{"id":"https://openalex.org/W7117884631","doi":"https://doi.org/10.1109/milcom64451.2025.11309966","title":"VF-RRT*-PSO: A Decentralized Planning Framework for Multi-UAV Systems in Cluttered Environments","display_name":"VF-RRT*-PSO: A Decentralized Planning Framework for Multi-UAV Systems in Cluttered Environments","publication_year":2025,"publication_date":"2025-10-06","ids":{"openalex":"https://openalex.org/W7117884631","doi":"https://doi.org/10.1109/milcom64451.2025.11309966"},"language":"en","primary_location":{"id":"doi:10.1109/milcom64451.2025.11309966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/milcom64451.2025.11309966","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"MILCOM 2025 - 2025 IEEE Military Communications Conference (MILCOM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5121725580","display_name":"Mohammad Ibrahim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166245","display_name":"Fraunhofer Institute for Communication, Information Processing and Ergonomics","ror":"https://ror.org/05nn0gw40","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210166245","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mohammad Ibrahim","raw_affiliation_strings":["Fraunhofer FKIE,ITF &#x2013; Architecture of Distributed Command Systems,Wachtberg,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer FKIE,ITF &#x2013; Architecture of Distributed Command Systems,Wachtberg,Germany","institution_ids":["https://openalex.org/I4210166245"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042425283","display_name":"Andreas Mauthe","orcid":"https://orcid.org/0000-0002-8727-9440"},"institutions":[{"id":"https://openalex.org/I16264642","display_name":"Koblenz University of Applied Sciences","ror":"https://ror.org/04j351e79","country_code":"DE","type":"education","lineage":["https://openalex.org/I16264642"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Mauthe","raw_affiliation_strings":["University of Koblenz,Institute for IT and Data Security,Koblenz,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Koblenz,Institute for IT and Data Security,Koblenz,Germany","institution_ids":["https://openalex.org/I16264642"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5121734202","display_name":"Thies M\u00f6hlenhof","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166245","display_name":"Fraunhofer Institute for Communication, Information Processing and Ergonomics","ror":"https://ror.org/05nn0gw40","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210166245","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thies M\u00f6hlenhof","raw_affiliation_strings":["Fraunhofer FKIE,ITF &#x2013; Architecture of Distributed Command Systems,Wachtberg,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fraunhofer FKIE,ITF &#x2013; Architecture of Distributed Command Systems,Wachtberg,Germany","institution_ids":["https://openalex.org/I4210166245"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9843000173568726,"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":0.9843000173568726,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.002099999925121665,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.0019000000320374966,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/motion-planning","display_name":"Motion planning","score":0.7401999831199646},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6736000180244446},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6394000053405762},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.6230000257492065},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6212999820709229},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6151000261306763},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5849999785423279},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4607999920845032}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7401999831199646},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6736000180244446},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6394000053405762},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.6230000257492065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6215000152587891},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6212999820709229},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6151000261306763},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5849999785423279},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4607999920845032},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4595000147819519},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.4544999897480011},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.41510000824928284},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4009000062942505},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.3887999951839447},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.3833000063896179},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.37869998812675476},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.3409999907016754},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.32659998536109924},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3003000020980835},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.29829999804496765},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.29319998621940613},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2881999909877777},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2816999852657318},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.25589999556541443}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/milcom64451.2025.11309966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/milcom64451.2025.11309966","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"MILCOM 2025 - 2025 IEEE Military Communications Conference (MILCOM)","raw_type":"proceedings-article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/510934","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/510934","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2005173577","https://openalex.org/W2103120971","https://openalex.org/W2152100799","https://openalex.org/W2171058644","https://openalex.org/W3014630000","https://openalex.org/W4284899383","https://openalex.org/W4312562931","https://openalex.org/W4386350850","https://openalex.org/W4393164638","https://openalex.org/W4403689712","https://openalex.org/W4414431462"],"related_works":[],"abstract_inverted_index":{"We":[0],"present":[1],"VF-RRT<sup":[2,82],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[3,27,83],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u22c6</sup>\u2013PSO,":[4],"a":[5,50],"fully":[6],"decentralized":[7],"framework":[8],"for":[9,29,44,55,95],"Multi-UAV":[10],"Cooperative":[11],"Path":[12],"Planning":[13],"(MUCPP)":[14],"in":[15,63,75,102],"partially":[16],"known,":[17],"obstacle-dense":[18],"environments.":[19,77],"The":[20],"system":[21],"integrates":[22],"(i)":[23],"vector":[24,60],"field\u2013guided":[25],"RRT<sup":[26],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u22c6</sup>":[28],"fast,":[30],"goal-oriented":[31],"global":[32],"path":[33,69,88],"initialization,":[34],"(ii)":[35],"particle":[36],"swarm":[37],"optimization":[38],"(PSO)":[39],"with":[40],"adaptive":[41],"topology":[42],"switching":[43],"multi-objective":[45],"trajectory":[46],"refinement,":[47],"and":[48,66,71,90,105],"(iii)":[49],"lightweight":[51],"leader\u2013follower":[52],"coordination":[53],"scheme":[54],"scalable":[56],"conflict":[57],"resolution.":[58],"Consistent":[59],"field":[61],"guidance":[62],"both":[64],"planning":[65],"refinement":[67],"preserves":[68],"quality":[70],"enhances":[72],"obstacle":[73],"avoidance":[74],"cluttered":[76],"Across":[78],"diverse":[79],"benchmark":[80],"scenarios,":[81],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u22c6</sup>\u2013PSO":[84],"reduces":[85],"collisions,":[86],"shortens":[87],"lengths,":[89],"maintains":[91],"sub-quadratic":[92],"runtime":[93],"growth":[94],"large":[96],"UAV":[97],"teams,":[98],"outperforming":[99],"established":[100],"baselines":[101],"safety,":[103],"efficiency,":[104],"scalability.":[106]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-01-01T00:00:00"}