{"id":"https://openalex.org/W2626930290","doi":"https://doi.org/10.1109/taes.2017.2714898","title":"Collision Avoidance Strategies for Unmanned Aerial Vehicles in Formation Flight","display_name":"Collision Avoidance Strategies for Unmanned Aerial Vehicles in Formation Flight","publication_year":2017,"publication_date":"2017-06-13","ids":{"openalex":"https://openalex.org/W2626930290","doi":"https://doi.org/10.1109/taes.2017.2714898","mag":"2626930290"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2017.2714898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2017.2714898","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://dspace.lib.cranfield.ac.uk/handle/1826/12401","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112386836","display_name":"Joongbo Seo","orcid":null},"institutions":[{"id":"https://openalex.org/I2801036362","display_name":"Agency for Defense Development","ror":"https://ror.org/05fhe0r85","country_code":"KR","type":"government","lineage":["https://openalex.org/I1327899338","https://openalex.org/I1344042128","https://openalex.org/I2801036362","https://openalex.org/I2801339556"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Joongbo Seo","raw_affiliation_strings":["Agency for Defense Development, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agency for Defense Development, Seoul, South Korea","institution_ids":["https://openalex.org/I2801036362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006517279","display_name":"Youdan Kim","orcid":"https://orcid.org/0000-0001-5041-8243"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youdan Kim","raw_affiliation_strings":["Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-5041-8243","affiliations":[{"raw_affiliation_string":"Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022054767","display_name":"Seungkeun Kim","orcid":"https://orcid.org/0000-0001-6163-622X"},"institutions":[{"id":"https://openalex.org/I196345858","display_name":"Chungnam National University","ror":"https://ror.org/0227as991","country_code":"KR","type":"education","lineage":["https://openalex.org/I196345858"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seungkeun Kim","raw_affiliation_strings":["Chungnam National University, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chungnam National University, Daejeon, South Korea","institution_ids":["https://openalex.org/I196345858"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085012064","display_name":"Antonios Tsourdos","orcid":"https://orcid.org/0000-0002-3966-7633"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Antonios Tsourdos","raw_affiliation_strings":["Cranfield University, Cranfield, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cranfield University, Cranfield, U.K","institution_ids":["https://openalex.org/I82284825"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.6022,"has_fulltext":false,"cited_by_count":166,"citation_normalized_percentile":{"value":0.97634213,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"53","issue":"6","first_page":"2718","last_page":"2734"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994999766349792,"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/T12158","display_name":"Guidance and Control Systems","score":0.9991999864578247,"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/collision-avoidance","display_name":"Collision avoidance","score":0.9320998191833496},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6363782286643982},{"id":"https://openalex.org/keywords/envelope","display_name":"Envelope (radar)","score":0.604367196559906},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5961870551109314},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5239149332046509},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.5108091831207275},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47523072361946106},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4470144808292389},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.44444775581359863},{"id":"https://openalex.org/keywords/line-of-sight","display_name":"Line-of-sight","score":0.43203437328338623},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4281243681907654},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41706860065460205},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.41544488072395325},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37949448823928833},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2950156629085541},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2887866497039795},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.25783389806747437},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23785382509231567},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.23688861727714539},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1959376335144043},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09891551733016968},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.08851572871208191}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.9320998191833496},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6363782286643982},{"id":"https://openalex.org/C65155139","wikidata":"https://www.wikidata.org/wiki/Q5380912","display_name":"Envelope (radar)","level":3,"score":0.604367196559906},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5961870551109314},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5239149332046509},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.5108091831207275},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47523072361946106},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4470144808292389},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.44444775581359863},{"id":"https://openalex.org/C2780928442","wikidata":"https://www.wikidata.org/wiki/Q6553027","display_name":"Line-of-sight","level":2,"score":0.43203437328338623},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4281243681907654},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41706860065460205},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.41544488072395325},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37949448823928833},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2950156629085541},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2887866497039795},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.25783389806747437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23785382509231567},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.23688861727714539},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1959376335144043},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09891551733016968},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.08851572871208191},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/taes.2017.2714898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2017.2714898","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"},{"id":"pmh:oai:dspace.lib.cranfield.ac.uk:1826/12401","is_oa":true,"landing_page_url":"https://dspace.lib.cranfield.ac.uk/handle/1826/12401","pdf_url":null,"source":{"id":"https://openalex.org/S4306401778","display_name":"CERES (Cranfield University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82284825","host_organization_name":"Cranfield University","host_organization_lineage":["https://openalex.org/I82284825"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:dspace.lib.cranfield.ac.uk:1826/12401","is_oa":true,"landing_page_url":"https://dspace.lib.cranfield.ac.uk/handle/1826/12401","pdf_url":null,"source":{"id":"https://openalex.org/S4306401778","display_name":"CERES (Cranfield University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82284825","host_organization_name":"Cranfield University","host_organization_lineage":["https://openalex.org/I82284825"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W615449195","https://openalex.org/W1504650852","https://openalex.org/W1506012254","https://openalex.org/W1530549667","https://openalex.org/W1555553799","https://openalex.org/W1574514837","https://openalex.org/W1925781906","https://openalex.org/W1965479391","https://openalex.org/W1971441460","https://openalex.org/W1977589712","https://openalex.org/W1983961745","https://openalex.org/W1995286048","https://openalex.org/W2007588648","https://openalex.org/W2018284273","https://openalex.org/W2023086460","https://openalex.org/W2025421018","https://openalex.org/W2029243518","https://openalex.org/W2030276658","https://openalex.org/W2042733674","https://openalex.org/W2052020935","https://openalex.org/W2053407718","https://openalex.org/W2068387210","https://openalex.org/W2084916646","https://openalex.org/W2086364863","https://openalex.org/W2087533777","https://openalex.org/W2093778275","https://openalex.org/W2094079887","https://openalex.org/W2097771046","https://openalex.org/W2100815285","https://openalex.org/W2104202960","https://openalex.org/W2104791554","https://openalex.org/W2113286054","https://openalex.org/W2119212765","https://openalex.org/W2119233207","https://openalex.org/W2122800638","https://openalex.org/W2123338852","https://openalex.org/W2124357573","https://openalex.org/W2124497430","https://openalex.org/W2134475023","https://openalex.org/W2136947569","https://openalex.org/W2139024087","https://openalex.org/W2139753317","https://openalex.org/W2149853976","https://openalex.org/W2150401107","https://openalex.org/W2164490572","https://openalex.org/W2170942374","https://openalex.org/W2180959889","https://openalex.org/W2238577344","https://openalex.org/W2266413714","https://openalex.org/W2316242150","https://openalex.org/W2319019484","https://openalex.org/W2319257806","https://openalex.org/W2329087169","https://openalex.org/W2332123745","https://openalex.org/W2332269960","https://openalex.org/W2332823882","https://openalex.org/W2334123211","https://openalex.org/W2417601765","https://openalex.org/W2499597001","https://openalex.org/W3176191157","https://openalex.org/W4285719527","https://openalex.org/W6640323603","https://openalex.org/W6693577392"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W2794689129","https://openalex.org/W2785353696","https://openalex.org/W2355860162","https://openalex.org/W2022120107","https://openalex.org/W2624388109","https://openalex.org/W4322628047","https://openalex.org/W2102947728"],"abstract_inverted_index":{"Collision":[0],"avoidance":[1,105],"strategies":[2,19],"for":[3,76,87],"multiple":[4],"unmanned":[5],"aerial":[6],"vehicles":[7],"(UAVs)":[8],"based":[9],"on":[10,102],"geometry":[11],"are":[12,61,74,99,126],"investigated":[13],"in":[14,63,109],"this":[15],"study.":[16],"The":[17,48],"proposed":[18,134],"allow":[20],"a":[21,33,110],"group":[22],"of":[23,46,132],"UAVs":[24],"to":[25,44,83,128],"avoid":[26],"obstacles":[27],"and":[28,54,72,94],"separate":[29],"if":[30],"necessary":[31],"through":[32],"simple":[34],"algorithm":[35],"with":[36],"low":[37],"computation":[38],"by":[39],"expanding":[40],"the":[41,64,103,114,130,133],"collision-cone":[42],"approach":[43,50],"formation":[45,111,115],"UAVs.":[47],"geometric":[49],"uses":[51],"line-of-sight":[52],"vectors":[53,57],"relative":[55],"velocity":[56],"where":[58,90],"dynamic":[59],"constraints":[60],"included":[62],"formation.":[65],"Each":[66],"UAV":[67,108],"can":[68,116],"determine":[69],"which":[70],"plane":[71],"direction":[73],"available":[75],"collision":[77,88,104],"avoidance.":[78],"An":[79],"analysis":[80],"is":[81],"performed":[82,127],"define":[84],"an":[85],"envelope":[86],"avoidance,":[89],"angular":[91],"rate":[92],"limits":[93,98],"obstacle":[95],"detection":[96],"range":[97],"considered.":[100],"Based":[101],"envelope,":[106],"each":[107],"determines":[112],"whether":[113],"be":[117],"maintained":[118],"or":[119],"not":[120],"while":[121],"avoiding":[122],"obstacles.":[123],"Numerical":[124],"simulations":[125],"demonstrate":[129],"performance":[131],"strategies.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":22},{"year":2023,"cited_by_count":28},{"year":2022,"cited_by_count":21},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":19},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
