{"id":"https://openalex.org/W3094093649","doi":"https://doi.org/10.1109/jiot.2020.3030240","title":"Cooperative Path Planning of UAVs & UGVs for a Persistent Surveillance Task in Urban Environments","display_name":"Cooperative Path Planning of UAVs & UGVs for a Persistent Surveillance Task in Urban Environments","publication_year":2020,"publication_date":"2020-10-13","ids":{"openalex":"https://openalex.org/W3094093649","doi":"https://doi.org/10.1109/jiot.2020.3030240","mag":"3094093649"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2020.3030240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2020.3030240","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5036039427","display_name":"Yu Wu","orcid":"https://orcid.org/0000-0002-9319-9498"},"institutions":[{"id":"https://openalex.org/I158842170","display_name":"Chongqing University","ror":"https://ror.org/023rhb549","country_code":"CN","type":"education","lineage":["https://openalex.org/I158842170"]},{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Yu Wu","raw_affiliation_strings":["College of Aerospace Engineering, Chongqing University, Chongqing, China","School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-9319-9498","affiliations":[{"raw_affiliation_string":"College of Aerospace Engineering, Chongqing University, Chongqing, China","institution_ids":["https://openalex.org/I158842170"]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103149380","display_name":"Shaobo Wu","orcid":"https://orcid.org/0000-0001-9267-0287"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaobo Wu","raw_affiliation_strings":["Automation School, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation School, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001984245","display_name":"Xinting Hu","orcid":"https://orcid.org/0000-0003-0305-3653"},"institutions":[{"id":"https://openalex.org/I28813325","display_name":"Civil Aviation University of China","ror":"https://ror.org/03je71k37","country_code":"CN","type":"education","lineage":["https://openalex.org/I28813325"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinting Hu","raw_affiliation_strings":["School of Air Traffic Management, Civil Aviation University of China, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0003-0305-3653","affiliations":[{"raw_affiliation_string":"School of Air Traffic Management, Civil Aviation University of China, Tianjin, China","institution_ids":["https://openalex.org/I28813325"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.4853,"has_fulltext":false,"cited_by_count":154,"citation_normalized_percentile":{"value":0.96923036,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"8","issue":"6","first_page":"4906","last_page":"4919"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9993000030517578,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9818000197410583,"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/drone","display_name":"Drone","score":0.7798775434494019},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7361974716186523},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.65326988697052},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6363153457641602},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.5914188623428345},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5494255423545837},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5444681644439697},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.47932755947113037},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4603033661842346},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4437626004219055},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.410250186920166},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2759763300418854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20345717668533325},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11899027228355408},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11285322904586792},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09492382407188416},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09234264492988586},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.09118130803108215}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.7798775434494019},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7361974716186523},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.65326988697052},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6363153457641602},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.5914188623428345},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5494255423545837},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5444681644439697},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.47932755947113037},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4603033661842346},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4437626004219055},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.410250186920166},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2759763300418854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20345717668533325},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11899027228355408},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11285322904586792},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09492382407188416},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09234264492988586},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.09118130803108215},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2020.3030240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2020.3030240","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8100000023841858,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G5692197852","display_name":null,"funder_award_id":"cstc2020jcyj-msxmX0602","funder_id":"https://openalex.org/F4320327865","funder_display_name":"Chongqing Research Program of Basic Research and Frontier Technology"},{"id":"https://openalex.org/G8137084795","display_name":null,"funder_award_id":"CDJ-LHZZ-066","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G8857865638","display_name":null,"funder_award_id":"201906055030","funder_id":"https://openalex.org/F4320322725","funder_display_name":"China Scholarship Council"}],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"},{"id":"https://openalex.org/F4320327865","display_name":"Chongqing Research Program of Basic Research and Frontier Technology","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1982421201","https://openalex.org/W2054074090","https://openalex.org/W2100931887","https://openalex.org/W2110698131","https://openalex.org/W2152618686","https://openalex.org/W2170742340","https://openalex.org/W2267917689","https://openalex.org/W2343678873","https://openalex.org/W2522615148","https://openalex.org/W2530592706","https://openalex.org/W2547345216","https://openalex.org/W2573212983","https://openalex.org/W2679375846","https://openalex.org/W2789203958","https://openalex.org/W2790222306","https://openalex.org/W2794621503","https://openalex.org/W2811185140","https://openalex.org/W2893322488","https://openalex.org/W2895832301","https://openalex.org/W2898244770","https://openalex.org/W2905529951","https://openalex.org/W2907172124","https://openalex.org/W2909543700","https://openalex.org/W2914868364","https://openalex.org/W2917796313","https://openalex.org/W2921628264","https://openalex.org/W2939045095","https://openalex.org/W2943308732","https://openalex.org/W2962259706","https://openalex.org/W2965276852","https://openalex.org/W2972055356","https://openalex.org/W2991565663","https://openalex.org/W2998081993","https://openalex.org/W3007565530","https://openalex.org/W3021133871","https://openalex.org/W3022730669","https://openalex.org/W3033152510","https://openalex.org/W3100495615","https://openalex.org/W3145534894","https://openalex.org/W4245046249"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W2153702122","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"There":[0],"have":[1],"been":[2],"many":[3],"applications":[4],"of":[5,84,95,112,127,145,164,179,197,218,230,236,242],"drones":[6,22,74],"in":[7,60,107,149,161,234],"urban":[8],"environments,":[9],"such":[10,57],"as":[11],"delivery,":[12],"rescue,":[13],"and":[14,45,63,75,131,147,152,232,239],"surveillance.":[15],"In":[16],"a":[17,58,86,102,121,252],"persistent":[18],"surveillance":[19],"task,":[20],"the":[21,37,64,69,73,76,90,109,113,125,132,141,150,159,165,176,181,195,198,202,209,216,219,228,237,240,257,260],"sometimes":[23],"cannot":[24],"complete":[25,87,253],"it":[26],"independently":[27],"when":[28],"some":[29],"regions":[30],"are":[31,116,155],"required":[32],"to":[33,55,67,79,117,139,174,193,250],"be":[34,118],"covered":[35],"on":[36,200,259],"ground.":[38],"For":[39],"this":[40,61],"purpose,":[41],"unmanned":[42,46],"aerial":[43],"vehicles":[44,48],"ground":[47,203],"(UAVs":[49],"&":[50,97,211],"UGVs)":[51],"system":[52,213],"is":[53,66,99,137,172,190,248],"introduced":[54],"perform":[56],"task":[59],"article,":[62],"goal":[65],"generate":[68],"circular":[70,261],"paths":[71],"for":[72],"UGVs,":[77],"respectively,":[78],"minimize":[80],"their":[81],"travel":[82],"time":[83],"realizing":[85],"coverage.":[88],"First,":[89],"cooperative":[91],"path":[92],"planning":[93],"problem":[94],"UAVs":[96,210],"UGVs":[98,212],"formulated":[100],"into":[101],"large-scale":[103],"0-1":[104],"optimization":[105],"problem,":[106],"which":[108],"on-off":[110],"states":[111],"discrete":[114],"points":[115],"optimized.":[119],"Second,":[120],"hybrid":[122,222],"algorithm":[123,129,134,136,224],"integrating":[124],"estimation":[126],"distribution":[128],"(EDA)":[130],"genetic":[133],"(GA)":[135],"proposed":[138],"solve":[140],"problem.":[142],"The":[143,221,244],"advantages":[144],"EDA":[146,231],"GA":[148,233],"global":[151],"local":[153,187],"search":[154],"fully":[156],"taken":[157],"considering":[158],"demands":[160],"different":[162],"phases":[163],"iterative":[166],"process.":[167],"A":[168],"simple":[169],"sweep-based":[170],"approach":[171],"employed":[173],"determine":[175],"optimal":[177],"sequence":[178],"passing":[180],"open":[182],"points.":[183],"Then,":[184],"an":[185],"online":[186,245],"adjustment":[188,246],"strategy":[189,247],"also":[191],"applied":[192],"address":[194],"changes":[196],"requirements":[199],"covering":[201],"area.":[204],"Simulation":[205],"results":[206],"demonstrate":[207],"that":[208],"can":[214,225],"enhance":[215],"efficiency":[217],"task.":[220],"EDA-GA":[223],"greatly":[226],"improve":[227],"performance":[229],"terms":[235],"quality":[238],"stability":[241],"solutions.":[243],"effective":[249],"maintain":[251],"coverage":[254],"while":[255],"minimizing":[256],"impact":[258],"paths.":[262]},"counts_by_year":[{"year":2026,"cited_by_count":17},{"year":2025,"cited_by_count":45},{"year":2024,"cited_by_count":35},{"year":2023,"cited_by_count":26},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":14}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}