{"id":"https://openalex.org/W4417052024","doi":"https://doi.org/10.1109/lra.2025.3641039","title":"Real-Time Path-Reconfigurable Coverage Planning for Multi-UAV Missions Over Disjoint Areas","display_name":"Real-Time Path-Reconfigurable Coverage Planning for Multi-UAV Missions Over Disjoint Areas","publication_year":2025,"publication_date":"2025-12-05","ids":{"openalex":"https://openalex.org/W4417052024","doi":"https://doi.org/10.1109/lra.2025.3641039"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3641039","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3641039","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5003046951","display_name":"Cai Luo","orcid":"https://orcid.org/0000-0002-9288-7723"},"institutions":[{"id":"https://openalex.org/I23923803","display_name":"University of Exeter","ror":"https://ror.org/03yghzc09","country_code":"GB","type":"education","lineage":["https://openalex.org/I23923803"]},{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN","GB"],"is_corresponding":true,"raw_author_name":"Cai Luo","raw_affiliation_strings":["College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, China","Department of Computer Science, University of Exeter, Exeter, U.K","College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, Shandong, China"],"raw_orcid":"https://orcid.org/0000-0002-9288-7723","affiliations":[{"raw_affiliation_string":"College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, China","institution_ids":["https://openalex.org/I4210162190"]},{"raw_affiliation_string":"Department of Computer Science, University of Exeter, Exeter, U.K","institution_ids":["https://openalex.org/I23923803"]},{"raw_affiliation_string":"College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, Shandong, China","institution_ids":["https://openalex.org/I4210162190"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100960786","display_name":"Jintao Guo","orcid":"https://orcid.org/0009-0007-1591-4429"},"institutions":[{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jintao Guo","raw_affiliation_strings":["College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, China","College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, Shandong, China"],"raw_orcid":"https://orcid.org/0009-0007-1591-4429","affiliations":[{"raw_affiliation_string":"College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, China","institution_ids":["https://openalex.org/I4210162190"]},{"raw_affiliation_string":"College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, Shandong, China","institution_ids":["https://openalex.org/I4210162190"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104144589","display_name":"Zixuan Liu","orcid":"https://orcid.org/0009-0006-0314-4992"},"institutions":[{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zixuan Liu","raw_affiliation_strings":["College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, China","College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, Shandong, China"],"raw_orcid":"https://orcid.org/0009-0006-0314-4992","affiliations":[{"raw_affiliation_string":"College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, China","institution_ids":["https://openalex.org/I4210162190"]},{"raw_affiliation_string":"College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, Shandong, China","institution_ids":["https://openalex.org/I4210162190"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100349557","display_name":"Lei Liu","orcid":"https://orcid.org/0000-0002-4646-2054"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Liu","raw_affiliation_strings":["School of Software, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-4646-2054","affiliations":[{"raw_affiliation_string":"School of Software, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038985671","display_name":"Chunbo Luo","orcid":"https://orcid.org/0000-0002-9860-2901"},"institutions":[{"id":"https://openalex.org/I23923803","display_name":"University of Exeter","ror":"https://ror.org/03yghzc09","country_code":"GB","type":"education","lineage":["https://openalex.org/I23923803"]},{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Chunbo Luo","raw_affiliation_strings":["College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, China","Department of Computer Science, University of Exeter, Exeter, U.K"],"raw_orcid":"https://orcid.org/0000-0002-9860-2901","affiliations":[{"raw_affiliation_string":"College of Oceanography and Space Informatics, China University of Petroleum (East China), Qingdao, China","institution_ids":["https://openalex.org/I4210162190"]},{"raw_affiliation_string":"Department of Computer Science, University of Exeter, Exeter, U.K","institution_ids":["https://openalex.org/I23923803"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5003046951"],"corresponding_institution_ids":["https://openalex.org/I23923803","https://openalex.org/I4210162190"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.37837674,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"2","first_page":"1226","last_page":"1233"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8255000114440918,"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":0.8255000114440918,"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":0.04729999974370003,"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":0.020099999383091927,"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/scalability","display_name":"Scalability","score":0.6349999904632568},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.593500018119812},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.4876999855041504},{"id":"https://openalex.org/keywords/disjoint-sets","display_name":"Disjoint sets","score":0.46219998598098755},{"id":"https://openalex.org/keywords/greedy-algorithm","display_name":"Greedy algorithm","score":0.459199994802475},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.43939998745918274},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.3919999897480011}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6783000230789185},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6349999904632568},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.593500018119812},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5367000102996826},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.4876999855041504},{"id":"https://openalex.org/C45340560","wikidata":"https://www.wikidata.org/wiki/Q215382","display_name":"Disjoint sets","level":2,"score":0.46219998598098755},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.459199994802475},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.43939998745918274},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3986999988555908},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3919999897480011},{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.3732999861240387},{"id":"https://openalex.org/C123370116","wikidata":"https://www.wikidata.org/wiki/Q1424540","display_name":"Tabu search","level":2,"score":0.36410000920295715},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.34290000796318054},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3239000141620636},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.32170000672340393},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.3212999999523163},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.30799999833106995},{"id":"https://openalex.org/C138959212","wikidata":"https://www.wikidata.org/wiki/Q1806783","display_name":"Load balancing (electrical power)","level":3,"score":0.28769999742507935},{"id":"https://openalex.org/C125583679","wikidata":"https://www.wikidata.org/wiki/Q755673","display_name":"Search algorithm","level":2,"score":0.27489998936653137},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3641039","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3641039","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1873015260","display_name":null,"funder_award_id":"EP/Y036786/1","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"},{"id":"https://openalex.org/G2999070280","display_name":null,"funder_award_id":"101129910","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"},{"id":"https://openalex.org/G5380943544","display_name":null,"funder_award_id":"24CX02030A","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320314731","display_name":"UK Research and Innovation","ror":"https://ror.org/001aqnf71"},{"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":22,"referenced_works":["https://openalex.org/W1495783282","https://openalex.org/W1936177838","https://openalex.org/W1989392055","https://openalex.org/W2019400639","https://openalex.org/W2019738489","https://openalex.org/W2142544818","https://openalex.org/W2151499786","https://openalex.org/W2151951367","https://openalex.org/W2792016338","https://openalex.org/W2962804513","https://openalex.org/W3083648773","https://openalex.org/W3091791136","https://openalex.org/W3097963854","https://openalex.org/W3112423526","https://openalex.org/W3112515964","https://openalex.org/W3137721320","https://openalex.org/W3199415776","https://openalex.org/W4297799136","https://openalex.org/W4312265605","https://openalex.org/W4390969077","https://openalex.org/W4391216232","https://openalex.org/W4394715454"],"related_works":[],"abstract_inverted_index":{"Multi-UAV":[0],"cooperative":[1],"coverage":[2,26,42,94,139],"missions":[3],"across":[4,45],"geographically":[5],"separated":[6,46],"regions":[7],"face":[8],"significant":[9],"challenges":[10,22],"due":[11],"to":[12,70,161,164,187,209],"potential":[13],"UAV":[14,218],"failures":[15],"during":[16,83,128],"mission":[17,84],"execution.":[18,85],"To":[19],"address":[20],"the":[21,67],"of":[23],"efficient":[24],"multi-region":[25],"and":[27,76,130,149,166,216],"dynamic":[28],"failure":[29,97],"handling,":[30],"this":[31],"paper":[32],"presents":[33],"a":[34,109,119,132,191],"novel":[35],"real-time":[36,50],"path-reconfigurable":[37],"coverage-planning":[38],"algorithm":[39,69,155],"for":[40,63,223],"multi-UAV":[41],"path":[43,51,78],"planning":[44,75],"geographical":[47],"areas":[48],"with":[49,183,200],"reconfiguration":[52],"capabilities.":[53],"The":[54,154],"proposed":[55],"approach,":[56],"GRIT-M":[57,100],"(Greedy":[58],"Repair":[59],"Initializes":[60],"Tabu":[61,134],"search":[62,135],"Multiple":[64],"regions),":[65],"extends":[66],"GRIT":[68],"efficiently":[71],"handle":[72],"both":[73],"initial":[74,217],"online":[77],"repair":[79,122,202],"when":[80],"UAVs":[81],"fail":[82],"Unlike":[86],"existing":[87],"methods":[88],"that":[89,114,124,136],"either":[90],"focus":[91],"on":[92],"single-region":[93],"or":[95],"lack":[96],"handling":[98],"mechanisms,":[99],"incorporates":[101],"region-specific":[102],"knowledge":[103],"through":[104],"three":[105],"key":[106],"innovations:":[107],"(1)":[108],"composite":[110],"transition":[111,126],"cost":[112],"function":[113],"optimizes":[115],"inter-region":[116,157],"movements,":[117],"(2)":[118],"region-priority":[120],"greedy":[121],"mechanism":[123],"minimizes":[125],"costs":[127],"replanning,":[129],"(3)":[131],"region-preserving":[133],"maintains":[137,167],"area":[138],"coherence":[140],"while":[141],"balancing":[142],"workload.":[143],"Extensive":[144],"simulations":[145],"demonstrate":[146],"GRIT-M's":[147],"scalability":[148,182],"robustness":[150],"against":[151],"operational":[152],"constraints.":[153],"reduces":[156],"flights":[158],"by":[159],"up":[160],"27%":[162],"compared":[163],"baselines":[165],"excellent":[168],"workload":[169],"balance":[170],"(CV":[171],"<inline-formula":[172,192],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[173,193],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[174,194],"notation=\"LaTeX\">$&lt;":[175],"$</tex-math></inline-formula>":[176],"7%).":[177],"Crucially,":[178],"it":[179],"shows":[180],"effective":[181],"larger":[184],"teams":[185],"(up":[186],"12":[188],"UAVs),":[189],"maintaining":[190],"notation=\"LaTeX\">$&gt;$</tex-math></inline-formula>":[195],"91%":[196],"replanning":[197],"success":[198],"rate":[199],"average":[201],"times":[203],"under":[204],"2.1":[205],"s.":[206],"Its":[207],"resilience":[208],"variations":[210],"in":[211],"battery":[212],"capacity,":[213],"sweep":[214],"patterns,":[215],"distributions":[219],"confirms":[220],"its":[221],"suitability":[222],"time-critical":[224],"aerial":[225],"surveys":[226],"over":[227],"disjoint":[228],"areas.":[229]},"counts_by_year":[],"updated_date":"2025-12-13T23:11:00.310470","created_date":"2025-12-05T00:00:00"}
