{"id":"https://openalex.org/W7167087353","doi":"https://doi.org/10.1109/access.2026.3709318","title":"A Hierarchical Energy-Aware Path Planning for UAVs in Complex Urban Wind Fields","display_name":"A Hierarchical Energy-Aware Path Planning for UAVs in Complex Urban Wind Fields","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7167087353","doi":"https://doi.org/10.1109/access.2026.3709318"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3709318","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3709318","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.2026.3709318","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070050744","display_name":"Kai Guo","orcid":"https://orcid.org/0000-0003-2071-6869"},"institutions":[{"id":"https://openalex.org/I4210088164","display_name":"Changchun Institute of Optics, Fine Mechanics and Physics","ror":"https://ror.org/012rct222","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210088164"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Guo","raw_affiliation_strings":["Fine Mechanics and Physics (CIOMP), Chinese Academy of Sciences, Changchun Institute of Optics, Changchun, China"],"raw_orcid":"https://orcid.org/0009-0006-3496-5590","affiliations":[{"raw_affiliation_string":"Fine Mechanics and Physics (CIOMP), Chinese Academy of Sciences, Changchun Institute of Optics, Changchun, China","institution_ids":["https://openalex.org/I4210088164"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101718618","display_name":"Cheng Peng","orcid":"https://orcid.org/0000-0001-6050-1294"},"institutions":[{"id":"https://openalex.org/I4210088164","display_name":"Changchun Institute of Optics, Fine Mechanics and Physics","ror":"https://ror.org/012rct222","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210088164"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Peng","raw_affiliation_strings":["Fine Mechanics and Physics (CIOMP), Chinese Academy of Sciences, Changchun Institute of Optics, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0001-6050-1294","affiliations":[{"raw_affiliation_string":"Fine Mechanics and Physics (CIOMP), Chinese Academy of Sciences, Changchun Institute of Optics, Changchun, China","institution_ids":["https://openalex.org/I4210088164"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5139926376","display_name":"Guangjian He","orcid":null},"institutions":[{"id":"https://openalex.org/I4210088164","display_name":"Changchun Institute of Optics, Fine Mechanics and Physics","ror":"https://ror.org/012rct222","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210088164"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangjian He","raw_affiliation_strings":["Fine Mechanics and Physics (CIOMP), Chinese Academy of Sciences, Changchun Institute of Optics, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fine Mechanics and Physics (CIOMP), Chinese Academy of Sciences, Changchun Institute of Optics, Changchun, China","institution_ids":["https://openalex.org/I4210088164"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210088164"],"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":0.88466077,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"101097","last_page":"101116"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.5335999727249146,"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":0.5335999727249146,"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":0.1446000039577484,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.039500001817941666,"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/motion-planning","display_name":"Motion planning","score":0.650600016117096},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.40230000019073486},{"id":"https://openalex.org/keywords/wind-power","display_name":"Wind power","score":0.38029998540878296},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31209999322891235},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.3086000084877014},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.30090001225471497},{"id":"https://openalex.org/keywords/atmospheric-model","display_name":"Atmospheric model","score":0.289900004863739}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.650600016117096},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6140999794006348},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.40230000019073486},{"id":"https://openalex.org/C78600449","wikidata":"https://www.wikidata.org/wiki/Q43302","display_name":"Wind power","level":2,"score":0.38029998540878296},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.33309999108314514},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31209999322891235},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.3086000084877014},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.30379998683929443},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.30090001225471497},{"id":"https://openalex.org/C118365302","wikidata":"https://www.wikidata.org/wiki/Q4817115","display_name":"Atmospheric model","level":2,"score":0.289900004863739},{"id":"https://openalex.org/C161067210","wikidata":"https://www.wikidata.org/wiki/Q1464943","display_name":"Wind speed","level":2,"score":0.2872999906539917},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.28529998660087585},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.27459999918937683},{"id":"https://openalex.org/C2989549987","wikidata":"https://www.wikidata.org/wiki/Q350882","display_name":"Route planning","level":2,"score":0.274399995803833},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.25589999556541443},{"id":"https://openalex.org/C49545453","wikidata":"https://www.wikidata.org/wiki/Q69883","display_name":"Urban planning","level":2,"score":0.25529998540878296},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.25519999861717224},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.25040000677108765}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3709318","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3709318","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"},{"id":"pmh:oai:doaj.org/article:4e2ffcdb98e149efb7845bb6f189f21f","is_oa":false,"landing_page_url":"https://doaj.org/article/4e2ffcdb98e149efb7845bb6f189f21f","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 14, Pp 101097-101116 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3709318","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3709318","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":[],"awards":[{"id":"https://openalex.org/G2726326959","display_name":null,"funder_award_id":"62303437","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":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Unmanned":[0],"Aerial":[1],"Vehicles":[2],"(UAVs)":[3],"operating":[4],"in":[5,261],"complex":[6],"urban":[7],"environments":[8],"face":[9],"major":[10],"challenges":[11],"from":[12,169],"dynamic":[13,85],"wind":[14,40,86],"fields,":[15],"turbulence":[16,43],"and":[17,28,42,105,125,146,214,239,256],"dense":[18],"obstacles.":[19],"Traditional":[20],"path":[21,161],"planning":[22,47,74,212],"algorithms":[23],"often":[24],"treat":[25],"energy":[26,97,171,229],"consumption":[27,230],"safety":[29,135],"constraints":[30],"as":[31],"secondary":[32],"objectives,":[33],"not":[34],"to":[35,50,121,174,217],"The":[36,79],"influence":[37],"of":[38,108,155,249,259],"the":[39,45,62,106,152,201,210,246,250,254],"field":[41,87],"during":[44,209],"trajectory":[46],"process":[48],"leading":[49],"suboptimal":[51],"or":[52],"risky":[53],"trajectories.":[54],"To":[55],"address":[56],"these":[57],"issues,":[58],"this":[59,149,165],"paper":[60,150],"proposes":[61],"HERA":[63,202,251],"(Hierarchical":[64],"Energy-Robust":[65],"Autonomous)":[66],"architecture,":[67],"a":[68,220],"unified":[69,96],"framework":[70,203],"integrating":[71],"global":[72,211,232],"risk-aware":[73],"with":[75,92],"local":[76,123],"robust":[77,157,184],"control.":[78],"system":[80],"innovatively":[81],"introduces:":[82],"1)":[83],"multi-scale":[84],"model":[88,99],"coupling":[89],"Rankine":[90],"vortices":[91],"shear-induced":[93],"turbulence;":[94],"2)":[95],"cost":[98,158,166],"that":[100,133,191],"penalizes":[101],"both":[102],"aerodynamic":[103],"drag":[104],"“cost":[107],"robustness”":[109],"(uncertainty":[110],"suppression);":[111],"3)":[112],"Risk-Regularized":[113],"Wind-Adaptive":[114],"LPA*":[115],"(RR-WA-LPA*)":[116],"planner":[117],"utilizing":[118],"Z-anisotropic":[119],"heuristics":[120],"overcome":[122],"minima;":[124],"4)":[126],"Energy-Regularized":[127],"Learning-Based":[128],"Rigid":[129],"Tube":[130],"MPC":[131],"(ER-LBRT-MPC)":[132],"adapts":[134,216],"margins":[136],"online":[137],"based":[138],"on":[139],"disturbance":[140,206],"estimation.":[141],"Through":[142],"comprehensive":[143],"comparative":[144],"experiments":[145],"ablation":[147],"studies,":[148],"demonstrates":[151],"critical":[153],"necessity":[154],"incorporating":[156],"into":[159],"advanced":[160],"planning.":[162],"Variants":[163],"omitting":[164],"component":[167],"suffer":[168],"severe":[170],"depletion":[172],"due":[173],"myopic":[175],"navigation":[176],"through":[177],"intense":[178],"vortex":[179],"cores.":[180],"Furthermore,":[181],"versions":[182],"disabling":[183],"tube":[185],"expansion":[186],"exhibit":[187],"catastrophic":[188],"failure":[189],"rates":[190],"are":[192],"typically":[193],"obscured":[194],"by":[195],"statistical":[196],"survivor":[197],"bias.":[198],"In":[199],"contrast,":[200],"anticipates":[204],"future":[205],"rejection":[207],"costs":[208],"phase":[213],"dynamically":[215],"turbulence,":[218],"achieving":[219],"100%":[221],"mission":[222],"success":[223],"rate.":[224],"Additionally,":[225],"it":[226],"minimizes":[227],"total":[228],"toward":[231],"optima":[233],"while":[234],"maintaining":[235],"consistent":[236],"flight":[237],"durations":[238],"favorable":[240],"actuator":[241],"states.":[242],"These":[243],"results":[244],"validate":[245],"superior":[247],"applicability":[248],"algorithm":[252],"for":[253],"safe":[255],"efficient":[257],"operation":[258],"UAVs":[260],"realistic":[262],"atmospheric":[263],"environments.":[264]},"counts_by_year":[],"updated_date":"2026-07-10T05:49:55.623906","created_date":"2026-07-03T00:00:00"}