{"id":"https://openalex.org/W7117740649","doi":"https://doi.org/10.1109/access.2025.3649891","title":"Integrated Task Scheduling, Path Planning, and Control for Cooperative UGV\u2013UAV Systems via an Extended MPPI-GA Framework","display_name":"Integrated Task Scheduling, Path Planning, and Control for Cooperative UGV\u2013UAV Systems via an Extended MPPI-GA Framework","publication_year":2025,"publication_date":"2025-12-31","ids":{"openalex":"https://openalex.org/W7117740649","doi":"https://doi.org/10.1109/access.2025.3649891"},"language":null,"primary_location":{"id":"doi:10.1109/access.2025.3649891","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3649891","pdf_url":null,"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://doi.org/10.1109/access.2025.3649891","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113266443","display_name":"Da-Hyun Nam","orcid":null},"institutions":[{"id":"https://openalex.org/I146429904","display_name":"Incheon National University","ror":"https://ror.org/02xf7p935","country_code":"KR","type":"education","lineage":["https://openalex.org/I146429904"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Da-Hyun Nam","raw_affiliation_strings":["Department of Mechanical Engineering, Incheon National University, Incheon, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Incheon National University, Incheon, Republic of Korea","institution_ids":["https://openalex.org/I146429904"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086726570","display_name":"Hyeong-Geun Kim","orcid":"https://orcid.org/0000-0001-8492-5876"},"institutions":[{"id":"https://openalex.org/I146429904","display_name":"Incheon National University","ror":"https://ror.org/02xf7p935","country_code":"KR","type":"education","lineage":["https://openalex.org/I146429904"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyeong-Geun Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Incheon National University, Incheon, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Incheon National University, Incheon, Republic of Korea","institution_ids":["https://openalex.org/I146429904"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5113266443"],"corresponding_institution_ids":["https://openalex.org/I146429904"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.6724678,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"2308","last_page":"2319"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.48080000281333923,"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":0.48080000281333923,"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":0.35690000653266907,"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/T11133","display_name":"UAV Applications and Optimization","score":0.07119999825954437,"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/task","display_name":"Task (project management)","score":0.6732000112533569},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6266999840736389},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.560699999332428},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.5252000093460083},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5083000063896179},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.48820000886917114},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4316999912261963},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41029998660087585}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7807000279426575},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6732000112533569},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6266999840736389},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.560699999332428},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.5252000093460083},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5083000063896179},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.48820000886917114},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4514999985694885},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4316999912261963},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41029998660087585},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.39100000262260437},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33000001311302185},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3068999946117401},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.29840001463890076},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2944999933242798},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.28859999775886536},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.28679999709129333},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.274399995803833},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.2705000042915344},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.25609999895095825},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.25459998846054077}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/access.2025.3649891","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3649891","pdf_url":null,"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"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3649891","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3649891","pdf_url":null,"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/13","display_name":"Climate action","score":0.7837855815887451}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1525389557","https://openalex.org/W1963620884","https://openalex.org/W2130137264","https://openalex.org/W2156734731","https://openalex.org/W2267016244","https://openalex.org/W2410617946","https://openalex.org/W2503051593","https://openalex.org/W2584986912","https://openalex.org/W2798363178","https://openalex.org/W2889851133","https://openalex.org/W2897497659","https://openalex.org/W2905529951","https://openalex.org/W3025495794","https://openalex.org/W3029929066","https://openalex.org/W3094093649","https://openalex.org/W3108381699","https://openalex.org/W3138970027","https://openalex.org/W3183510582","https://openalex.org/W4242361212","https://openalex.org/W4401416855","https://openalex.org/W4402777388","https://openalex.org/W4403123207","https://openalex.org/W4403587508","https://openalex.org/W4404371007","https://openalex.org/W4405166130","https://openalex.org/W4406193149","https://openalex.org/W4406857017","https://openalex.org/W4410378584","https://openalex.org/W4412000940"],"related_works":[],"abstract_inverted_index":{"This":[0],"study":[1],"presents":[2],"a":[3,112,129,149],"cooperative":[4,17],"algorithm":[5,85,114,134,196],"for":[6,42,90,146],"heterogeneous":[7,189],"unmanned":[8],"ground":[9],"and":[10,14,31,47,124,148,170,202],"aerial":[11],"vehicles":[12],"(UGVs":[13],"UAVs).":[15],"Such":[16],"systems":[18],"have":[19],"recently":[20],"garnered":[21],"significant":[22],"attention":[23],"in":[24,52,96],"domains":[25],"like":[26],"disaster":[27],"response,":[28],"target":[29],"tracking,":[30],"exploration.":[32],"However,":[33],"many":[34],"existing":[35],"methods":[36],"are":[37],"constrained":[38],"by":[39,101],"hierarchical":[40],"structures":[41],"task":[43,119,161,179,185],"assignment,":[44],"path":[45,82,122],"planning,":[46,123],"control,":[48],"which":[49],"limits":[50],"adaptability":[51],"dynamic":[53,106],"environments.":[54],"Furthermore,":[55],"these":[56,73,188],"approaches":[57],"often":[58],"rely":[59],"on":[60],"clustering":[61],"processes,":[62],"with":[63,168],"performance":[64],"frequently":[65],"sensitive":[66],"to":[67,92,104,140,155],"the":[68,77,194],"chosen":[69],"granularity.":[70],"To":[71],"address":[72],"limitations,":[74],"thiswork":[75],"extends":[76],"previously":[78],"proposed":[79,116,195],"model":[80],"predictive":[81],"integral":[83],"control-genetic":[84],"(MPPI-GA)":[86],"framework,":[87],"initially":[88],"developed":[89],"UGVs,":[91],"quadrotor":[93],"UAVs,":[94,147],"resulting":[95],"an":[97,136],"output-sampled":[98,137],"MPPI-GA":[99,173],"(oMPPI-GA),":[100],"adapting":[102],"it":[103],"their":[105],"characteristics.":[107],"Building":[108],"upon":[109],"this":[110,164],"extension,":[111],"unified":[113],"is":[115,197],"that":[117],"integrates":[118],"scheduling,":[120],"obstacle-avoidance":[121],"control":[125,142],"input":[126,143],"generation":[127],"into":[128],"single,":[130],"cohesive":[131],"framework.":[132],"The":[133,191],"adopts":[135],"MPPI":[138],"structure":[139],"alleviate":[141],"sampling":[144],"sensitivity":[145],"novel":[150],"triple-layer":[151],"chromosome":[152],"enabling":[153],"UAVs":[154,166],"generate":[156],"closed":[157],"tours":[158],"without":[159],"explicit":[160],"clustering.":[162],"In":[163],"system,":[165],"equipped":[167],"oMPPI-GA":[169],"UGVs":[171],"using":[172],"cooperatively":[174],"execute":[175],"missions.":[176],"A":[177],"distributed":[178],"conflict":[180],"resolution":[181],"scheme":[182],"facilitates":[183],"seamless":[184],"allocation":[186],"among":[187],"agents.":[190],"effectiveness":[192],"of":[193],"validated":[198],"through":[199],"numerical":[200],"simulations":[201],"real-world":[203],"hardware":[204],"experiments.":[205]},"counts_by_year":[],"updated_date":"2026-01-08T20:05:33.558190","created_date":"2025-12-31T00:00:00"}