{"id":"https://openalex.org/W7105999107","doi":"https://doi.org/10.1109/taes.2025.3634071","title":"Multi-AAV Cooperative Target Consensus Detection and Trajectory Optimization in Urban Environments","display_name":"Multi-AAV Cooperative Target Consensus Detection and Trajectory Optimization in Urban Environments","publication_year":2025,"publication_date":"2025-11-19","ids":{"openalex":"https://openalex.org/W7105999107","doi":"https://doi.org/10.1109/taes.2025.3634071"},"language":null,"primary_location":{"id":"doi:10.1109/taes.2025.3634071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2025.3634071","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Kunzhong Miao","orcid":"https://orcid.org/0000-0001-5972-3762"},"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":"Kunzhong Miao","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Hunan, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chang Wang","orcid":"https://orcid.org/0000-0003-0161-0591"},"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":"Chang Wang","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Hunan, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":null,"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":["College of Intelligence Science and Technology, National University of Defense Technology, Hunan, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Huangzhi Yu","orcid":"https://orcid.org/0009-0009-9386-2745"},"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":"Huangzhi Yu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Hunan, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":null,"display_name":"Tianqing Liu","orcid":"https://orcid.org/0009-0004-5271-6606"},"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":"Tianqing Liu","raw_affiliation_strings":["College of Intelligence Science and Technology, National University of Defense Technology, Hunan, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence Science and Technology, National University of Defense Technology, Hunan, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.58762124,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"62","issue":null,"first_page":"1978","last_page":"1993"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.7935000061988831,"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":0.7935000061988831,"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":0.04659999907016754,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.03999999910593033,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.708299994468689},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.489300012588501},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.48240000009536743},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4578000009059906},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.41780000925064087},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.41110000014305115},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.4041000008583069},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.39559999108314514},{"id":"https://openalex.org/keywords/probability-density-function","display_name":"Probability density function","score":0.3560999929904938},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.3422999978065491}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.708299994468689},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6413999795913696},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.489300012588501},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.48240000009536743},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4578000009059906},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.41780000925064087},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4142000079154968},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.41110000014305115},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.4041000008583069},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.39559999108314514},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36579999327659607},{"id":"https://openalex.org/C197055811","wikidata":"https://www.wikidata.org/wiki/Q207522","display_name":"Probability density function","level":2,"score":0.3560999929904938},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.3422999978065491},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3416000008583069},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3409000039100647},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3384999930858612},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.323199987411499},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3190999925136566},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.31869998574256897},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.3107999861240387},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.3043999969959259},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.2994999885559082},{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.29120001196861267},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.2874000072479248},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.28630000352859497},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2847000062465668},{"id":"https://openalex.org/C2775907273","wikidata":"https://www.wikidata.org/wiki/Q7805281","display_name":"Time constraint","level":2,"score":0.2824999988079071},{"id":"https://openalex.org/C149441793","wikidata":"https://www.wikidata.org/wiki/Q200726","display_name":"Probability distribution","level":2,"score":0.2745000123977661},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.2669999897480011},{"id":"https://openalex.org/C207201462","wikidata":"https://www.wikidata.org/wiki/Q182505","display_name":"Bayes' theorem","level":3,"score":0.26440000534057617},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.2563999891281128},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2025.3634071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2025.3634071","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8204524517059326,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2007437149","display_name":null,"funder_award_id":"61876187","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5739536401","display_name":null,"funder_award_id":"62576349","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1980610687","https://openalex.org/W2034493736","https://openalex.org/W2054657157","https://openalex.org/W2080625076","https://openalex.org/W2081511162","https://openalex.org/W2102213208","https://openalex.org/W2105700564","https://openalex.org/W2173586229","https://openalex.org/W2343763839","https://openalex.org/W2397068405","https://openalex.org/W2517295938","https://openalex.org/W2593101278","https://openalex.org/W2604436698","https://openalex.org/W2679375846","https://openalex.org/W2750697947","https://openalex.org/W2891228419","https://openalex.org/W2999032021","https://openalex.org/W3012489941","https://openalex.org/W3094093649","https://openalex.org/W3095174526","https://openalex.org/W3134384029","https://openalex.org/W3138743904","https://openalex.org/W3172993807","https://openalex.org/W3184562795","https://openalex.org/W3217285792","https://openalex.org/W4226094091","https://openalex.org/W4321195197","https://openalex.org/W4385885225","https://openalex.org/W4391559308","https://openalex.org/W4410735303","https://openalex.org/W4413465890"],"related_works":[],"abstract_inverted_index":{"As":[0],"the":[1,46,57,73,84,181,184],"demand":[2],"for":[3,113],"autonomous":[4],"reconnaissance":[5],"in":[6,64],"urban":[7,65],"environments":[8],"grows,":[9],"target":[10,38,87,127],"loss":[11],"occurs":[12],"when":[13,157],"multiple":[14],"unmanned":[15],"aerial":[16],"vehicles":[17],"(multi-UAVs)":[18],"encounter":[19],"regions":[20],"that":[21],"are":[22,129,134],"difficult":[23],"to":[24,45,71,82],"access":[25],"since":[26],"obstacles.":[27],"To":[28,95],"address":[29],"this":[30,32],"challenge,":[31],"paper":[33],"proposes":[34],"a":[35,99,145,164,171],"multi-UAV":[36],"cooperative":[37],"consensus":[39],"detection":[40,97,123],"strategy.":[41],"A":[42],"model":[43,146],"related":[44],"UAV's":[47],"visual":[48],"region":[49],"and":[50,89,122,131],"sensor":[51,91],"coverage":[52],"area":[53],"is":[54,69,107,116,155,168,175],"established,":[55],"considering":[56],"line-of-sight":[58],"(LoS)":[59],"obstruction":[60],"caused":[61],"by":[62,77,118],"obstacles":[63],"environments.":[66],"Bayesian":[67],"theory":[68],"applied":[70],"update":[72],"global":[74],"probability":[75,85,121],"map,":[76],"employing":[78],"dynamic":[79],"occupancy":[80],"grids":[81],"represent":[83],"of":[86,183],"presence":[88],"integrating":[90,119],"data":[92],"from":[93],"UAVs.":[94],"enhance":[96],"speed,":[98],"consensus-based":[100],"information":[101],"fusion":[102],"algorithm":[103,142],"with":[104],"state":[105],"predictor":[106],"incorporated.":[108],"Furthermore,":[109],"an":[110,138,151],"objective":[111],"function":[112],"trajectory":[114],"optimization":[115],"constructed":[117],"cumulative":[120],"cost.":[124],"Different":[125],"typical":[126],"scenarios":[128],"designed,":[130],"UAV":[132,161],"positions":[133],"dynamically":[135],"adjusted":[136],"using":[137],"improved":[139],"sparrow":[140],"search":[141],"(ISSA)":[143],"within":[144],"predictive":[147],"control":[148],"framework.":[149],"Then,":[150],"obstacle":[152],"configuration":[153],"mechanism":[154,167,174],"proposed:":[156],"at":[158],"least":[159],"one":[160],"avoids":[162],"obstacles,":[163],"strict":[165],"constraint":[166,173],"applied;":[169],"otherwise,":[170],"fuzzy":[172],"utilized.":[176],"Finally,":[177],"simulation":[178],"results":[179],"validate":[180],"effectiveness":[182],"proposed":[185],"algorithm.":[186]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-19T00:00:00"}