{"id":"https://openalex.org/W2030931217","doi":"https://doi.org/10.1109/sarnof.2012.6222723","title":"Particle swarm optimization based topology control mechanism for holonomic unmanned vehicles operating in three-dimensional space","display_name":"Particle swarm optimization based topology control mechanism for holonomic unmanned vehicles operating in three-dimensional space","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2030931217","doi":"https://doi.org/10.1109/sarnof.2012.6222723","mag":"2030931217"},"language":"en","primary_location":{"id":"doi:10.1109/sarnof.2012.6222723","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sarnof.2012.6222723","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 35th IEEE Sarnoff Symposium","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/A5039104765","display_name":"Jianmin Zou","orcid":null},"institutions":[{"id":"https://openalex.org/I125687163","display_name":"City College of New York","ror":"https://ror.org/00wmhkr98","country_code":"US","type":"education","lineage":["https://openalex.org/I125687163"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jianmin Zou","raw_affiliation_strings":["Department of Electrical Engineering, City College of New York, NY, USA","Department of Electrical Engineering, The City College of New York, NY, 10031"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, City College of New York, NY, USA","institution_ids":["https://openalex.org/I125687163"]},{"raw_affiliation_string":"Department of Electrical Engineering, The City College of New York, NY, 10031","institution_ids":["https://openalex.org/I125687163"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110464791","display_name":"Stephen Gundry","orcid":null},"institutions":[{"id":"https://openalex.org/I125687163","display_name":"City College of New York","ror":"https://ror.org/00wmhkr98","country_code":"US","type":"education","lineage":["https://openalex.org/I125687163"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen Gundry","raw_affiliation_strings":["Department of Electrical Engineering, City College of New York, NY, USA","Department of Electrical Engineering, The City College of New York, NY, 10031"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, City College of New York, NY, USA","institution_ids":["https://openalex.org/I125687163"]},{"raw_affiliation_string":"Department of Electrical Engineering, The City College of New York, NY, 10031","institution_ids":["https://openalex.org/I125687163"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046478721","display_name":"Janusz Kusyk","orcid":null},"institutions":[{"id":"https://openalex.org/I121847817","display_name":"The Graduate Center, CUNY","ror":"https://ror.org/00awd9g61","country_code":"US","type":"education","lineage":["https://openalex.org/I121847817"]},{"id":"https://openalex.org/I174216632","display_name":"City University of New York","ror":"https://ror.org/00453a208","country_code":"US","type":"education","lineage":["https://openalex.org/I174216632"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Janusz Kusyk","raw_affiliation_strings":["The Graduate Center, City University of New York, NY, USA","The Graduate Center of the City University of New York, NY 10016"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Graduate Center, City University of New York, NY, USA","institution_ids":["https://openalex.org/I174216632","https://openalex.org/I121847817"]},{"raw_affiliation_string":"The Graduate Center of the City University of New York, NY 10016","institution_ids":["https://openalex.org/I174216632","https://openalex.org/I121847817"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070216074","display_name":"Cem \u015eahin","orcid":null},"institutions":[{"id":"https://openalex.org/I201377164","display_name":"BAE Systems (Sweden)","ror":"https://ror.org/00yewjk07","country_code":"SE","type":"company","lineage":["https://openalex.org/I201377164","https://openalex.org/I4210143731"]},{"id":"https://openalex.org/I4210117222","display_name":"BAE Systems (United States)","ror":"https://ror.org/02fctgp09","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117222","https://openalex.org/I4210143731"]}],"countries":["SE","US"],"is_corresponding":false,"raw_author_name":"Cem Safak Sahin","raw_affiliation_strings":["AIT, BAE Systems, Burlington, MA, USA","BAE Systems - AIT, Burlington, MA 01803"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AIT, BAE Systems, Burlington, MA, USA","institution_ids":["https://openalex.org/I4210117222"]},{"raw_affiliation_string":"BAE Systems - AIT, Burlington, MA 01803","institution_ids":["https://openalex.org/I201377164"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060658112","display_name":"M. \u00dcmit Uyar","orcid":"https://orcid.org/0000-0001-6268-8259"},"institutions":[{"id":"https://openalex.org/I125687163","display_name":"City College of New York","ror":"https://ror.org/00wmhkr98","country_code":"US","type":"education","lineage":["https://openalex.org/I125687163"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Umit Uyar","raw_affiliation_strings":["Department of Electrical Engineering, City College of New York, NY, USA","Department of Electrical Engineering, The City College of New York, NY, 10031"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, City College of New York, NY, USA","institution_ids":["https://openalex.org/I125687163"]},{"raw_affiliation_string":"Department of Electrical Engineering, The City College of New York, NY, 10031","institution_ids":["https://openalex.org/I125687163"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1179,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.79314915,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"52","issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991000294685364,"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/T11133","display_name":"UAV Applications and Optimization","score":0.998199999332428,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.7508172392845154},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6820589900016785},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5435178279876709},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5127400159835815},{"id":"https://openalex.org/keywords/topology-control","display_name":"Topology control","score":0.5090193748474121},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.49229538440704346},{"id":"https://openalex.org/keywords/wireless-sensor-network","display_name":"Wireless sensor network","score":0.46711835265159607},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.441609263420105},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4254947304725647},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.34295138716697693},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.29068031907081604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27535098791122437},{"id":"https://openalex.org/keywords/wireless-network","display_name":"Wireless network","score":0.24836024641990662},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1709693968296051},{"id":"https://openalex.org/keywords/key-distribution-in-wireless-sensor-networks","display_name":"Key distribution in wireless sensor networks","score":0.15208446979522705},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14626577496528625},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.12922149896621704},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09931766986846924}],"concepts":[{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.7508172392845154},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6820589900016785},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5435178279876709},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5127400159835815},{"id":"https://openalex.org/C2778034918","wikidata":"https://www.wikidata.org/wiki/Q3689301","display_name":"Topology control","level":5,"score":0.5090193748474121},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.49229538440704346},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.46711835265159607},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.441609263420105},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4254947304725647},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.34295138716697693},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.29068031907081604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27535098791122437},{"id":"https://openalex.org/C108037233","wikidata":"https://www.wikidata.org/wiki/Q11375","display_name":"Wireless network","level":3,"score":0.24836024641990662},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1709693968296051},{"id":"https://openalex.org/C41971633","wikidata":"https://www.wikidata.org/wiki/Q6398155","display_name":"Key distribution in wireless sensor networks","level":4,"score":0.15208446979522705},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14626577496528625},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.12922149896621704},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09931766986846924},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sarnof.2012.6222723","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sarnof.2012.6222723","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 35th IEEE Sarnoff Symposium","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1972968327","https://openalex.org/W1982951657","https://openalex.org/W1985958974","https://openalex.org/W2003363871","https://openalex.org/W2033918251","https://openalex.org/W2042960684","https://openalex.org/W2068606369","https://openalex.org/W2101647796","https://openalex.org/W2107711988","https://openalex.org/W2127711722","https://openalex.org/W2144244247","https://openalex.org/W2150478139","https://openalex.org/W2152195021","https://openalex.org/W2158478541","https://openalex.org/W2159183929","https://openalex.org/W2165299997","https://openalex.org/W6667508465"],"related_works":["https://openalex.org/W2770234245","https://openalex.org/W96612179","https://openalex.org/W4229499248","https://openalex.org/W2566006169","https://openalex.org/W4288714711","https://openalex.org/W1567818861","https://openalex.org/W3200708550","https://openalex.org/W2987774938","https://openalex.org/W2736680465","https://openalex.org/W2133833450"],"abstract_inverted_index":{"Wireless":[0],"sensor":[1],"networks":[2],"(WSNs)":[3],"are":[4],"increasingly":[5],"being":[6],"used":[7,128],"to":[8,34,70,77,98,107],"acquire":[9],"information":[10,91],"in":[11,26,57,63,129],"harsh":[12],"and":[13,18,74,132],"inaccessible":[14],"environments":[15,29],"including":[16],"underwater":[17],"aerial":[19],"theatres.":[20],"Self-deployment":[21],"of":[22,126,138],"autonomous":[23],"mobile":[24],"assets":[25],"three-dimensional":[27],"(3D)":[28],"is":[30,68],"a":[31,43,109],"critical":[32],"task":[33],"efficiently":[35],"create":[36],"WSNs.":[37],"In":[38],"this":[39],"paper,":[40],"we":[41],"present":[42],"topology":[44],"control":[45],"mechanism":[46],"called":[47],"3D-PSO,":[48,131],"based":[49],"on":[50],"particle":[51],"swarm":[52],"optimization":[53],"algorithm":[54],"(PSO)":[55],"running":[56],"holonomic":[58],"unmanned":[59],"vehicles":[60],"(HUVs)":[61],"operating":[62],"3D":[64,105],"space.":[65],"Each":[66],"HUV":[67],"able":[69],"adjust":[71],"its":[72],"speed":[73],"movement":[75,100],"direction":[76],"achieve":[78],"better":[79],"fitness":[80],"location":[81],"using":[82],"our":[83,130],"3D-PSO.":[84,139],"We":[85],"demonstrate":[86,119],"that":[87,120],"3D-PSO":[88],"uses":[89],"limited":[90],"collected":[92],"from":[93],"each":[94],"HUVs":[95],"local":[96],"neighbors":[97],"make":[99],"decisions":[101],"over":[102],"an":[103],"unknown":[104],"space":[106],"obtain":[108],"uniform":[110],"spatial":[111],"distribution":[112],"while":[113],"maintaining":[114],"network":[115],"connectivity.":[116],"Simulation":[117],"experiments":[118],"parameters":[121],"such":[122],"as":[123],"the":[124,136],"number":[125],"iterations":[127],"acceleration":[133],"coefficients":[134],"influence":[135],"efficiency":[137]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
