{"id":"https://openalex.org/W3211582485","doi":"https://doi.org/10.1109/jiot.2021.3125784","title":"Cooperative Path Optimization for Multiple UAVs Surveillance in Uncertain Environment","display_name":"Cooperative Path Optimization for Multiple UAVs Surveillance in Uncertain Environment","publication_year":2021,"publication_date":"2021-11-08","ids":{"openalex":"https://openalex.org/W3211582485","doi":"https://doi.org/10.1109/jiot.2021.3125784","mag":"3211582485"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2021.3125784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2021.3125784","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/A5047055086","display_name":"Daqian Liu","orcid":"https://orcid.org/0000-0002-7583-9578"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daqian Liu","raw_affiliation_strings":["College of Systems Engineering, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-7583-9578","affiliations":[{"raw_affiliation_string":"College of Systems Engineering, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002192584","display_name":"Weidong Bao","orcid":"https://orcid.org/0000-0003-1867-3660"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weidong Bao","raw_affiliation_strings":["College of Systems Engineering, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0003-1867-3660","affiliations":[{"raw_affiliation_string":"College of Systems Engineering, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063946308","display_name":"Xiaomin Zhu","orcid":"https://orcid.org/0000-0003-1301-7840"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaomin Zhu","raw_affiliation_strings":["College of Systems Engineering, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0003-1301-7840","affiliations":[{"raw_affiliation_string":"College of Systems Engineering, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046241939","display_name":"Bowen Fei","orcid":"https://orcid.org/0000-0001-6635-0538"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bowen Fei","raw_affiliation_strings":["College of Systems Engineering, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0001-6635-0538","affiliations":[{"raw_affiliation_string":"College of Systems Engineering, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083620005","display_name":"Tong Men","orcid":"https://orcid.org/0000-0002-4832-5467"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tong Men","raw_affiliation_strings":["College of Systems Engineering, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-4832-5467","affiliations":[{"raw_affiliation_string":"College of Systems Engineering, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057008820","display_name":"Zhenliang Xiao","orcid":"https://orcid.org/0000-0001-5941-5698"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenliang Xiao","raw_affiliation_strings":["College of Systems Engineering, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0001-5941-5698","affiliations":[{"raw_affiliation_string":"College of Systems Engineering, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":2.0849,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.88167831,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"9","issue":"13","first_page":"10676","last_page":"10692"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994999766349792,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9986000061035156,"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/computer-science","display_name":"Computer science","score":0.8229570388793945},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5572152733802795},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5325580835342407},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.49840283393859863},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.4544738233089447},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4529123306274414},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4401317834854126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25003209710121155},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12554314732551575},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.11776012182235718},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09498152136802673}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8229570388793945},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5572152733802795},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5325580835342407},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.49840283393859863},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.4544738233089447},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4529123306274414},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4401317834854126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25003209710121155},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12554314732551575},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11776012182235718},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09498152136802673},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2021.3125784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2021.3125784","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8899999856948853}],"awards":[{"id":"https://openalex.org/G4022438195","display_name":"\u9762\u5411\u4e91-\u7aef\u878d\u5408\u7684\u65e0\u4eba\u96c6\u7fa4\u534f\u540c\u4fe1\u606f\u5904\u7406\u4f18\u5316\u95ee\u9898\u7814\u7a76","funder_award_id":"61872378","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5873424873","display_name":null,"funder_award_id":"2020M673698","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1126974217","https://openalex.org/W2006993200","https://openalex.org/W2035379092","https://openalex.org/W2102213208","https://openalex.org/W2111118329","https://openalex.org/W2121750169","https://openalex.org/W2158592639","https://openalex.org/W2294295227","https://openalex.org/W2343763839","https://openalex.org/W2391140931","https://openalex.org/W2397068405","https://openalex.org/W2411040170","https://openalex.org/W2517295938","https://openalex.org/W2679375846","https://openalex.org/W2754181951","https://openalex.org/W2770064880","https://openalex.org/W2792016338","https://openalex.org/W2808279558","https://openalex.org/W2883947723","https://openalex.org/W2891228419","https://openalex.org/W2895832301","https://openalex.org/W2909467077","https://openalex.org/W2911442729","https://openalex.org/W2916873606","https://openalex.org/W2930332730","https://openalex.org/W2946614825","https://openalex.org/W2980412543","https://openalex.org/W2989743749","https://openalex.org/W3022321580","https://openalex.org/W3033152510","https://openalex.org/W3035500766","https://openalex.org/W3094093649","https://openalex.org/W3134652089"],"related_works":["https://openalex.org/W2024966356","https://openalex.org/W3204026096","https://openalex.org/W3216096898","https://openalex.org/W2112352633","https://openalex.org/W2078804890","https://openalex.org/W4210263804","https://openalex.org/W3202087436","https://openalex.org/W2611879375","https://openalex.org/W2956606787","https://openalex.org/W2116065598"],"abstract_inverted_index":{"Research":[0],"on":[1,222],"multiple":[2,39,252],"unmanned":[3],"aerial":[4],"vehicles":[5],"(UAVs)":[6],"cooperative":[7,89],"surveillance":[8,52,69,99,108,155,166,261],"systems":[9],"serving":[10],"Internet":[11],"of":[12,58,79,101,114,134,157,164,193,202,209,230,236,251],"Things":[13],"(IoT)":[14],"applications,":[15],"such":[16],"as":[17],"smart":[18],"cities,":[19],"precision":[20],"logistics,":[21],"etc.,":[22],"has":[23,256],"become":[24],"a":[25,87,121,145,176,216],"hot":[26],"topic.":[27],"However,":[28],"the":[29,50,56,59,67,72,77,80,84,98,106,143,154,162,190,194,198,203,207,210,223,234,248],"target":[30,107],"movement":[31],"is":[32,63,94,149,180],"unpredictable":[33],"in":[34,49,129],"an":[35],"uncertain":[36],"environment,":[37],"and":[38,54,83,167,182,196,226,260],"UAVs":[40,135,171,253],"are":[41],"affected":[42],"by":[43],"obstacles":[44,115],"or":[45,116],"inaccessible":[46,117],"regions,":[47,118],"resulting":[48],"decreased":[51],"performance":[53],"even":[55],"loss":[57],"target.":[60],"This":[61],"article":[62],"dedicated":[64],"to":[65,96,151,173,188,232],"determine":[66],"current":[68],"environment":[70,220],"through":[71],"2-D":[73],"laser":[74],"scanner.":[75],"At":[76],"cost":[78],"energy":[81],"consumption":[82],"transmission":[85],"unreliability,":[86],"multi-UAV":[88,195],"path":[90],"optimization":[91,212],"(MCPO)":[92],"model":[93],"designed":[95],"adjust":[97,153],"location":[100,156],"each":[102,158],"UAV,":[103,159],"which":[104,160],"improves":[105],"performance.":[109],"Specifically,":[110],"for":[111],"different":[112],"types":[113],"we":[119,214],"present":[120],"novel":[122],"obstacle-avoidance":[123],"selection":[124],"strategy":[125],"with":[126,184],"two":[127],"mechanisms":[128],"mind:":[130],"1)":[131],"when":[132,169],"some":[133],"encounter":[136],"obstacles,":[137,175],"but":[138,254],"others":[139],"can":[140,244],"accurately":[141],"monitor":[142],"target,":[144],"strict":[146],"constraint":[147,178],"mechanism":[148,179],"established":[150],"promptly":[152],"ensures":[161],"accuracy":[163],"formation":[165,258],"2)":[168],"all":[170],"have":[172],"avoid":[174],"fuzzy":[177],"presented":[181],"combined":[183],"Lucas\u2013Kanade":[185],"(LK)":[186],"method":[187],"expand":[189],"search":[191],"range":[192],"enhance":[197],"flexible":[199],"adjustment":[200],"capability":[201],"formation.":[204],"To":[205],"verify":[206],"superiority":[208],"proposed":[211],"method,":[213],"develop":[215],"3-D":[217],"simulation":[218],"experiment":[219],"based":[221],"UE4":[224],"platform":[225],"design":[227],"several":[228],"groups":[229],"experiments":[231],"analyze":[233],"effectiveness":[235],"MCPO.":[237],"The":[238],"experimental":[239],"results":[240],"demonstrate":[241],"that":[242],"MCPO":[243],"not":[245],"only":[246],"maintain":[247],"flight":[249],"stability":[250],"also":[255],"satisfactory":[257],"flexibility":[259],"accuracy.":[262]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":3}],"updated_date":"2026-08-18T07:49:30.821534","created_date":"2025-10-10T00:00:00"}
