{"id":"https://openalex.org/W4416078315","doi":"https://doi.org/10.1109/mcom.001.2500169","title":"Integrated Communication, Positioning, and Sensing for UAV Swarms in Unknown Complex Environments","display_name":"Integrated Communication, Positioning, and Sensing for UAV Swarms in Unknown Complex Environments","publication_year":2025,"publication_date":"2025-11-10","ids":{"openalex":"https://openalex.org/W4416078315","doi":"https://doi.org/10.1109/mcom.001.2500169"},"language":null,"primary_location":{"id":"doi:10.1109/mcom.001.2500169","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mcom.001.2500169","pdf_url":null,"source":{"id":"https://openalex.org/S158797327","display_name":"IEEE Communications Magazine","issn_l":"0163-6804","issn":["0163-6804","1558-1896"],"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 Communications Magazine","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":"Chenlang Jin","orcid":null},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenlang Jin","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,State Key Laboratory of Networking and Switching Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,State Key Laboratory of Networking and Switching Technology,China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100666106","display_name":"Haipeng Yao","orcid":"https://orcid.org/0000-0003-1391-7363"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haipeng Yao","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,State Key Laboratory of Networking and Switching Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,State Key Laboratory of Networking and Switching Technology,China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005621448","display_name":"Tianle Mai","orcid":"https://orcid.org/0000-0002-8500-1461"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianle Mai","raw_affiliation_strings":["School of Information and Electronics, Beijing Institute of Technology,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information and Electronics, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032454458","display_name":"Jiaqi Xu","orcid":"https://orcid.org/0000-0002-3539-181X"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaqi Xu","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,State Key Laboratory of Networking and Switching Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,State Key Laboratory of Networking and Switching Technology,China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029479000","display_name":"Ran Gao","orcid":"https://orcid.org/0000-0003-2666-1643"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ran Gao","raw_affiliation_strings":["School of Information and Electronics, Beijing Institute of Technology,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information and Electronics, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048649590","display_name":"Xiangjun Xin","orcid":"https://orcid.org/0000-0002-1690-056X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangjun Xin","raw_affiliation_strings":["School of Information and Electronics, Beijing Institute of Technology,Beijing,China,100081"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information and Electronics, Beijing Institute of Technology,Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.3626,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.93900703,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"63","issue":"12","first_page":"96","last_page":"102"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.4763999879360199,"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":0.4763999879360199,"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":0.16439999639987946,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.12300000339746475,"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/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5440000295639038},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5336999893188477},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5335000157356262},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4819999933242798},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.45210000872612},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.439300000667572},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4219000041484833},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.3962000012397766},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.37959998846054077}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8177000284194946},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5788999795913696},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5440000295639038},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5336999893188477},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5335000157356262},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4819999933242798},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.45210000872612},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.439300000667572},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4219000041484833},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.3962000012397766},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.37959998846054077},{"id":"https://openalex.org/C98025372","wikidata":"https://www.wikidata.org/wiki/Q477538","display_name":"Systems architecture","level":3,"score":0.34220001101493835},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3361999988555908},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.328900009393692},{"id":"https://openalex.org/C2778603505","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning system","level":3,"score":0.3262999951839447},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.3224000036716461},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.3154999911785126},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.31529998779296875},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31450000405311584},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.31349998712539673},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.28769999742507935},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.2825999855995178},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2825999855995178},{"id":"https://openalex.org/C19269812","wikidata":"https://www.wikidata.org/wiki/Q26540","display_name":"Satellite","level":2,"score":0.2718000113964081},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26269999146461487},{"id":"https://openalex.org/C2778075934","wikidata":"https://www.wikidata.org/wiki/Q17141406","display_name":"Positioning technology","level":2,"score":0.25589999556541443},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.25440001487731934}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mcom.001.2500169","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mcom.001.2500169","pdf_url":null,"source":{"id":"https://openalex.org/S158797327","display_name":"IEEE Communications Magazine","issn_l":"0163-6804","issn":["0163-6804","1558-1896"],"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 Communications Magazine","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3996813312","display_name":null,"funder_award_id":"2024YQTD02","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G5126607465","display_name":null,"funder_award_id":"U22B2033,62325203","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/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":15,"referenced_works":["https://openalex.org/W2119559506","https://openalex.org/W2792442555","https://openalex.org/W2946471930","https://openalex.org/W2981762858","https://openalex.org/W3112582623","https://openalex.org/W3197267564","https://openalex.org/W3213070675","https://openalex.org/W4285115390","https://openalex.org/W4285234298","https://openalex.org/W4376455162","https://openalex.org/W4381745244","https://openalex.org/W4395056432","https://openalex.org/W4396542138","https://openalex.org/W4400446538","https://openalex.org/W4403122902"],"related_works":[],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"unmanned":[3],"aerial":[4],"vehicle":[5],"(UAV)":[6],"swarm":[7],"technology":[8],"has":[9],"gained":[10],"significant":[11],"attention":[12],"for":[13,72,127,142],"its":[14,167],"adaptability":[15],"and":[16,32,44,62,69,100,121,144,163,169],"effectiveness":[17,170],"in":[18,22,171],"complex":[19,145,172],"environments.":[20,146],"However,":[21],"Global":[23],"Navigation":[24],"Satellite":[25],"System-denied":[26],"(GNSS-denied)":[27],"scenarios":[28],"such":[29],"as":[30],"mines":[31],"dense":[33],"forests,":[34],"UAV":[35,73,85],"swarms":[36],"face":[37],"major":[38],"challenges":[39],"due":[40],"to":[41],"unreliable":[42],"positioning":[43,112,161],"a":[45,57,78,109,115,122,137],"lack":[46],"of":[47,118],"environmental":[48],"awareness.":[49],"To":[50],"address":[51],"these":[52],"issues,":[53],"this":[54,105],"article":[55],"proposes":[56],"novel":[58],"integrated":[59,98,135],"communication,":[60],"positioning,":[61],"sensing":[63,102],"(ICPS)":[64],"architecture":[65,158],"that":[66,93,154],"enables":[67],"robust":[68],"autonomous":[70],"navigation":[71,139],"swarms.":[74],"Specifically,":[75],"we":[76,107],"design":[77],"unified":[79],"physical-layer":[80],"signal":[81,99],"framework,":[82],"where":[83],"each":[84],"is":[86],"equipped":[87],"with":[88],"dual":[89],"phased":[90],"array":[91],"antennas":[92],"separately":[94],"transmit":[95],"the":[96,101,155],"communication-positioning":[97],"signal.":[103],"On":[104],"basis,":[106],"develop":[108],"lightweight":[110],"relative":[111],"mechanism":[113,126],"using":[114],"small":[116],"number":[117],"anchor":[119],"UAVs,":[120],"sensing-based":[123],"obstacle":[124],"avoidance":[125],"dynamic":[128],"trajectory":[129],"planning.":[130],"These":[131],"two":[132],"modules":[133],"are":[134],"into":[136],"comprehensive":[138],"system":[140],"tailored":[141],"unknown":[143],"Experimental":[147],"results":[148],"under":[149],"various":[150],"noise":[151],"models":[152],"demonstrate":[153],"proposed":[156],"ICPS":[157],"achieves":[159],"high":[160],"accuracy":[162],"reliable":[164],"navigation,":[165],"validating":[166],"feasibility":[168],"real-world":[173],"conditions.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-12-11T00:21:10.989143","created_date":"2025-11-10T00:00:00"}