multiple Drones Around Multiple Targets","display_name":"Tilted Circumnavigation of Multiple Drones Around Multiple Targets","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4388755773","doi":"https://doi.org/10.1109/access.2023.3334264"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3334264","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3334264","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10322751.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":null,"license_id":null,"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/ielx7/6287639/6514899/10322751.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093279696","display_name":"Mirzobek Malikov","orcid":null},"institutions":[{"id":"https://openalex.org/I189442560","display_name":"Gyeongsang National University","ror":"https://ror.org/00saywf64","country_code":"KR","type":"education","lineage":["https://openalex.org/I189442560"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Mirzobek Malikov","raw_affiliation_strings":["Graduate School of Mechanical and Aerospace Engineering, Gyeongsang National University, Jinju, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Graduate School of Mechanical and Aerospace Engineering, Gyeongsang National University, Jinju, Republic of Korea","institution_ids":["https://openalex.org/I189442560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032759870","display_name":"Vladimir Shin","orcid":"https://orcid.org/0000-0001-7742-8484"},"institutions":[{"id":"https://openalex.org/I189442560","display_name":"Gyeongsang National University","ror":"https://ror.org/00saywf64","country_code":"KR","type":"education","lineage":["https://openalex.org/I189442560"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Vladimir Shin","raw_affiliation_strings":["Graduate School of Mechanical and Aerospace Engineering, Gyeongsang National University, Jinju, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Graduate School of Mechanical and Aerospace Engineering, Gyeongsang National University, Jinju, Republic of Korea","institution_ids":["https://openalex.org/I189442560"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003608838","display_name":"Yoonsoo Kim","orcid":"https://orcid.org/0000-0002-0357-9826"},"institutions":[{"id":"https://openalex.org/I189442560","display_name":"Gyeongsang National University","ror":"https://ror.org/00saywf64","country_code":"KR","type":"education","lineage":["https://openalex.org/I189442560"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yoonsoo Kim","raw_affiliation_strings":["Graduate School of Mechanical and Aerospace Engineering, Gyeongsang National University, Jinju, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Graduate School of Mechanical and Aerospace Engineering, Gyeongsang National University, Jinju, Republic of Korea","institution_ids":["https://openalex.org/I189442560"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5093279696"],"corresponding_institution_ids":["https://openalex.org/I189442560"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.6108,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.70424081,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"11","issue":null,"first_page":"132916","last_page":"132929"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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":0.9990000128746033,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9970999956130981,"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/T12158","display_name":"Guidance and Control Systems","score":0.9958000183105469,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/ellipse","display_name":"Ellipse","score":0.9538999795913696},{"id":"https://openalex.org/keywords/great-circle","display_name":"Great circle","score":0.6158723831176758},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5824319124221802},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5246577262878418},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5080127716064453},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.49806785583496094},{"id":"https://openalex.org/keywords/horizontal-plane","display_name":"Horizontal plane","score":0.4830499291419983},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4522859752178192},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.4479557275772095},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.4461723268032074},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.41684210300445557},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.36664775013923645},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3631138801574707},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.346768319606781},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3359158933162689},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23268863558769226},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.14988559484481812}],"concepts":[{"id":"https://openalex.org/C74261601","wikidata":"https://www.wikidata.org/wiki/Q40112","display_name":"Ellipse","level":2,"score":0.9538999795913696},{"id":"https://openalex.org/C148189969","wikidata":"https://www.wikidata.org/wiki/Q146657","display_name":"Great circle","level":2,"score":0.6158723831176758},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5824319124221802},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5246577262878418},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5080127716064453},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.49806785583496094},{"id":"https://openalex.org/C37222873","wikidata":"https://www.wikidata.org/wiki/Q17027571","display_name":"Horizontal plane","level":2,"score":0.4830499291419983},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4522859752178192},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.4479557275772095},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.4461723268032074},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.41684210300445557},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.36664775013923645},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3631138801574707},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.346768319606781},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3359158933162689},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23268863558769226},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.14988559484481812},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3334264","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3334264","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10322751.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:869d2e3180fc4f08802702f299a09e52","is_oa":true,"landing_page_url":"https://doaj.org/article/869d2e3180fc4f08802702f299a09e52","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 11, Pp 132916-132929 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3334264","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3334264","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10322751.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":null,"license_id":null,"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/G1225283220","display_name":null,"funder_award_id":"NRF-2021R","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G3071639259","display_name":null,"funder_award_id":"2021R1","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G342704958","display_name":null,"funder_award_id":"funded","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G5198588996","display_name":null,"funder_award_id":"NRF-2021R1A2C1004547","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G7685055460","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G8605978372","display_name":null,"funder_award_id":"2021R1A2C1004547","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G982292920","display_name":null,"funder_award_id":"NRF-20","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4388755773.pdf","grobid_xml":"https://content.openalex.org/works/W4388755773.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1992937125","https://openalex.org/W2002233502","https://openalex.org/W2016474758","https://openalex.org/W2029621102","https://openalex.org/W2056124912","https://openalex.org/W2162192359","https://openalex.org/W2420367108","https://openalex.org/W2763008529","https://openalex.org/W2895855868","https://openalex.org/W2905488311","https://openalex.org/W2907850129","https://openalex.org/W2954274247","https://openalex.org/W3016453741","https://openalex.org/W3029840414","https://openalex.org/W3114251269","https://openalex.org/W3126988450","https://openalex.org/W3157880458","https://openalex.org/W3185604065","https://openalex.org/W3194112863","https://openalex.org/W3210804688","https://openalex.org/W4206630130","https://openalex.org/W4220849261","https://openalex.org/W4220968002","https://openalex.org/W4250589301","https://openalex.org/W4253029839","https://openalex.org/W4253238666","https://openalex.org/W4283258336","https://openalex.org/W4290792262","https://openalex.org/W4292494700","https://openalex.org/W4306953385","https://openalex.org/W4313411139"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W2465298262","https://openalex.org/W4249026511","https://openalex.org/W2103015517","https://openalex.org/W4289429643","https://openalex.org/W2894987463","https://openalex.org/W4388821477","https://openalex.org/W1589135537","https://openalex.org/W2972903920"],"abstract_inverted_index":{"Existing":[0],"strategies":[1],"for":[2],"coordinating":[3],"a":[4,10,16,29,51,66,75,96,134,180],"group":[5],"of":[6,42,49,162],"drones":[7,73,100,158,189],"to":[8,55],"follow":[9],"moving":[11,92],"circular":[12],"path":[13],"while":[14,107],"maintaining":[15,50],"specified":[17],"distance":[18],"between":[19],"them":[20],"(not":[21],"necessarily":[22],"identical)":[23],"have":[24],"generally":[25],"involved":[26],"circumnavigation":[27,132],"around":[28,36,60,174],"single":[30],"target":[31],"or":[32],"tracking":[33,43,95,121],"an":[34,44,84,103,122],"ellipse":[35,45,85,123],"multiple":[37,91],"targets.":[38,93],"The":[39],"main":[40],"drawback":[41],"is":[46,116],"the":[47,56,61,79,87,99,126,130,147,160,163,167,175,184,202],"difficulty":[48],"constant":[52,105],"velocity":[53,106],"due":[54],"variation":[57],"in":[58,78,125,166,183,207],"curvature":[59],"ellipse.":[62],"In":[63],"this":[64],"study,":[65],"novel":[67],"strategy":[68,204],"was":[69,143,205],"developed":[70],"so":[71,145],"that":[72,89,146,201],"track":[74],"tilted":[76,97,131,164,176],"circle":[77,165],"air":[80],"whose":[81],"projection":[82],"becomes":[83],"on":[86],"ground":[88],"encloses":[90],"By":[94],"circle,":[98],"can":[101],"maintain":[102],"almost":[104],"changing":[108],"altitudes":[109],"slightly":[110],"with":[111,179,192],"no":[112],"inter-vehicle":[113],"collision,":[114],"which":[115],"technically":[117],"much":[118],"easier":[119],"than":[120],"directly":[124],"air.":[127],"To":[128],"complete":[129],"task,":[133],"vector-field":[135],"guidance":[136],"law":[137],"followed":[138],"by":[139],"integral":[140],"sliding-mode":[141],"control":[142],"designed":[144],"following":[148],"three":[149],"conditions":[150],"are":[151],"satisfied":[152],"under":[153],"bounded":[154],"disturbances:":[155],"(1)":[156],"all":[157,196],"reach":[159],"plane":[161],"steady":[168,185],"state,":[169,186],"(2)":[170],"each":[171,193],"drone":[172],"turns":[173],"circle\u2019s":[177],"center":[178],"time-varying":[181],"radius":[182],"and":[187],"(3)":[188],"avoid":[190],"colliding":[191],"other":[194],"at":[195],"times.":[197],"Numerical":[198],"simulations":[199],"showed":[200],"proposed":[203],"effective":[206],"situations":[208],"mimicking":[209],"real-life":[210],"scenarios.":[211]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-03-14T08:43:22.919905","created_date":"2025-10-10T00:00:00"}