{"id":"https://openalex.org/W7138923334","doi":"https://doi.org/10.1109/mnet.2026.3671364","title":"Hierarchical Observe-Orient-Decide-Act Enabled UAV Swarms in Uncertain Environments: Frameworks, Potentials, and Challenges","display_name":"Hierarchical Observe-Orient-Decide-Act Enabled UAV Swarms in Uncertain Environments: Frameworks, Potentials, and Challenges","publication_year":2026,"publication_date":"2026-03-19","ids":{"openalex":"https://openalex.org/W7138923334","doi":"https://doi.org/10.1109/mnet.2026.3671364"},"language":null,"primary_location":{"id":"doi:10.1109/mnet.2026.3671364","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mnet.2026.3671364","pdf_url":null,"source":{"id":"https://openalex.org/S186584794","display_name":"IEEE Network","issn_l":"0890-8044","issn":["0890-8044","1558-156X"],"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 Network","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/A5129768178","display_name":"Ziye Jia","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziye Jia","raw_affiliation_strings":["College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-9281-4826","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130157866","display_name":"Yao Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Wu","raw_affiliation_strings":["College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-2085-9598","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101738391","display_name":"Quan Wu","orcid":"https://orcid.org/0000-0002-9521-5084"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qihui Wu","raw_affiliation_strings":["College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-9521-5084","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088093092","display_name":"Lijun He","orcid":"https://orcid.org/0000-0001-9000-845X"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijun He","raw_affiliation_strings":["School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-9000-845X","affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering, China University of Mining and Technology, Xuzhou, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Qiuming Zhu","orcid":"https://orcid.org/0000-0002-4995-5970"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiuming Zhu","raw_affiliation_strings":["College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-4995-5970","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011900098","display_name":"Fuhui Zhou","orcid":"https://orcid.org/0000-0001-6880-6244"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuhui Zhou","raw_affiliation_strings":["College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-6880-6244","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5130084989","display_name":"Zhu Han","orcid":null},"institutions":[{"id":"https://openalex.org/I44461941","display_name":"University of Houston","ror":"https://ror.org/048sx0r50","country_code":"US","type":"education","lineage":["https://openalex.org/I44461941"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhu Han","raw_affiliation_strings":["University of Houston, Houston, TX, USA"],"raw_orcid":"https://orcid.org/0000-0002-6606-5822","affiliations":[{"raw_affiliation_string":"University of Houston, Houston, TX, USA","institution_ids":["https://openalex.org/I44461941"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"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":0.46349864,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"40","issue":"4","first_page":"136","last_page":"144"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.8416000008583069,"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":0.8416000008583069,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.0658000037074089,"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/T11489","display_name":"Air Traffic Management and Optimization","score":0.009399999864399433,"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/adaptability","display_name":"Adaptability","score":0.8011999726295471},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7303000092506409},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.6615999937057495},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.44339999556541443},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.435699999332428},{"id":"https://openalex.org/keywords/virtualization","display_name":"Virtualization","score":0.38690000772476196},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.375},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.36719998717308044}],"concepts":[{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.8011999726295471},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7724000215530396},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7303000092506409},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.6615999937057495},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4925000071525574},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.44339999556541443},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.435699999332428},{"id":"https://openalex.org/C513985346","wikidata":"https://www.wikidata.org/wiki/Q270471","display_name":"Virtualization","level":3,"score":0.38690000772476196},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.375},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.36719998717308044},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3621000051498413},{"id":"https://openalex.org/C93996380","wikidata":"https://www.wikidata.org/wiki/Q44127","display_name":"Server","level":2,"score":0.3301999866962433},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3203999996185303},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.3203999996185303},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.304500013589859},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.30410000681877136},{"id":"https://openalex.org/C506615639","wikidata":"https://www.wikidata.org/wiki/Q21662260","display_name":"Command and control","level":2,"score":0.289900004863739},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.28760001063346863},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2840000092983246},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.26600000262260437},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.26499998569488525},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.2605000138282776},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.25540000200271606}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mnet.2026.3671364","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mnet.2026.3671364","pdf_url":null,"source":{"id":"https://openalex.org/S186584794","display_name":"IEEE Network","issn_l":"0890-8044","issn":["0890-8044","1558-156X"],"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 Network","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.7954033613204956,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Uncrewed":[0],"aerial":[1],"vehicle":[2],"(UAV)":[3],"swarms":[4,23],"are":[5,50,161],"increasingly":[6],"explored":[7],"for":[8,77,166],"their":[9,53],"potentials":[10],"in":[11,58,65,82],"various":[12],"applications":[13],"such":[14],"as":[15],"surveillance,":[16],"disaster":[17],"response,":[18],"and":[19,30,35,47,55,98,109,125,132,148,158],"military.":[20],"However,":[21],"UAV":[22,79,135,171],"face":[24],"significant":[25],"challenges":[26,157],"of":[27,134,150],"implementing":[28],"effective":[29],"rapid":[31],"decisions":[32],"under":[33],"dynamic":[34],"uncertain":[36,83],"environments.":[37,60],"The":[38],"traditional":[39],"decision-making":[40,111,124],"frameworks,":[41],"mainly":[42],"relying":[43],"on":[44,116],"centralized":[45],"control":[46,127],"rigid":[48],"architectures,":[49],"limited":[51],"by":[52,88],"adaptability":[54,131],"scalability":[56],"especially":[57],"complex":[59],"To":[61],"overcome":[62],"these":[63],"challenges,":[64],"this":[66],"paper,":[67],"we":[68,121,138],"propose":[69],"a":[70],"hierarchical":[71],"Observe-Orient-Decide-Act":[72],"(H-OODA)":[73],"loop":[74,93],"based":[75,115],"framework":[76],"the":[78,90,95,100,117,130,146,151,155,167],"swarm":[80],"operation":[81],"environments,":[84],"which":[85],"is":[86],"implemented":[87],"embedding":[89],"classical":[91],"OODA":[92],"across":[94],"cloud-edge-terminal":[96],"layers,":[97],"leveraging":[99],"network":[101],"function":[102],"virtualization":[103],"(NFV)":[104],"technology":[105],"to":[106,128,144,163],"provide":[107,164],"flexible":[108],"scalable":[110],"functions.":[112],"In":[113],"addition,":[114],"proposed":[118,152],"H-OODA":[119,169],"framework,":[120],"joint":[122],"autonomous":[123],"cooperative":[126],"enhance":[129],"efficiency":[133,149],"swarms.":[136,172],"Furthermore,":[137],"present":[139],"some":[140],"typical":[141],"case":[142],"studies":[143],"verify":[145],"improvement":[147],"framework.":[153],"Finally,":[154],"potential":[156],"possible":[159],"directions":[160],"analyzed":[162],"insights":[165],"future":[168],"enabled":[170]},"counts_by_year":[],"updated_date":"2026-07-16T05:54:29.318815","created_date":"2026-03-20T00:00:00"}
