{"id":"https://openalex.org/W4414538287","doi":"https://doi.org/10.1109/jiot.2025.3614991","title":"AirBFT: An Efficient and Robust Consensus Mechanism for Large-Scale Drone Collaboration","display_name":"AirBFT: An Efficient and Robust Consensus Mechanism for Large-Scale Drone Collaboration","publication_year":2025,"publication_date":"2025-09-26","ids":{"openalex":"https://openalex.org/W4414538287","doi":"https://doi.org/10.1109/jiot.2025.3614991"},"language":"en","primary_location":{"id":"doi:10.1109/jiot.2025.3614991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3614991","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":null,"display_name":"Zhongju Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongju Yan","raw_affiliation_strings":["College of Intelligence and Computing, Tianjin University, Tianjin, China","College of Intelligence and Computing, Tianjin University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042082415","display_name":"Chenyu Zhang","orcid":"https://orcid.org/0000-0002-4300-3135"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyu Zhang","raw_affiliation_strings":["College of Intelligence and Computing, Tianjin University, Tianjin, China","College of Intelligence and Computing, Tianjin University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086033202","display_name":"Zhiyuan Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyuan Zheng","raw_affiliation_strings":["College of Intelligence and Computing, Tianjin University, Tianjin, China","College of Intelligence and Computing, Tianjin University, China"],"raw_orcid":"https://orcid.org/0009-0001-4771-0558","affiliations":[{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112178292","display_name":"Yanhong Lv","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiran Lv","raw_affiliation_strings":["College of Intelligence and Computing, Tianjin University, Tianjin, China","College of Intelligence and Computing, Tianjin University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074663819","display_name":"Hao Xu","orcid":"https://orcid.org/0000-0003-2863-1675"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Xu","raw_affiliation_strings":["College of Intelligence and Computing, Tianjin University, Tianjin, China","College of Intelligence and Computing, Tianjin University, China"],"raw_orcid":"https://orcid.org/0000-0003-2863-1675","affiliations":[{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009324770","display_name":"Xiulong Liu","orcid":"https://orcid.org/0000-0002-4746-5599"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiulong Liu","raw_affiliation_strings":["College of Intelligence and Computing, Tianjin University, Tianjin, China","College of Intelligence and Computing, Tianjin University, China"],"raw_orcid":"https://orcid.org/0000-0002-4746-5599","affiliations":[{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043221240","display_name":"Song Zhang","orcid":"https://orcid.org/0000-0001-7448-0850"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Song Zhang","raw_affiliation_strings":["College of Intelligence and Computing, Tianjin University, Tianjin, China","College of Intelligence and Computing, Tianjin University, China"],"raw_orcid":"https://orcid.org/0000-0001-7448-0850","affiliations":[{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100320971","display_name":"Sheng Chen","orcid":"https://orcid.org/0000-0001-7038-4407"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Chen","raw_affiliation_strings":["College of Intelligence and Computing, Tianjin University, Tianjin, China","College of Intelligence and Computing, Tianjin University, China"],"raw_orcid":"https://orcid.org/0000-0001-7038-4407","affiliations":[{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056756764","display_name":"Xiaoyi Tao","orcid":"https://orcid.org/0000-0001-5374-2196"},"institutions":[{"id":"https://openalex.org/I110109458","display_name":"Tianjin University of Commerce","ror":"https://ror.org/02b6amy98","country_code":"CN","type":"education","lineage":["https://openalex.org/I110109458"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyi Tao","raw_affiliation_strings":["School of Information Technology, Tianjin University of Commerce, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0001-5374-2196","affiliations":[{"raw_affiliation_string":"School of Information Technology, Tianjin University of Commerce, Tianjin, China","institution_ids":["https://openalex.org/I110109458"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011357293","display_name":"Keqiu Li","orcid":"https://orcid.org/0000-0003-1758-3030"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Keqiu Li","raw_affiliation_strings":["College of Intelligence and Computing, Tianjin University, Tianjin, China","College of Intelligence and Computing, Tianjin University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"College of Intelligence and Computing, Tianjin University, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26983454,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":"24","first_page":"52781","last_page":"52793"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9922999739646912,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9922999739646912,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9879999756813049,"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/T12288","display_name":"Optimization and Search Problems","score":0.9825999736785889,"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/drone","display_name":"Drone","score":0.7124999761581421},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.5684000253677368},{"id":"https://openalex.org/keywords/resilience","display_name":"Resilience (materials science)","score":0.5669999718666077},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.560699999332428},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.5376999974250793},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5148000121116638},{"id":"https://openalex.org/keywords/byzantine-fault-tolerance","display_name":"Byzantine fault tolerance","score":0.5072000026702881},{"id":"https://openalex.org/keywords/throughput","display_name":"Throughput","score":0.501800000667572}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8328999876976013},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.7124999761581421},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.6990000009536743},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.5684000253677368},{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.5669999718666077},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.560699999332428},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.5376999974250793},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5148000121116638},{"id":"https://openalex.org/C168021876","wikidata":"https://www.wikidata.org/wiki/Q1353446","display_name":"Byzantine fault tolerance","level":3,"score":0.5072000026702881},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.501800000667572},{"id":"https://openalex.org/C157764524","wikidata":"https://www.wikidata.org/wiki/Q1383412","display_name":"Throughput","level":3,"score":0.501800000667572},{"id":"https://openalex.org/C75949130","wikidata":"https://www.wikidata.org/wiki/Q848010","display_name":"Database transaction","level":2,"score":0.4471000134944916},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4372999966144562},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3865000009536743},{"id":"https://openalex.org/C2983222225","wikidata":"https://www.wikidata.org/wiki/Q2994424","display_name":"Consensus algorithm","level":2,"score":0.3732999861240387},{"id":"https://openalex.org/C84511453","wikidata":"https://www.wikidata.org/wiki/Q2914952","display_name":"Concurrency control","level":3,"score":0.36329999566078186},{"id":"https://openalex.org/C107107730","wikidata":"https://www.wikidata.org/wiki/Q2994424","display_name":"Consensus","level":3,"score":0.3280999958515167},{"id":"https://openalex.org/C62989814","wikidata":"https://www.wikidata.org/wiki/Q854648","display_name":"Gossip","level":2,"score":0.30889999866485596},{"id":"https://openalex.org/C159023740","wikidata":"https://www.wikidata.org/wiki/Q623276","display_name":"Deadlock","level":2,"score":0.30889999866485596},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.2946999967098236},{"id":"https://openalex.org/C130120984","wikidata":"https://www.wikidata.org/wiki/Q2835898","display_name":"Distributed algorithm","level":2,"score":0.2662000060081482}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3614991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3614991","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":[],"awards":[{"id":"https://openalex.org/G2876610825","display_name":null,"funder_award_id":"2025M771566","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G7151908454","display_name":null,"funder_award_id":"62032017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7215665166","display_name":null,"funder_award_id":"GZB20250403","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"},{"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":41,"referenced_works":["https://openalex.org/W2156523427","https://openalex.org/W2964159515","https://openalex.org/W3006016495","https://openalex.org/W3012143974","https://openalex.org/W3046632956","https://openalex.org/W3076622826","https://openalex.org/W3100273368","https://openalex.org/W3173389971","https://openalex.org/W3201410046","https://openalex.org/W3202787464","https://openalex.org/W3207363501","https://openalex.org/W4285178400","https://openalex.org/W4310053206","https://openalex.org/W4312343769","https://openalex.org/W4319986878","https://openalex.org/W4320004386","https://openalex.org/W4381894802","https://openalex.org/W4383899747","https://openalex.org/W4386091346","https://openalex.org/W4386242146","https://openalex.org/W4386362911","https://openalex.org/W4386868377","https://openalex.org/W4387193499","https://openalex.org/W4390423653","https://openalex.org/W4390577855","https://openalex.org/W4390957804","https://openalex.org/W4391305468","https://openalex.org/W4391508063","https://openalex.org/W4391722255","https://openalex.org/W4400410072","https://openalex.org/W4401508622","https://openalex.org/W4401717518","https://openalex.org/W4401806258","https://openalex.org/W4402509341","https://openalex.org/W4403277038","https://openalex.org/W4403705645","https://openalex.org/W4404189901","https://openalex.org/W4406793829","https://openalex.org/W4408324699","https://openalex.org/W4409356441","https://openalex.org/W4411551097"],"related_works":[],"abstract_inverted_index":{"The":[0],"application":[1],"scenarios":[2],"of":[3,45,90,104,129,133],"drone":[4,18,66],"collaboration":[5,19],"are":[6],"rapidly":[7],"expanding,":[8],"such":[9],"as":[10],"the":[11,35,84,102,108,122,127,130,139,150,159],"low-altitude":[12],"economy":[13],"and":[14,27,47,60,79,88,148,166],"wildfire":[15],"protection.":[16],"Blockchain-based":[17],"requires":[20],"a":[21,72,96,116,173],"consensus":[22,37,62,141],"mechanism":[23,38,63],"to":[24,100,107,125],"ensure":[25,169],"efficient":[26,59,170],"secure":[28],"consistency":[29],"among":[30],"large-scale":[31,65],"distributed":[32],"nodes.":[33,135],"However,":[34],"existing":[36],"has":[39],"problems":[40],"with":[41,146,172],"poor":[42],"fault":[43],"tolerance":[44],"topology":[46],"rigid":[48],"proposal":[49],"concurrency.":[50],"To":[51],"this":[52,54,69,93,113],"end,":[53],"paper":[55,70,94,114],"proposes":[56,95,115],"AirBFT,":[57],"an":[58],"robust":[61],"for":[64],"collaboration.":[67],"First,":[68],"designs":[71],"new":[73],"four-layer":[74],"network":[75,110],"topology,":[76],"using":[77],"upper-member":[78],"lower-member":[80],"communication,":[81],"while":[82],"ensuring":[83],"maximum":[85],"1/3":[86,174],"resilience":[87],"fanout":[89],"\u221aN.":[91],"Secondly,":[92],"dynamic":[97],"pipelining":[98],"algorithm":[99,124],"adjust":[101],"parallelism":[103],"proposals":[105],"according":[106],"real-time":[109],"status.":[111],"Finally,":[112],"committee":[117],"sampling":[118],"technology":[119],"based":[120,137],"on":[121,138],"EigenTrust":[123],"reduce":[126],"impact":[128],"malicious":[131],"behavior":[132],"Byzantine":[134,175],"Experiments":[136],"public":[140],"framework":[142],"show":[143],"that":[144],"compared":[145],"Kauri":[147],"HotStuff,":[149],"proposed":[151],"AirBFT":[152],"reduces":[153],"transaction":[154],"confirmation":[155],"delay":[156],"by":[157,163],"58%,":[158],"throughput":[160],"is":[161],"increased":[162],"1.9":[164],"times,":[165],"it":[167],"can":[168],"operation":[171],"node":[176],"ratio.":[177]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}