{"id":"https://openalex.org/W2288975689","doi":"https://doi.org/10.1109/robio.2015.7419704","title":"Unmanned aerial vehicles conflict detection and resolution in city airspace","display_name":"Unmanned aerial vehicles conflict detection and resolution in city airspace","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2288975689","doi":"https://doi.org/10.1109/robio.2015.7419704","mag":"2288975689"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7419704","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7419704","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5101924173","display_name":"Jian Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jian Yang","raw_affiliation_strings":["National University of Defense Technology, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100766340","display_name":"Dong Yin","orcid":"https://orcid.org/0000-0002-3867-5674"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Yin","raw_affiliation_strings":["National University of Defense Technology, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107748052","display_name":"Yifeng Niu","orcid":"https://orcid.org/0009-0001-5847-2575"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifeng Niu","raw_affiliation_strings":["National University of Defense Technology, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100394072","display_name":"Lei Zhu","orcid":"https://orcid.org/0000-0003-1685-7968"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Zhu","raw_affiliation_strings":["National University of Defense Technology, Changsha, Hunan, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101924173"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":0.8108,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.82970302,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2436","last_page":"2441"},"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":0.9987999796867371,"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":0.9973000288009644,"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/computer-science","display_name":"Computer science","score":0.6392888426780701},{"id":"https://openalex.org/keywords/conflict-resolution","display_name":"Conflict resolution","score":0.6235306859016418},{"id":"https://openalex.org/keywords/descent","display_name":"Descent (aeronautics)","score":0.5492904782295227},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.5360861420631409},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5324989557266235},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5081150531768799},{"id":"https://openalex.org/keywords/separation","display_name":"Separation (statistics)","score":0.4829484820365906},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.4674929678440094},{"id":"https://openalex.org/keywords/resolution","display_name":"Resolution (logic)","score":0.44085994362831116},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.43493330478668213},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.42825794219970703},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.41712772846221924},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.2705523371696472},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20002898573875427},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16804686188697815},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1647508442401886},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12968683242797852},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.0741594135761261}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6392888426780701},{"id":"https://openalex.org/C21711469","wikidata":"https://www.wikidata.org/wiki/Q1194317","display_name":"Conflict resolution","level":2,"score":0.6235306859016418},{"id":"https://openalex.org/C2776637919","wikidata":"https://www.wikidata.org/wiki/Q624380","display_name":"Descent (aeronautics)","level":2,"score":0.5492904782295227},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.5360861420631409},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5324989557266235},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5081150531768799},{"id":"https://openalex.org/C2776061190","wikidata":"https://www.wikidata.org/wiki/Q7451805","display_name":"Separation (statistics)","level":2,"score":0.4829484820365906},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.4674929678440094},{"id":"https://openalex.org/C138268822","wikidata":"https://www.wikidata.org/wiki/Q1051925","display_name":"Resolution (logic)","level":2,"score":0.44085994362831116},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.43493330478668213},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.42825794219970703},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.41712772846221924},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2705523371696472},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20002898573875427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16804686188697815},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1647508442401886},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12968683242797852},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0741594135761261},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7419704","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7419704","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1496148428","https://openalex.org/W1877902561","https://openalex.org/W1917426573","https://openalex.org/W2001227302","https://openalex.org/W2061605453","https://openalex.org/W2065898880","https://openalex.org/W2096224721","https://openalex.org/W2107292630","https://openalex.org/W2120794503","https://openalex.org/W2123359841","https://openalex.org/W2141730243","https://openalex.org/W2334067586"],"related_works":["https://openalex.org/W4285278887","https://openalex.org/W2365237642","https://openalex.org/W2995925505","https://openalex.org/W2773399470","https://openalex.org/W3116484972","https://openalex.org/W2941986668","https://openalex.org/W4232431455","https://openalex.org/W2047956094","https://openalex.org/W2478592842","https://openalex.org/W1980522505"],"abstract_inverted_index":{"Unmanned":[0],"air":[1],"vehicles":[2],"(UAVs)":[3],"have":[4],"recently":[5],"attracted":[6],"attention":[7],"of":[8,12,18,36,47,54,118,151],"many":[9],"researchers":[10],"because":[11],"their":[13],"potential":[14],"civilian":[15,31],"applications.":[16],"Many":[17],"these":[19],"applications":[20],"are":[21,28,122,153,172],"in":[22,38,73,174],"the":[23,55,77,116,124,138,149,155],"city":[24],"airspace.":[25],"Before":[26],"UAVs":[27,37,48,68,97,121,131,152],"used":[29],"for":[30,58],"applications,":[32],"a":[33,87,111],"systematic":[34],"integration":[35],"non-segregated":[39],"airspace":[40,78],"is":[41,61,71,81,93,101,108,132,140,159],"needed":[42],"that":[43],"allow":[44],"safe":[45,59,126],"operation":[46,60],"along":[49],"with":[50],"manned":[51],"aircrafts.":[52],"One":[53],"critical":[56],"capabilities":[57],"conflict":[62,79,90,98,105,119],"detection":[63,91],"and":[64,137],"resolution":[65,99,106],"(CD&R).":[66],"The":[67,95,104],"CD&R":[69],"problem":[70,80,107,139,158],"studied":[72,103],"this":[74],"paper.":[75],"Firstly,":[76],"analyzed":[82],"by":[83,142,161],"geometrical":[84],"method.":[85,168],"Secondly,":[86],"hierarchical":[88],"asynchronous":[89],"method":[92,100],"proposed.":[94],"cooperative":[96],"then":[102],"casted":[109],"to":[110],"nonlinear":[112,125,156],"optimization":[113,157],"problem.":[114],"When":[115,148],"speeds":[117,150],"involved":[120],"equal,":[123],"separation":[127],"constraint":[128],"between":[129],"two":[130,175],"transformed":[133],"into":[134],"linear":[135,145],"constraints":[136],"solved":[141,160],"mixed":[143],"integer":[144],"programming":[146],"(MILP).":[147],"unequal,":[154],"stochastic":[162],"parallel":[163],"gradient":[164],"descent":[165],"(SPGD)":[166],"based":[167],"Finally,":[169],"our":[170],"approaches":[171],"demonstrated":[173],"examples.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}