{"id":"https://openalex.org/W2764297064","doi":"https://doi.org/10.1109/cscwd.2017.8066751","title":"Cooperative path planning of multiple UAVs based on PH curves and harmony search algorithm","display_name":"Cooperative path planning of multiple UAVs based on PH curves and harmony search algorithm","publication_year":2017,"publication_date":"2017-04-01","ids":{"openalex":"https://openalex.org/W2764297064","doi":"https://doi.org/10.1109/cscwd.2017.8066751","mag":"2764297064"},"language":"en","primary_location":{"id":"doi:10.1109/cscwd.2017.8066751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cscwd.2017.8066751","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 21st International Conference on Computer Supported Cooperative Work in Design (CSCWD)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076058089","display_name":"Jiayang Wu","orcid":"https://orcid.org/0000-0003-1115-610X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiayang Wu","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066444489","display_name":"Jin Yi","orcid":"https://orcid.org/0000-0003-4391-581X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Yi","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017886286","display_name":"Liang Gao","orcid":"https://orcid.org/0000-0002-1485-0722"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Gao","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100406106","display_name":"Xinyu Li","orcid":"https://orcid.org/0000-0002-4117-9698"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Li","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5076058089"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":0.4551,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.7313066,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"540","last_page":"544"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9824000000953674,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9824000000953674,"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/harmony-search","display_name":"Harmony search","score":0.8889968395233154},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8010393381118774},{"id":"https://openalex.org/keywords/harmony","display_name":"Harmony (color)","score":0.6294252276420593},{"id":"https://openalex.org/keywords/hodograph","display_name":"Hodograph","score":0.554222822189331},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5302098989486694},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.46241211891174316},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.45468708872795105},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4396498501300812},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.42069584131240845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27200040221214294},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2516511082649231},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2210579216480255}],"concepts":[{"id":"https://openalex.org/C33099171","wikidata":"https://www.wikidata.org/wiki/Q26208718","display_name":"Harmony search","level":2,"score":0.8889968395233154},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8010393381118774},{"id":"https://openalex.org/C2776453491","wikidata":"https://www.wikidata.org/wiki/Q5659234","display_name":"Harmony (color)","level":2,"score":0.6294252276420593},{"id":"https://openalex.org/C197766306","wikidata":"https://www.wikidata.org/wiki/Q1546281","display_name":"Hodograph","level":2,"score":0.554222822189331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5302098989486694},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.46241211891174316},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.45468708872795105},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4396498501300812},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.42069584131240845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27200040221214294},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2516511082649231},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2210579216480255},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","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},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cscwd.2017.8066751","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cscwd.2017.8066751","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 21st International Conference on Computer Supported Cooperative Work in Design (CSCWD)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8399999737739563}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1993885071","https://openalex.org/W2017226427","https://openalex.org/W2040244142","https://openalex.org/W2077831477","https://openalex.org/W2085492522","https://openalex.org/W2115200209","https://openalex.org/W2142464062","https://openalex.org/W2214393795","https://openalex.org/W2245255617","https://openalex.org/W2315191843","https://openalex.org/W2329024668","https://openalex.org/W2343416725","https://openalex.org/W2403706061","https://openalex.org/W2509722768","https://openalex.org/W2913692918","https://openalex.org/W3145572388"],"related_works":["https://openalex.org/W2034952305","https://openalex.org/W2009231693","https://openalex.org/W2047661325","https://openalex.org/W2260001466","https://openalex.org/W4214719910","https://openalex.org/W2082033575","https://openalex.org/W4312567972","https://openalex.org/W2170982799","https://openalex.org/W2383050704","https://openalex.org/W2019763543"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,61],"path":[4,73],"planning":[5,74],"method":[6],"based":[7],"on":[8],"Pythagorean":[9],"Hodograph":[10],"(PH)":[11],"curves":[12],"and":[13,27,41,47],"harmony":[14,63],"search":[15,64],"algorithm":[16,65],"for":[17],"unmanned-aerial-vehicles":[18],"(UAVs)":[19],"in":[20,24],"complex":[21],"environments,":[22],"especially":[23],"urban":[25],"environment":[26],"mountainous":[28],"circumstances.":[29],"The":[30],"flyable":[31],"paths":[32],"are":[33,79],"tuned":[34],"to":[35,69,82],"meet":[36],"spatial":[37],"demands,":[38],"satisfy":[39],"kinematical":[40],"dynamic":[42],"constraints":[43],"of":[44],"the":[45,71,84],"UAVs,":[46],"guarantee":[48],"no":[49],"collision":[50],"course":[51],"between":[52],"any":[53],"two":[54,77],"vehicles":[55],"as":[56,58],"well":[57],"obstacles.":[59],"Then,":[60],"modified":[62],"(MHS)":[66],"is":[67],"presented":[68],"solve":[70],"proposed":[72],"problem.":[75],"Finally,":[76],"experiments":[78],"carried":[80],"out":[81],"prove":[83],"feasibility.":[85]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2026-02-22T13:39:03.778224","created_date":"2025-10-10T00:00:00"}