{"id":"https://openalex.org/W3217169121","doi":"https://doi.org/10.1109/jiot.2021.3130000","title":"Cooperative Relative Localization for UAV Swarm in GNSS-Denied Environment: A Coalition Formation Game Approach","display_name":"Cooperative Relative Localization for UAV Swarm in GNSS-Denied Environment: A Coalition Formation Game Approach","publication_year":2021,"publication_date":"2021-11-23","ids":{"openalex":"https://openalex.org/W3217169121","doi":"https://doi.org/10.1109/jiot.2021.3130000","mag":"3217169121"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2021.3130000","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2021.3130000","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/A5022862809","display_name":"Lang Ruan","orcid":"https://orcid.org/0000-0002-3262-8623"},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lang Ruan","raw_affiliation_strings":["College of Communications Engineering, Army Engineering University of PLA, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-3262-8623","affiliations":[{"raw_affiliation_string":"College of Communications Engineering, Army Engineering University of PLA, Nanjing, China","institution_ids":["https://openalex.org/I4210163363"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102762930","display_name":"Guangxia Li","orcid":"https://orcid.org/0000-0003-3678-6239"},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangxia Li","raw_affiliation_strings":["College of Communications Engineering, Army Engineering University of PLA, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Communications Engineering, Army Engineering University of PLA, Nanjing, China","institution_ids":["https://openalex.org/I4210163363"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045387492","display_name":"Weiheng Dai","orcid":null},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiheng Dai","raw_affiliation_strings":["College of Communications Engineering, Army Engineering University of PLA, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Communications Engineering, Army Engineering University of PLA, Nanjing, China","institution_ids":["https://openalex.org/I4210163363"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044770621","display_name":"Shiwei Tian","orcid":"https://orcid.org/0000-0002-3761-9152"},"institutions":[{"id":"https://openalex.org/I2802541053","display_name":"Academy of Military Medical Sciences","ror":"https://ror.org/02bv3c993","country_code":"CN","type":"facility","lineage":["https://openalex.org/I2802541053"]},{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiwei Tian","raw_affiliation_strings":["College of Communications Engineering, Army Engineering University of PLA, Nanjing, China","National Innovation Institute of Defense Technology, Academy of Military Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3761-9152","affiliations":[{"raw_affiliation_string":"College of Communications Engineering, Army Engineering University of PLA, Nanjing, China","institution_ids":["https://openalex.org/I4210163363"]},{"raw_affiliation_string":"National Innovation Institute of Defense Technology, Academy of Military Sciences, Beijing, China","institution_ids":["https://openalex.org/I2802541053"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113966380","display_name":"Guangteng Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I2802541053","display_name":"Academy of Military Medical Sciences","ror":"https://ror.org/02bv3c993","country_code":"CN","type":"facility","lineage":["https://openalex.org/I2802541053"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangteng Fan","raw_affiliation_strings":["National Innovation Institute of Defense Technology, Academy of Military Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Innovation Institute of Defense Technology, Academy of Military Sciences, Beijing, China","institution_ids":["https://openalex.org/I2802541053"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100599734","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0002-2778-4381"},"institutions":[{"id":"https://openalex.org/I2802541053","display_name":"Academy of Military Medical Sciences","ror":"https://ror.org/02bv3c993","country_code":"CN","type":"facility","lineage":["https://openalex.org/I2802541053"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Wang","raw_affiliation_strings":["National Innovation Institute of Defense Technology, Academy of Military Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2778-4381","affiliations":[{"raw_affiliation_string":"National Innovation Institute of Defense Technology, Academy of Military Sciences, Beijing, China","institution_ids":["https://openalex.org/I2802541053"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066465472","display_name":"Xiaoqi Dai","orcid":"https://orcid.org/0000-0002-5065-7989"},"institutions":[{"id":"https://openalex.org/I4210163363","display_name":"PLA Army Engineering University","ror":"https://ror.org/05mgp8x93","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210163363"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoqi Dai","raw_affiliation_strings":["College of Communications Engineering, Army Engineering University of PLA, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Communications Engineering, Army Engineering University of PLA, Nanjing, China","institution_ids":["https://openalex.org/I4210163363"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":45.1793,"has_fulltext":false,"cited_by_count":106,"citation_normalized_percentile":{"value":0.996786,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":"13","first_page":"11560","last_page":"11577"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9909999966621399,"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/ranging","display_name":"Ranging","score":0.7667682766914368},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7556036710739136},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.7078320980072021},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.6585135459899902},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.5448018908500671},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5038537383079529},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.459547221660614},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.4462060332298279},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36313703656196594},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20595607161521912},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08608147501945496}],"concepts":[{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.7667682766914368},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7556036710739136},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7078320980072021},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.6585135459899902},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.5448018908500671},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5038537383079529},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.459547221660614},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.4462060332298279},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36313703656196594},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20595607161521912},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08608147501945496},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2021.3130000","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2021.3130000","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/17","display_name":"Partnerships for the goals","score":0.4699999988079071}],"awards":[{"id":"https://openalex.org/G157886057","display_name":"\u5927\u89c4\u6a21\u65e0\u4eba\u673a\u96c6\u7fa4\u667a\u80fd\u81ea\u7ec4\u7f51\u7406\u8bba\u4e0e\u6280\u672f\u7814\u7a76","funder_award_id":"61931011","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1990521196","https://openalex.org/W2026488258","https://openalex.org/W2038127484","https://openalex.org/W2038992031","https://openalex.org/W2063468305","https://openalex.org/W2063699457","https://openalex.org/W2066767736","https://openalex.org/W2068985771","https://openalex.org/W2084014922","https://openalex.org/W2090939903","https://openalex.org/W2101705983","https://openalex.org/W2115728676","https://openalex.org/W2134660637","https://openalex.org/W2141263345","https://openalex.org/W2144910703","https://openalex.org/W2154020241","https://openalex.org/W2250513429","https://openalex.org/W2268751503","https://openalex.org/W2294656113","https://openalex.org/W2305658817","https://openalex.org/W2338849079","https://openalex.org/W2343678873","https://openalex.org/W2578085927","https://openalex.org/W2618547256","https://openalex.org/W2689797068","https://openalex.org/W2889228513","https://openalex.org/W2892361751","https://openalex.org/W2896593054","https://openalex.org/W2896835129","https://openalex.org/W2900210840","https://openalex.org/W2901048076","https://openalex.org/W2903425833","https://openalex.org/W2952732400","https://openalex.org/W2955809904","https://openalex.org/W2963875807","https://openalex.org/W2973376245","https://openalex.org/W3017085714","https://openalex.org/W3022321359","https://openalex.org/W3033899773","https://openalex.org/W3050265859","https://openalex.org/W3084501064","https://openalex.org/W3088293852","https://openalex.org/W3101399353","https://openalex.org/W4210819144"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W2783354812","https://openalex.org/W4384112194","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W2743170747","https://openalex.org/W4385625905"],"abstract_inverted_index":{"Unmanned":[0],"aerial":[1],"vehicle":[2],"(UAV)":[3],"swarms":[4],"require":[5],"accurate":[6],"relative":[7,32,64],"localization":[8,33,45,65,155,159],"to":[9,21,79],"safeguard":[10],"flight":[11],"missions":[12],"in":[13],"the":[14,38,43,55,81,90,103,110,118,144,149],"global":[15,154],"navigation":[16],"satellite":[17],"system-denied":[18],"environment":[19],"due":[20],"a":[22,61,72,96,123],"lack":[23],"of":[24,31,54],"absolute":[25],"position":[26],"information.":[27],"The":[28,127],"existing":[29],"work":[30],"faces":[34],"challenges,":[35],"such":[36],"as":[37,95],"ranging":[39,50,150],"information":[40],"loss":[41],"and":[42,51,86,109,135,156,163],"low":[44],"frequency":[46],"caused":[47],"by":[48],"long-distance":[49],"large-scale":[52],"characteristic":[53],"UAV":[56,68],"swarm.":[57],"This":[58],"article":[59],"proposes":[60],"clustering-based":[62,91],"cooperative":[63],"scheme":[66],"for":[67],"swarm,":[69],"which":[70],"contains":[71],"two-level":[73],"framework:":[74],"inter/intra-cluster":[75],"localization.":[76],"In":[77],"order":[78],"investigate":[80],"tradeoff":[82],"between":[83],"intracluster":[84],"cooperation":[85],"intercluster":[87],"packet":[88],"loss,":[89],"problem":[92],"is":[93,115],"constructed":[94],"coalition":[97,105,111,129,133],"formation":[98,112,130],"game":[99],"(CFG)":[100],"model.":[101],"Given":[102],"designed":[104,128],"value,":[106],"preference":[107],"relation,":[108],"principles,":[113],"it":[114],"proved":[116],"that":[117,143],"proposed":[119,145],"CFG":[120,146],"model":[121],"has":[122],"Nash":[124],"stable":[125],"partition.":[126],"algorithm":[131],"includes":[132],"heads":[134],"beacon":[136],"drones":[137],"selection":[138],"mechanism.":[139],"Simulation":[140],"results":[141],"show":[142],"algorithms":[147],"shorten":[148],"time":[151],"compared":[152],"with":[153],"achieve":[157],"better":[158],"performance":[160],"(localization":[161],"error":[162],"success":[164],"rate)":[165],"than":[166],"contrast":[167],"algorithms.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":19},{"year":2025,"cited_by_count":43},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":12}],"updated_date":"2026-08-27T14:10:00.468798","created_date":"2025-10-10T00:00:00"}