{"id":"https://openalex.org/W3194722497","doi":"https://doi.org/10.1109/mits.2021.3100062","title":"Multi-Agent Path Finding in Unmanned Aircraft System Traffic Management With Scheduling and Speed Variation","display_name":"Multi-Agent Path Finding in Unmanned Aircraft System Traffic Management With Scheduling and Speed Variation","publication_year":2021,"publication_date":"2021-08-18","ids":{"openalex":"https://openalex.org/W3194722497","doi":"https://doi.org/10.1109/mits.2021.3100062","mag":"3194722497"},"language":"en","primary_location":{"id":"doi:10.1109/mits.2021.3100062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2021.3100062","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"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 Intelligent Transportation Systems 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":"https://openalex.org/A5012021507","display_name":"Florence Ho","orcid":"https://orcid.org/0000-0003-4703-7727"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I184597095","display_name":"National Institute of Informatics","ror":"https://ror.org/04ksd4g47","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I184597095","https://openalex.org/I4210158934"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Florence Ho","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","National Institute of Informatics, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Informatics, Tokyo, Japan","institution_ids":["https://openalex.org/I184597095"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049100086","display_name":"Artur Gon\u00e7alves","orcid":"https://orcid.org/0000-0001-8765-7387"},"institutions":[{"id":"https://openalex.org/I184597095","display_name":"National Institute of Informatics","ror":"https://ror.org/04ksd4g47","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I184597095","https://openalex.org/I4210158934"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Artur Goncalves","raw_affiliation_strings":["National Institute of Informatics, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Informatics, Tokyo, Japan","institution_ids":["https://openalex.org/I184597095"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061763182","display_name":"Bastien Rigault","orcid":null},"institutions":[{"id":"https://openalex.org/I184597095","display_name":"National Institute of Informatics","ror":"https://ror.org/04ksd4g47","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I184597095","https://openalex.org/I4210158934"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Bastien Rigault","raw_affiliation_strings":["National Institute of Informatics, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Informatics, Tokyo, Japan","institution_ids":["https://openalex.org/I184597095"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020528744","display_name":"R\u00faben Geraldes","orcid":"https://orcid.org/0000-0003-1339-382X"},"institutions":[{"id":"https://openalex.org/I184597095","display_name":"National Institute of Informatics","ror":"https://ror.org/04ksd4g47","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I184597095","https://openalex.org/I4210158934"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ruben Geraldes","raw_affiliation_strings":["National Institute of Informatics, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Informatics, Tokyo, Japan","institution_ids":["https://openalex.org/I184597095"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074542510","display_name":"Alexandre Ch\u00edcharo","orcid":"https://orcid.org/0000-0002-5788-4316"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Alexandre Chicharo","raw_affiliation_strings":["University of Lisbon, Lisbon, Portugal"],"affiliations":[{"raw_affiliation_string":"University of Lisbon, Lisbon, Portugal","institution_ids":["https://openalex.org/I141596103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076006850","display_name":"Marc Cavazza","orcid":"https://orcid.org/0000-0001-6113-9696"},"institutions":[{"id":"https://openalex.org/I55060895","display_name":"University of Greenwich","ror":"https://ror.org/00bmj0a71","country_code":"GB","type":"education","lineage":["https://openalex.org/I55060895"]},{"id":"https://openalex.org/I184597095","display_name":"National Institute of Informatics","ror":"https://ror.org/04ksd4g47","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I184597095","https://openalex.org/I4210158934"]}],"countries":["GB","JP"],"is_corresponding":false,"raw_author_name":"Marc Cavazza","raw_affiliation_strings":["University of Greenwich, London, U.K","National Institute of Informatics, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"University of Greenwich, London, U.K","institution_ids":["https://openalex.org/I55060895"]},{"raw_affiliation_string":"National Institute of Informatics, Tokyo, Japan","institution_ids":["https://openalex.org/I184597095"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074421055","display_name":"Helmut Prendinger","orcid":"https://orcid.org/0000-0003-4654-9835"},"institutions":[{"id":"https://openalex.org/I184597095","display_name":"National Institute of Informatics","ror":"https://ror.org/04ksd4g47","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I184597095","https://openalex.org/I4210158934"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Helmut Prendinger","raw_affiliation_strings":["National Institute of Informatics, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Informatics, Tokyo, Japan","institution_ids":["https://openalex.org/I184597095"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5012021507"],"corresponding_institution_ids":["https://openalex.org/I184597095","https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":2.38,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.89152776,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"14","issue":"5","first_page":"8","last_page":"21"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11489","display_name":"Air Traffic Management and Optimization","score":0.9998000264167786,"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/T11489","display_name":"Air Traffic Management and Optimization","score":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9973999857902527,"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/takeoff","display_name":"Takeoff","score":0.9551547765731812},{"id":"https://openalex.org/keywords/takeoff-and-landing","display_name":"Takeoff and landing","score":0.8712482452392578},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.6972123980522156},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.572317361831665},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5607507228851318},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4507357180118561},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4316995143890381},{"id":"https://openalex.org/keywords/air-traffic-control","display_name":"Air traffic control","score":0.4244043231010437},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41802579164505005},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.37922415137290955},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25782203674316406},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21556225419044495},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08142253756523132},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.07660040259361267}],"concepts":[{"id":"https://openalex.org/C2777717826","wikidata":"https://www.wikidata.org/wiki/Q854248","display_name":"Takeoff","level":2,"score":0.9551547765731812},{"id":"https://openalex.org/C2780631144","wikidata":"https://www.wikidata.org/wiki/Q20046585","display_name":"Takeoff and landing","level":2,"score":0.8712482452392578},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.6972123980522156},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.572317361831665},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5607507228851318},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4507357180118561},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4316995143890381},{"id":"https://openalex.org/C166961238","wikidata":"https://www.wikidata.org/wiki/Q221395","display_name":"Air traffic control","level":2,"score":0.4244043231010437},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41802579164505005},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.37922415137290955},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25782203674316406},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21556225419044495},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08142253756523132},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.07660040259361267},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mits.2021.3100062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mits.2021.3100062","pdf_url":null,"source":{"id":"https://openalex.org/S131000621","display_name":"IEEE Intelligent Transportation Systems Magazine","issn_l":"1939-1390","issn":["1939-1390","1941-1197"],"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 Intelligent Transportation Systems Magazine","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320912","display_name":"Ministry of Education, Culture, Sports, Science and Technology","ror":"https://ror.org/048rj2z13"},{"id":"https://openalex.org/F4320321034","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W3359552","https://openalex.org/W1430351163","https://openalex.org/W1551562380","https://openalex.org/W1598987408","https://openalex.org/W1623377677","https://openalex.org/W1972022192","https://openalex.org/W1973396716","https://openalex.org/W2053742773","https://openalex.org/W2085865324","https://openalex.org/W2240003275","https://openalex.org/W2294562513","https://openalex.org/W2334067586","https://openalex.org/W2501547924","https://openalex.org/W2575733488","https://openalex.org/W2587852628","https://openalex.org/W2593887132","https://openalex.org/W2730530972","https://openalex.org/W2771641531","https://openalex.org/W2808404931","https://openalex.org/W2808475207","https://openalex.org/W2808540770","https://openalex.org/W2811438975","https://openalex.org/W2901071221","https://openalex.org/W2906418098","https://openalex.org/W2914296650","https://openalex.org/W2948520157","https://openalex.org/W2951673184","https://openalex.org/W2956047314","https://openalex.org/W2962969317","https://openalex.org/W2964572210","https://openalex.org/W2990693933","https://openalex.org/W3038024331","https://openalex.org/W3084065756","https://openalex.org/W6628497249","https://openalex.org/W6629161821","https://openalex.org/W6721983959","https://openalex.org/W6732388567","https://openalex.org/W6734932177","https://openalex.org/W6738126737","https://openalex.org/W6740638739","https://openalex.org/W6758754608","https://openalex.org/W6766393341","https://openalex.org/W6780284432","https://openalex.org/W6783273166"],"related_works":["https://openalex.org/W2787736607","https://openalex.org/W2471779853","https://openalex.org/W2499415631","https://openalex.org/W4252800133","https://openalex.org/W2772791324","https://openalex.org/W2566730525","https://openalex.org/W3169903108","https://openalex.org/W2037157418","https://openalex.org/W2977322510","https://openalex.org/W3086515615"],"abstract_inverted_index":{"The":[0],"development":[1],"of":[2,16,77,101,120,133,151,187,198,212],"an":[3],"unmanned":[4,17],"aircraft":[5],"system":[6,11],"(UAS)":[7],"traffic":[8],"management":[9],"(UTM)":[10],"for":[12,34,64],"the":[13,75,96,117,131,162,185,196,203,210],"safe":[14],"integration":[15],"aerial":[18],"vehicles":[19],"(UAVs)":[20],"requires":[21],"pre-flight":[22],"conflict":[23,152],"detection":[24],"and":[25,60,99,126,191,209],"resolution":[26,76,111,160,165,193],"(CDR)":[27],"methods":[28],"to":[29,72,94,104,157,161],"provide":[30],"collision-free":[31],"flight":[32,67,144,207,214],"paths":[33],"all":[35],"UAVs":[36],"before":[37],"takeoff.":[38],"A":[39],"popular":[40],"solution":[41],"consists":[42],"in":[43,74,80,179],"adapting":[44],"multi-agent":[45],"path":[46,208],"finding":[47],"(MAPF)":[48],"techniques.":[49,166],"However,":[50],"standard":[51],"MAPF":[52,89],"solvers":[53],"consider":[54],"only":[55],"a":[56,121,134,140,149,173],"fixed":[57,61],"takeoff":[58,97,114,188],"time":[59,119],"uniform":[62],"speed":[63,128,132],"each":[65,102],"UAV":[66,103,122,135,176],"path,":[68],"which":[69,91,154],"can":[70],"lead":[71],"inefficiencies":[73],"instances.":[78],"Therefore,":[79],"this":[81],"article,":[82],"we":[83,147],"propose":[84],"incorporating":[85],"scheduling":[86],"elements":[87],"into":[88],"solvers,":[90],"allows":[92],"us":[93,156],"adjust":[95],"times":[98],"speeds":[100],"solve":[105],"conflicts.":[106],"We":[107,167,182],"introduce":[108],"two":[109],"time-related":[110],"techniques:":[112],"1)":[113],"scheduling,":[115,189],"whereby":[116],"start":[118],"agent":[123,136],"is":[124,137],"delayed,":[125],"2)":[127],"adjustment,":[129],"wherein":[130],"decreased":[138],"over":[139],"segment":[141],"on":[142,172],"its":[143],"path.":[145],"Importantly,":[146],"present":[148],"distinction":[150],"types,":[153],"enables":[155],"combine":[158],"replanning":[159],"aforementioned":[163],"temporal":[164],"evaluate":[168],"our":[169],"proposed":[170],"approaches":[171],"realistic,":[174],"high-density":[175],"delivery":[177],"scenario":[178],"Tokyo,":[180],"Japan.":[181],"show":[183],"that":[184],"combination":[186],"replanning,":[190],"speed-adjustment":[192],"techniques":[194],"improves":[195],"efficiency":[197],"route":[199],"planning":[200],"by":[201],"reducing":[202],"average":[204],"delay":[205],"per":[206],"number":[211],"rejected":[213],"paths.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
