{"id":"https://openalex.org/W7138965717","doi":"https://doi.org/10.1109/globecom59602.2025.11432240","title":"REAP: Real-time Threat Detection and Trajectory Planning For Multiple UAVs in Adverse Areas","display_name":"REAP: Real-time Threat Detection and Trajectory Planning For Multiple UAVs in Adverse Areas","publication_year":2025,"publication_date":"2025-12-08","ids":{"openalex":"https://openalex.org/W7138965717","doi":"https://doi.org/10.1109/globecom59602.2025.11432240"},"language":null,"primary_location":{"id":"doi:10.1109/globecom59602.2025.11432240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/globecom59602.2025.11432240","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"GLOBECOM 2025 - 2025 IEEE Global Communications Conference","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/A5052254001","display_name":"Lan-Huong Nguyen","orcid":"https://orcid.org/0000-0002-2364-1295"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Lan-Huong Nguyen","raw_affiliation_strings":["National Yang Ming Chiao Tung University,College of Artificial Intelligence,Tainan,Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Yang Ming Chiao Tung University,College of Artificial Intelligence,Tainan,Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101957678","display_name":"Yuhao Liu","orcid":"https://orcid.org/0000-0003-3098-957X"},"institutions":[{"id":"https://openalex.org/I148099254","display_name":"National Chung Cheng University","ror":"https://ror.org/0028v3876","country_code":"TW","type":"education","lineage":["https://openalex.org/I148099254"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yu-Hao Liu","raw_affiliation_strings":["National Chung Cheng University (CCU),Dept. of Computer Science and Information Engineering,Chiayi,Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Chung Cheng University (CCU),Dept. of Computer Science and Information Engineering,Chiayi,Taiwan","institution_ids":["https://openalex.org/I148099254"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035925200","display_name":"Ren\u2010Hung Hwang","orcid":"https://orcid.org/0000-0001-7996-4184"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ren-Hung Hwang","raw_affiliation_strings":["National Yang Ming Chiao Tung University,College of Artificial Intelligence,Tainan,Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Yang Ming Chiao Tung University,College of Artificial Intelligence,Tainan,Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5130184043","display_name":"Van-Linh Nguyen","orcid":null},"institutions":[{"id":"https://openalex.org/I148099254","display_name":"National Chung Cheng University","ror":"https://ror.org/0028v3876","country_code":"TW","type":"education","lineage":["https://openalex.org/I148099254"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Van-Linh Nguyen","raw_affiliation_strings":["National Chung Cheng University (CCU),Dept. of Computer Science and Information Engineering,Chiayi,Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Chung Cheng University (CCU),Dept. of Computer Science and Information Engineering,Chiayi,Taiwan","institution_ids":["https://openalex.org/I148099254"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.67762541,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3378","last_page":"3383"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6444000005722046,"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":0.6444000005722046,"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":0.1648000031709671,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.049800001084804535,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5701000094413757},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.52920001745224},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.499099999666214},{"id":"https://openalex.org/keywords/adverse-weather","display_name":"Adverse weather","score":0.4564000070095062},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44620001316070557},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44609999656677246},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4180000126361847},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.3644999861717224}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5974000096321106},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5701000094413757},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.52920001745224},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5248000025749207},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5080000162124634},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.499099999666214},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4731000065803528},{"id":"https://openalex.org/C2992147540","wikidata":"https://www.wikidata.org/wiki/Q1277161","display_name":"Adverse weather","level":2,"score":0.4564000070095062},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44620001316070557},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44609999656677246},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4180000126361847},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.3644999861717224},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.35910001397132874},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3393000066280365},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28029999136924744},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2777999937534332},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.27639999985694885},{"id":"https://openalex.org/C93103318","wikidata":"https://www.wikidata.org/wiki/Q980965","display_name":"Real Time Kinematic","level":4,"score":0.267300009727478},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.2662000060081482},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.26409998536109924},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.260699987411499},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.259799987077713},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.25769999623298645},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.2551000118255615}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/globecom59602.2025.11432240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/globecom59602.2025.11432240","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"GLOBECOM 2025 - 2025 IEEE Global Communications Conference","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2519586580","https://openalex.org/W2963220078","https://openalex.org/W3040965630","https://openalex.org/W4285211583","https://openalex.org/W4323339334","https://openalex.org/W4383503081","https://openalex.org/W4390816693","https://openalex.org/W4391249243","https://openalex.org/W4391697032","https://openalex.org/W4392908357","https://openalex.org/W4402835083","https://openalex.org/W4408323648"],"related_works":[],"abstract_inverted_index":{"Unmanned":[0],"Aerial":[1],"Vehicles":[2],"(UAVs)":[3],"have":[4],"been":[5],"widely":[6],"adopted":[7],"in":[8,20,34,118,133],"various":[9],"applications,":[10],"including":[11],"surveillance,":[12],"search":[13,77,119],"and":[14,17,46,74,89,114],"rescue,":[15],"cartography,":[16],"damage":[18],"assessment":[19],"remote":[21],"areas.":[22],"This":[23],"study":[24,102],"aims":[25],"to":[26,81,109],"enhance":[27],"the":[28,83,116,126],"safe":[29,90],"navigation":[30],"of":[31],"multiple":[32],"UAVs":[33],"adverse":[35],"environments":[36],"by":[37],"integrating":[38],"computer":[39],"vision":[40],"with":[41,148],"deep":[42],"reinforcement":[43],"learning":[44],"(DRL)":[45],"a":[47,56],"route":[48],"planning":[49],"algorithm":[50],"known":[51],"as":[52,95],"REAP.":[53],"REAP":[54],"incorporates":[55],"real-time":[57],"object":[58],"detection":[59],"module":[60],"that":[61,125],"identifies":[62],"obstacle":[63],"positions":[64],"from":[65,92,146],"surveillance":[66],"drone":[67],"footage":[68],"or":[69,153],"satellite":[70],"imagery.":[71],"Additionally,":[72],"A*":[73],"tangent":[75],"point":[76],"algorithms":[78],"are":[79],"employed":[80],"compute":[82,130],"shortest":[84],"paths":[85,113,132],"while":[86],"maintaining":[87],"connectivity":[88],"distances":[91],"threats,":[93],"such":[94],"dynamic":[96],"obstacles":[97],"(e.g.,":[98],"birds).":[99],"Notably,":[100],"this":[101],"also":[103],"introduces":[104],"an":[105],"optimized":[106],"DRL":[107],"approach":[108],"further":[110],"refine":[111],"flight":[112],"reduce":[115],"latency":[117],"result":[120],"retrieval.":[121],"Evaluation":[122],"results":[123],"show":[124],"proposed":[127],"method":[128],"can":[129],"optimal":[131],"under":[134],"10":[135],"milliseconds-three":[136],"times":[137],"faster":[138],"than":[139],"state-of-the-art":[140],"(SOTA)":[141],"methods-while":[142],"ensuring":[143],"UAV":[144],"safety":[145],"collisions":[147],"flying":[149],"obstacles,":[150],"tall":[151],"structures,":[152],"bird":[154],"swarms.":[155]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-20T00:00:00"}
