{"id":"https://openalex.org/W2756240103","doi":"https://doi.org/10.1109/tase.2022.3175565","title":"Autonomous Recharging and Flight Mission Planning for Battery-Operated Autonomous Drones","display_name":"Autonomous Recharging and Flight Mission Planning for Battery-Operated Autonomous Drones","publication_year":2022,"publication_date":"2022-05-19","ids":{"openalex":"https://openalex.org/W2756240103","doi":"https://doi.org/10.1109/tase.2022.3175565","mag":"2756240103"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2022.3175565","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2022.3175565","pdf_url":"https://ieeexplore.ieee.org/ielx7/8856/10094220/09779119.pdf","source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/8856/10094220/09779119.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002676436","display_name":"Rashid Alyassi","orcid":null},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Rashid Alyassi","raw_affiliation_strings":["EECS Department, Khalifa University, Abu Dhabi, United Arab Emirates"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EECS Department, Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056369727","display_name":"Majid Khonji","orcid":"https://orcid.org/0000-0002-1548-9377"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Majid Khonji","raw_affiliation_strings":["EECS Department, Khalifa University, Abu Dhabi, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0002-1548-9377","affiliations":[{"raw_affiliation_string":"EECS Department, Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047645152","display_name":"Areg Karapetyan","orcid":"https://orcid.org/0000-0001-6662-9037"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Areg Karapetyan","raw_affiliation_strings":["EECS Department, Khalifa University, Abu Dhabi, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0001-6662-9037","affiliations":[{"raw_affiliation_string":"EECS Department, Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023916531","display_name":"Chi-Kin Chau","orcid":"https://orcid.org/0000-0003-0362-2844"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Sid Chi-Kin Chau","raw_affiliation_strings":["College of Engineering and Computer Science, The Australian National University, Canberra, ACT, Australia"],"raw_orcid":"https://orcid.org/0000-0003-0362-2844","affiliations":[{"raw_affiliation_string":"College of Engineering and Computer Science, The Australian National University, Canberra, ACT, Australia","institution_ids":["https://openalex.org/I118347636"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000070192","display_name":"Khaled Elbassioni","orcid":"https://orcid.org/0000-0001-7021-5400"},"institutions":[{"id":"https://openalex.org/I176601375","display_name":"Khalifa University of Science and Technology","ror":"https://ror.org/05hffr360","country_code":"AE","type":"education","lineage":["https://openalex.org/I176601375"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Khaled Elbassioni","raw_affiliation_strings":["EECS Department, Khalifa University, Abu Dhabi, United Arab Emirates"],"raw_orcid":"https://orcid.org/0000-0001-7021-5400","affiliations":[{"raw_affiliation_string":"EECS Department, Khalifa University, Abu Dhabi, United Arab Emirates","institution_ids":["https://openalex.org/I176601375"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024672706","display_name":"Chien-Ming Tseng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chien-Ming Tseng","raw_affiliation_strings":["Ubiquiti Inc., Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ubiquiti Inc., Taipei, Taiwan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":79.5002,"has_fulltext":true,"cited_by_count":189,"citation_normalized_percentile":{"value":0.99946584,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"20","issue":"2","first_page":"1034","last_page":"1046"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9990000128746033,"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":0.9990000128746033,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.986299991607666,"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/drone","display_name":"Drone","score":0.864723801612854},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.6526959538459778},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5176080465316772},{"id":"https://openalex.org/keywords/battery","display_name":"Battery (electricity)","score":0.5086525678634644},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.49570000171661377},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4391379654407501},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4141475558280945},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.4079434275627136},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4062750041484833},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38516777753829956},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3828890919685364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17080223560333252},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.1425553858280182}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.864723801612854},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.6526959538459778},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5176080465316772},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.5086525678634644},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.49570000171661377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4391379654407501},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4141475558280945},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.4079434275627136},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4062750041484833},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38516777753829956},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3828890919685364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17080223560333252},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.1425553858280182},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2022.3175565","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2022.3175565","pdf_url":"https://ieeexplore.ieee.org/ielx7/8856/10094220/09779119.pdf","source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1703.10049","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1703.10049","pdf_url":"https://arxiv.org/pdf/1703.10049","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.1109/tase.2022.3175565","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tase.2022.3175565","pdf_url":"https://ieeexplore.ieee.org/ielx7/8856/10094220/09779119.pdf","source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G5413073140","display_name":null,"funder_award_id":"CIRA-2020-286","funder_id":"https://openalex.org/F4320322334","funder_display_name":"Khalifa University of Science, Technology and Research"}],"funders":[{"id":"https://openalex.org/F4320322334","display_name":"Khalifa University of Science, Technology and Research","ror":"https://ror.org/05hffr360"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2756240103.pdf","grobid_xml":"https://content.openalex.org/works/W2756240103.grobid-xml"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W10654749","https://openalex.org/W160670953","https://openalex.org/W1484387568","https://openalex.org/W1555623254","https://openalex.org/W1965856911","https://openalex.org/W1967218716","https://openalex.org/W1992249619","https://openalex.org/W2035610952","https://openalex.org/W2067720876","https://openalex.org/W2101097294","https://openalex.org/W2110393739","https://openalex.org/W2114192613","https://openalex.org/W2117226423","https://openalex.org/W2120067481","https://openalex.org/W2126859125","https://openalex.org/W2139809908","https://openalex.org/W2163198877","https://openalex.org/W2171157447","https://openalex.org/W2441680809","https://openalex.org/W2462739725","https://openalex.org/W2471190594","https://openalex.org/W2480359428","https://openalex.org/W2480456125","https://openalex.org/W2528080656","https://openalex.org/W2554962067","https://openalex.org/W2615511539","https://openalex.org/W2762896761","https://openalex.org/W2792557859","https://openalex.org/W2792839015","https://openalex.org/W2800687011","https://openalex.org/W2802483125","https://openalex.org/W2883331799","https://openalex.org/W2884886680","https://openalex.org/W2890722280","https://openalex.org/W2944128823","https://openalex.org/W2963058035","https://openalex.org/W2964117926","https://openalex.org/W2974277811","https://openalex.org/W3015370360","https://openalex.org/W3031879003","https://openalex.org/W3041611419","https://openalex.org/W3045631220","https://openalex.org/W3115329715","https://openalex.org/W3122055487","https://openalex.org/W3134174460","https://openalex.org/W3157932358","https://openalex.org/W4238493794","https://openalex.org/W6606470495","https://openalex.org/W6677131282","https://openalex.org/W6745129456"],"related_works":["https://openalex.org/W4229448053","https://openalex.org/W4247925126","https://openalex.org/W4327774218","https://openalex.org/W2059768187","https://openalex.org/W4312858960","https://openalex.org/W4386036939","https://openalex.org/W4379143281","https://openalex.org/W2605096541","https://openalex.org/W3200286695","https://openalex.org/W4212885606"],"abstract_inverted_index":{"Unmanned":[0],"aerial":[1],"vehicles":[2],"(UAVs),":[3],"commonly":[4],"known":[5],"as":[6,15,135,209,211,258,260,277],"drones,":[7],"are":[8,203],"being":[9],"increasingly":[10],"deployed":[11,235],"throughout":[12],"the":[13,44,58,64,78,103,123,148,155,200,221,305],"globe":[14],"a":[16,51,82,97,136,144,178,245,309,314],"means":[17],"to":[18,56,215,295],"streamline":[19],"monitoring,":[20,251],"inspection,":[21],"mapping,":[22],"and":[23,40,115,130,158,174,188,197,226,288,319],"logistic":[24],"routines.":[25],"When":[26],"dispatched":[27],"on":[28,85,236,332],"autonomous":[29],"missions,":[30],"drones":[31,109],"require":[32],"an":[33,91,165,321],"intelligent":[34],"decision-making":[35],"system":[36],"for":[37,90,112,147,223,233,248,328],"trajectory":[38],"planning":[39,129],"tour":[41,87,151,230],"optimization.":[42],"Given":[43],"limited":[45],"capacity":[46],"of":[47,106,126,199,255,271,317],"their":[48],"onboard":[49],"batteries,":[50],"key":[52],"design":[53],"challenge":[54],"is":[55,133,218],"ensure":[57],"underlying":[59],"algorithms":[60],"can":[61],"efficiently":[62],"optimize":[63],"mission":[65,128],"objectives":[66],"along":[67],"with":[68,169,313],"recharging":[69,131],"operations":[70],"during":[71],"long-haul":[72],"flights.":[73],"With":[74],"this":[75,121],"in":[76,177,191,284],"view,":[77],"present":[79,306],"work":[80,307],"undertakes":[81],"comprehensive":[83],"study":[84,217],"automated":[86,229],"management":[88,180,231],"systems":[89,232],"energy-constrained":[92],"drone:":[93],"(1)":[94],"We":[95,163],"construct":[96],"machine":[98],"learning":[99],"model":[100,281,327],"that":[101,152],"estimates":[102],"energy":[104],"expenditure":[105],"typical":[107],"multi-rotor":[108,329],"while":[110],"accounting":[111],"real-world":[113,212],"aspects":[114],"extrinsic":[116],"meteorological":[117],"factors.":[118],"(2)":[119],"Leveraging":[120],"model,":[122],"joint":[124],"program":[125],"flight":[127,185,239],"optimization":[132],"formulated":[134],"multi-criteria":[137],"Asymmetric":[138],"Traveling":[139],"Salesman":[140],"Problem":[141],"(ATSP),":[142],"wherein":[143],"drone":[145,179,334],"seeks":[146],"time-optimal":[149],"energy-feasible":[150],"visits":[153],"all":[154],"target":[156],"sites":[157],"refuels":[159],"whenever":[160],"necessary.":[161],"(3)":[162],"devise":[164],"efficient":[166,228],"approximation":[167],"algorithm":[168],"provable":[170],"worst-case":[171],"performance":[172,291],"guarantees":[173],"implement":[175],"it":[176],"system,":[181],"which":[182],"supports":[183],"real-time":[184],"path":[186,266],"tracking":[187],"re-":[189],"computation":[190],"dynamic":[192],"environments.":[193],"(4)":[194],"The":[195],"effectiveness":[196],"practicality":[198],"proposed":[201],"approach":[202,312],"validated":[204],"through":[205],"extensive":[206],"numerical":[207],"simulations":[208],"well":[210,259],"experiments.":[213],"Note":[214],"Practitioners\u2014This":[216],"stimulated":[219],"by":[220],"need":[222],"developing":[224],"pragmatic":[225],"provably":[227],"UAVs":[234,243],"energy-constrained,":[237],"long-distance":[238],"missions.":[240],"As":[241],"such,":[242],"provide":[244],"nifty":[246],"platform":[247],"facilitating":[249],"environmental":[250],"disaster":[252],"management,":[253],"transport":[254],"medical":[256],"supplies,":[257],"expediting":[261],"last-mile":[262],"deliveries.":[263],"However,":[264],"existing":[265],"planners":[267],"generally":[268],"fall":[269],"short":[270],"capturing":[272],"several":[273],"crucial":[274],"aspects,":[275],"such":[276],"detailed":[278],"power":[279,324],"consumption":[280,325],"(e.g.,":[282],"factoring":[283],"payload,":[285],"wind":[286],"speed":[287],"direction)":[289],"or":[290,297],"guarantees,":[292],"potentially":[293],"leading":[294],"underutilized":[296],"infeasible":[298],"routing":[299,311],"decisions.":[300],"To":[301],"address":[302],"these":[303],"issues,":[304],"proposes":[308],"theoretically-backed":[310],"certifiable":[315],"degree":[316],"optimality":[318],"develops":[320],"effective,":[322],"practical":[323],"evaluation":[326],"UAVs,":[330],"verified":[331],"multiple":[333],"models.":[335]},"counts_by_year":[{"year":2026,"cited_by_count":13},{"year":2025,"cited_by_count":53},{"year":2024,"cited_by_count":37},{"year":2023,"cited_by_count":29},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":6}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2017-09-25T00:00:00"}
