{"id":"https://openalex.org/W4407406491","doi":"https://doi.org/10.1109/jiot.2025.3541298","title":"Trajectory Planning for UAV Swarm Tracking Moving Target Based on an Improved Model Predictive Control Fusion Algorithm","display_name":"Trajectory Planning for UAV Swarm Tracking Moving Target Based on an Improved Model Predictive Control Fusion Algorithm","publication_year":2025,"publication_date":"2025-02-12","ids":{"openalex":"https://openalex.org/W4407406491","doi":"https://doi.org/10.1109/jiot.2025.3541298"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2025.3541298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3541298","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/A5006822572","display_name":"Chao Song","orcid":"https://orcid.org/0009-0003-0328-8740"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chao Song","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xi&#x2019;an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi&#x2019;an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xinyu Zhang","orcid":"https://orcid.org/0009-0003-8709-6809"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Zhang","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xi&#x2019;an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi&#x2019;an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yang She","orcid":"https://orcid.org/0009-0005-8896-8909"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang She","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xi&#x2019;an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi&#x2019;an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046508099","display_name":"Bo Li","orcid":"https://orcid.org/0000-0002-1415-4444"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Li","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xi&#x2019;an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi&#x2019;an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000546219","display_name":"Qingfu Zhang","orcid":"https://orcid.org/0000-0003-0786-0671"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qingfu Zhang","raw_affiliation_strings":["Department of Computer Science, City University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, City University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5006822572"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":18.587,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.99384804,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"12","issue":"12","first_page":"19354","last_page":"19369"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13717","display_name":"Advanced Algorithms and Applications","score":0.9729999899864197,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T13717","display_name":"Advanced Algorithms and Applications","score":0.9729999899864197,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9429000020027161,"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/T14225","display_name":"Advanced Sensor and Control Systems","score":0.9107999801635742,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/model-predictive-control","display_name":"Model predictive control","score":0.7369267344474792},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7149853706359863},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6759871244430542},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5498901009559631},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.5441190004348755},{"id":"https://openalex.org/keywords/radar-tracker","display_name":"Radar tracker","score":0.4619024693965912},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45173487067222595},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4223494529724121},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4178798794746399},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35679152607917786},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29973095655441284},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13537698984146118},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.08498603105545044}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7369267344474792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7149853706359863},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6759871244430542},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5498901009559631},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.5441190004348755},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.4619024693965912},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45173487067222595},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4223494529724121},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4178798794746399},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35679152607917786},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29973095655441284},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13537698984146118},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.08498603105545044},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3541298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3541298","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","score":0.6100000143051147,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G1653482754","display_name":null,"funder_award_id":"62003267","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7914649130","display_name":null,"funder_award_id":"2023-GHZD-33","funder_id":"https://openalex.org/F4320327780","funder_display_name":"Key Research and Development Program of Jiangxi Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327780","display_name":"Key Research and Development Program of Jiangxi Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1986045690","https://openalex.org/W2052701631","https://openalex.org/W2679375846","https://openalex.org/W2680197185","https://openalex.org/W2947014877","https://openalex.org/W2972177120","https://openalex.org/W3003126832","https://openalex.org/W3090573937","https://openalex.org/W3091160449","https://openalex.org/W3092580847","https://openalex.org/W3134336860","https://openalex.org/W3135889082","https://openalex.org/W3175006969","https://openalex.org/W3202229227","https://openalex.org/W3202892210","https://openalex.org/W3211542398","https://openalex.org/W3211930869","https://openalex.org/W3213151972","https://openalex.org/W4200630212","https://openalex.org/W4210892590","https://openalex.org/W4226148515","https://openalex.org/W4285029570","https://openalex.org/W4285205397","https://openalex.org/W4294690681","https://openalex.org/W4295529346","https://openalex.org/W4296208708","https://openalex.org/W4312526185","https://openalex.org/W4312946510","https://openalex.org/W4323022403","https://openalex.org/W4323644157","https://openalex.org/W4364322605","https://openalex.org/W4367665843","https://openalex.org/W4379659763","https://openalex.org/W4385338914","https://openalex.org/W4387587706","https://openalex.org/W4387951812","https://openalex.org/W4388983773","https://openalex.org/W4389664558","https://openalex.org/W4390238478","https://openalex.org/W4390547530","https://openalex.org/W4393864791"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W2101188133","https://openalex.org/W4248731570","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W2381210024","https://openalex.org/W3131574667","https://openalex.org/W2060165215","https://openalex.org/W2384015130"],"abstract_inverted_index":{"A":[0],"method":[1],"based":[2,45],"on":[3,46,136,172],"deep":[4],"neural":[5],"network":[6],"(DNN)":[7],"optimized":[8],"model":[9,104,146],"predictive":[10],"control":[11,99,140,144,159,210],"(MPC)":[12],"and":[13,51,61,156,194,227],"standoff":[14,53],"fusion":[15,183],"is":[16,42,55,105,147,185,216],"proposed":[17],"to":[18,57,80,153,201,238],"address":[19],"the":[20,47,52,70,81,84,88,93,98,112,115,120,126,158,165,180,202,220],"problem":[21,71,96,130],"of":[22,72,75,83,87,97,117,131,167,224],"tracking":[23,76],"moving":[24],"target":[25,77],"trajectory":[26,40],"planning":[27,41],"for":[28,164,233],"uncrewed":[29],"aerial":[30],"vehicle":[31],"(UAV)":[32],"swarms":[33,226],"in":[34,67,188,192,197],"uncertain":[35],"environments.":[36],"First,":[37],"online":[38,62],"UAV":[39,89,132,225],"carried":[43],"out":[44],"optimised":[48],"MPC":[49,103,122,182,204,236],"algorithm,":[50],"algorithm":[54,123,184],"introduced":[56],"achieve":[58],"formation":[59,189],"keeping":[60],"obstacle":[63],"avoidance":[64],"targets,":[65],"which":[66,149,170],"turn":[68],"solves":[69],"high":[73],"probability":[74],"loss":[78],"due":[79],"limitation":[82],"detection":[85],"range":[86],"swarm.":[90],"To":[91],"avoid":[92],"local":[94],"saturation":[95],"method,":[100],"an":[101,137,230],"improved":[102,121,181,235],"constructed":[106],"by":[107],"combining":[108],"anti-windup":[109],"algorithms.":[110],"At":[111],"same":[113],"time,":[114],"integration":[116],"DNN":[118],"with":[119,211,219],"effectively":[124],"addresses":[125],"large-scale,":[127],"multiconstraint":[128],"optimization":[129],"swarm":[133],"control.":[134,240],"Based":[135],"approximate":[138],"optimal":[139],"strategy,":[141],"a":[142],"dynamic":[143],"system":[145],"constructed,":[148],"can":[150],"rapidly":[151],"adapt":[152],"external":[154],"disturbances":[155],"adjust":[157],"inputs.":[160],"This":[161,214],"approach":[162,215],"compensates":[163],"limitations":[166],"traditional":[168],"MPC,":[169],"relies":[171],"precise":[173,209],"prior":[174],"models.":[175],"Simulation":[176],"results":[177],"show":[178],"that":[179],"more":[186,195,208,217],"stable":[187],"maintenance,":[190],"faster":[191],"convergence,":[193],"effective":[196,231],"monitoring":[198],"targets":[199],"compared":[200],"single":[203],"algorithm.":[205],"It":[206],"enables":[207],"higher":[212],"robustness.":[213],"aligned":[218],"real-world":[221],"flight":[222],"requirements":[223],"serves":[228],"as":[229],"pathway":[232],"applying":[234],"methods":[237],"multiagent":[239]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":14}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
