{"id":"https://openalex.org/W2025567744","doi":"https://doi.org/10.1109/icra.2012.6225053","title":"Deploying the max-sum algorithm for decentralised coordination and task allocation of unmanned aerial vehicles for live aerial imagery collection","display_name":"Deploying the max-sum algorithm for decentralised coordination and task allocation of unmanned aerial vehicles for live aerial imagery collection","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2025567744","doi":"https://doi.org/10.1109/icra.2012.6225053","mag":"2025567744"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225053","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225053","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5077928212","display_name":"Francesco M. Delle Fave","orcid":null},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"F. M. Delle Fave","raw_affiliation_strings":["University of Southampton, UK","University of Southampton UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southampton, UK","institution_ids":["https://openalex.org/I43439940"]},{"raw_affiliation_string":"University of Southampton UK","institution_ids":["https://openalex.org/I43439940"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108517760","display_name":"A. Rogers","orcid":null},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"A. Rogers","raw_affiliation_strings":["University of Southampton, UK","University of Southampton UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southampton, UK","institution_ids":["https://openalex.org/I43439940"]},{"raw_affiliation_string":"University of Southampton UK","institution_ids":["https://openalex.org/I43439940"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012024695","display_name":"Zhe Xu","orcid":"https://orcid.org/0000-0001-7227-640X"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Z. Xu","raw_affiliation_strings":["Australian Center for Field Robotics, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Center for Field Robotics, Australia","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004268965","display_name":"Salah Sukkarieh","orcid":"https://orcid.org/0000-0003-1173-9268"},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"S. Sukkarieh","raw_affiliation_strings":["Australian Center for Field Robotics, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Center for Field Robotics, Australia","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036583884","display_name":"Nicholas R. Jennings","orcid":"https://orcid.org/0000-0003-0166-248X"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"N. R. Jennings","raw_affiliation_strings":["University of Southampton, UK","University of Southampton UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southampton, UK","institution_ids":["https://openalex.org/I43439940"]},{"raw_affiliation_string":"University of Southampton UK","institution_ids":["https://openalex.org/I43439940"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":22.0523,"has_fulltext":false,"cited_by_count":59,"citation_normalized_percentile":{"value":0.9971652,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"469","last_page":"476"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9951000213623047,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9951000213623047,"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":0.9915000200271606,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9815999865531921,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6678435802459717},{"id":"https://openalex.org/keywords/aerial-imagery","display_name":"Aerial imagery","score":0.6596629619598389},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6424740552902222},{"id":"https://openalex.org/keywords/aerial-image","display_name":"Aerial image","score":0.5324515104293823},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4766196310520172},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.46271321177482605},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4498922526836395},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44695717096328735},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3791065216064453},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37726864218711853},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.3077191412448883},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.177076518535614},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16135016083717346},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.147038072347641},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10473373532295227},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.07189810276031494}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6678435802459717},{"id":"https://openalex.org/C2987819851","wikidata":"https://www.wikidata.org/wiki/Q191839","display_name":"Aerial imagery","level":2,"score":0.6596629619598389},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6424740552902222},{"id":"https://openalex.org/C2776429412","wikidata":"https://www.wikidata.org/wiki/Q4688011","display_name":"Aerial image","level":3,"score":0.5324515104293823},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4766196310520172},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.46271321177482605},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4498922526836395},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44695717096328735},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3791065216064453},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37726864218711853},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3077191412448883},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.177076518535614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16135016083717346},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.147038072347641},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10473373532295227},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.07189810276031494}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2012.6225053","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225053","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.soton.ac.uk:273089","is_oa":false,"landing_page_url":"https://eprints.soton.ac.uk/273089/1/sample_new.pdf","pdf_url":"https://eprints.soton.ac.uk/273089/1/sample_new.pdf","source":{"id":"https://openalex.org/S4306401019","display_name":"ePrints Soton (University of Southampton)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I43439940","host_organization_name":"University of Southampton","host_organization_lineage":["https://openalex.org/I43439940"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.570.9118","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.570.9118","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.orchid.ac.uk/eprints/30/1/sample_new.pdf","raw_type":"text"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/34946","is_oa":false,"landing_page_url":"http://eprints.soton.ac.uk/273089/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.6100000143051147,"display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G8298223583","display_name":null,"funder_award_id":"EP/I011587/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1526405129","https://openalex.org/W1973408152","https://openalex.org/W1994784780","https://openalex.org/W2022151668","https://openalex.org/W2026129786","https://openalex.org/W2065090389","https://openalex.org/W2116026052","https://openalex.org/W2120171547","https://openalex.org/W2139349757","https://openalex.org/W2144827113","https://openalex.org/W2146951311"],"related_works":["https://openalex.org/W4283696875","https://openalex.org/W3110585990","https://openalex.org/W4385767632","https://openalex.org/W2898690910","https://openalex.org/W2784132289","https://openalex.org/W4286697184","https://openalex.org/W2889700547","https://openalex.org/W2889866244","https://openalex.org/W3034139063","https://openalex.org/W2593313455"],"abstract_inverted_index":{"We":[0,26,87],"introduce":[1],"a":[2,24,60,64,95,105,140],"new":[3],"technique":[4],"for":[5],"coordinating":[6],"teams":[7],"of":[8,20,23,32,51,54,101,149],"unmanned":[9],"aerial":[10,18],"vehicles":[11],"(UAVs)":[12],"when":[13],"deployed":[14],"to":[15,59,84],"collect":[16],"live":[17],"imagery":[19,44],"the":[21,36,43,49,52,74,78,90,102,145,160,177],"scene":[22],"disaster.":[25],"define":[27],"this":[28],"problem":[29,93],"as":[30,73,83],"one":[31,55],"task":[33],"assignment":[34,53],"where":[35],"UAVs":[37,58],"dynamically":[38],"coordinate":[39],"over":[40],"tasks":[41,151],"representing":[42],"collection":[45],"requests.":[46],"To":[47],"measure":[48],"quality":[50,148],"or":[56],"more":[57],"task,":[61],"we":[62,118,130,165],"propose":[63],"novel":[65],"utility":[66,134],"function":[67],"which":[68],"encompasses":[69],"several":[70],"constraints,":[71],"such":[72],"task's":[75],"importance":[76],"and":[77,98,125,135,147,171],"UAVs'":[79],"battery":[80],"capacity":[81],"so":[82],"maximise":[85],"performance.":[86],"then":[88],"solve":[89],"resulting":[91],"optimisation":[92],"using":[94],"fully":[96],"asynchronous":[97],"decentralised":[99],"implementation":[100],"max-sum":[103],"algorithm,":[104],"well":[106],"known":[107],"message":[108],"passing":[109],"algorithm":[110],"previously":[111],"used":[112],"only":[113],"in":[114,123,176],"simulated":[115],"domains.":[116],"Finally,":[117],"evaluate":[119,132],"our":[120,133],"approach":[121],"both":[122],"simulation":[124],"on":[126,168],"real":[127,178],"hardware.":[128],"First,":[129],"empirically":[131],"show":[136],"that":[137,155],"it":[138,167],"yields":[139],"better":[141],"trade":[142],"off":[143],"between":[144],"quantity":[146],"completed":[150],"than":[152],"similar":[153],"utilities":[154],"do":[156],"not":[157],"take":[158],"all":[159],"constraints":[161],"into":[162],"account.":[163],"Second,":[164],"deploy":[166],"two":[169],"hexacopters":[170],"assess":[172],"its":[173],"practical":[174],"viability":[175],"world.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":2}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2016-06-24T00:00:00"}
