{"id":"https://openalex.org/W4403534794","doi":"https://doi.org/10.1109/icarm62033.2024.10715928","title":"Local Trajectory Planning of Unmanned Aerial Vehicle Formation Based on Time Cooperative Strategy","display_name":"Local Trajectory Planning of Unmanned Aerial Vehicle Formation Based on Time Cooperative Strategy","publication_year":2024,"publication_date":"2024-07-08","ids":{"openalex":"https://openalex.org/W4403534794","doi":"https://doi.org/10.1109/icarm62033.2024.10715928"},"language":"en","primary_location":{"id":"doi:10.1109/icarm62033.2024.10715928","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm62033.2024.10715928","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5016364612","display_name":"Keqing Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Keqing Guo","raw_affiliation_strings":["Beijing Institute of Technology,School of Aerospace Engineering,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Aerospace Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100460831","display_name":"Hui Wang","orcid":"https://orcid.org/0000-0002-7787-8386"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Wang","raw_affiliation_strings":["Beijing Institute of Technology,School of Aerospace Engineering,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Aerospace Engineering,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100548702","display_name":"Dai Xin","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Dai","raw_affiliation_strings":["Institute of UAV Autonomous Control, Beijing Institute of Technology,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Institute of UAV Autonomous Control, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100374998","display_name":"Jing Liu","orcid":"https://orcid.org/0000-0002-3588-2969"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Liu","raw_affiliation_strings":["Institute of UAV Autonomous Control, Beijing Institute of Technology,Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Institute of UAV Autonomous Control, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5016364612"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1847313,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1105","last_page":"1111"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9778000116348267,"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":0.9778000116348267,"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/T13371","display_name":"Military Defense Systems Analysis","score":0.9650999903678894,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9580000042915344,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.815717339515686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6015363931655884},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.47791749238967896},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.4142414927482605},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3865097165107727},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.33086973428726196},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2681748569011688},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18129181861877441},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.157065749168396}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.815717339515686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6015363931655884},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.47791749238967896},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.4142414927482605},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3865097165107727},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.33086973428726196},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2681748569011688},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18129181861877441},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.157065749168396},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm62033.2024.10715928","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm62033.2024.10715928","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321408","display_name":"Ministry of Education","ror":"https://ror.org/01p262204"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1680889242","https://openalex.org/W2565972716","https://openalex.org/W2751099944","https://openalex.org/W2891491652","https://openalex.org/W2953793662","https://openalex.org/W3134107409","https://openalex.org/W3198919602","https://openalex.org/W4310680959","https://openalex.org/W4316468203","https://openalex.org/W4321597924","https://openalex.org/W4366274731","https://openalex.org/W4366310727","https://openalex.org/W4376111763","https://openalex.org/W4383108838","https://openalex.org/W4389474312"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2170661558","https://openalex.org/W2999143598","https://openalex.org/W2593985399"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,46],"address":[4],"the":[5,27,82,90,98,104,109,114,119,130,134,139,153,158,161],"problem":[6],"of":[7,10,86,121,145,160],"rapid":[8],"generation":[9],"trajectories":[11],"with":[12,142],"time":[13,49,91,116],"coordination":[14],"in":[15,21,138],"unmanned":[16],"aerial":[17],"vehicle":[18],"(UAV)":[19],"formations":[20],"complex":[22,140],"urban":[23],"environments.":[24],"Aiming":[25],"at":[26,103,113],"phenomenon":[28],"that":[29,97,129],"large-scale":[30],"UAV":[31,99,131],"system":[32],"trajectory":[33,51,87],"planning":[34,52],"is":[35,70,78,94,149],"computationally":[36],"burdensome":[37],"and":[38,72,84,107,147],"fails":[39],"to":[40,80,117],"generate":[41],"high":[42],"time-optimal":[43],"cooperative":[44,50,92],"trajectories,":[45],"propose":[47],"a":[48,62,73],"algorithm":[53],"based":[54,66],"on":[55,67],"distributed":[56],"model":[57,65],"predictive":[58,68],"control":[59],"(DMPC).":[60],"Firstly,":[61],"multi-UAV":[63],"dynamics":[64],"horizon":[69],"established,":[71],"rolling":[74],"iterative":[75],"optimization":[76],"strategy":[77,93],"proposed":[79,95],"ensure":[81,118],"real-time":[83],"rapidity":[85],"planning.":[88],"Furthermore,":[89],"so":[96],"formation":[100,110],"can":[101,132],"arrive":[102],"target":[105,135],"position":[106],"complete":[108],"flight":[111,154],"mission":[112],"same":[115],"feasibility":[120],"macroscopic":[122],"task":[123],"allocation.":[124],"The":[125],"simulation":[126],"results":[127],"show":[128],"reach":[133],"location":[136],"smoothly":[137],"environment":[141],"random":[143],"assignment":[144],"obstacles,":[146],"there":[148],"no":[150],"collision":[151],"during":[152],"process,":[155],"which":[156],"verifies":[157],"reliability":[159],"algorithm.":[162]},"counts_by_year":[],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}