{"id":"https://openalex.org/W2772685498","doi":"https://doi.org/10.1109/tits.2017.2771465","title":"Two-Layered Mechanism of Online Unmanned Aerial Vehicles Conflict Detection and Resolution","display_name":"Two-Layered Mechanism of Online Unmanned Aerial Vehicles Conflict Detection and Resolution","publication_year":2017,"publication_date":"2017-12-13","ids":{"openalex":"https://openalex.org/W2772685498","doi":"https://doi.org/10.1109/tits.2017.2771465","mag":"2772685498"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2017.2771465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2017.2771465","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation 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":"https://openalex.org/A5101924174","display_name":"Jian Yang","orcid":"https://orcid.org/0000-0002-2984-8836"},"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":"Jian Yang","raw_affiliation_strings":["National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-2984-8836","affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, 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, China"],"raw_orcid":"https://orcid.org/0000-0002-3867-5674","affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101919158","display_name":"Qiao Cheng","orcid":"https://orcid.org/0000-0002-3126-8187"},"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":"Qiao Cheng","raw_affiliation_strings":["National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-3126-8187","affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056012647","display_name":"Lincheng Shen","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":false,"raw_author_name":"Lincheng Shen","raw_affiliation_strings":["National University of Defense Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":26.0948,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.99058028,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"19","issue":"10","first_page":"3230","last_page":"3244"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications 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/T11133","display_name":"UAV Applications 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/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":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.7176341414451599},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.572932779788971},{"id":"https://openalex.org/keywords/conflict-resolution","display_name":"Conflict resolution","score":0.525107204914093},{"id":"https://openalex.org/keywords/separation","display_name":"Separation (statistics)","score":0.48645684123039246},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4672289788722992},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4528558552265167},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.45113545656204224},{"id":"https://openalex.org/keywords/integer","display_name":"Integer (computer science)","score":0.4300961494445801},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.42054080963134766},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.42040205001831055},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.41956549882888794},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34592369198799133},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2647240459918976},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23714420199394226},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22725072503089905},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.11694598197937012}],"concepts":[{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.7176341414451599},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.572932779788971},{"id":"https://openalex.org/C21711469","wikidata":"https://www.wikidata.org/wiki/Q1194317","display_name":"Conflict resolution","level":2,"score":0.525107204914093},{"id":"https://openalex.org/C2776061190","wikidata":"https://www.wikidata.org/wiki/Q7451805","display_name":"Separation (statistics)","level":2,"score":0.48645684123039246},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4672289788722992},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4528558552265167},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.45113545656204224},{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.4300961494445801},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.42054080963134766},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.42040205001831055},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.41956549882888794},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34592369198799133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2647240459918976},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23714420199394226},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22725072503089905},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.11694598197937012},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace 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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2017.2771465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2017.2771465","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"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 Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7456560154","display_name":null,"funder_award_id":"61403410","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8923889374","display_name":null,"funder_award_id":"2014M552687","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1535928210","https://openalex.org/W1877902561","https://openalex.org/W1917426573","https://openalex.org/W2001227302","https://openalex.org/W2006619020","https://openalex.org/W2013455724","https://openalex.org/W2035118637","https://openalex.org/W2046618739","https://openalex.org/W2053742773","https://openalex.org/W2057774317","https://openalex.org/W2063738946","https://openalex.org/W2064639082","https://openalex.org/W2068836267","https://openalex.org/W2107292630","https://openalex.org/W2111080100","https://openalex.org/W2123502033","https://openalex.org/W2136207702","https://openalex.org/W2152618686","https://openalex.org/W2167395957","https://openalex.org/W2237315207","https://openalex.org/W2270492280","https://openalex.org/W2414785410","https://openalex.org/W2432950162","https://openalex.org/W2501547924","https://openalex.org/W2620579191","https://openalex.org/W4301909677","https://openalex.org/W6639282507","https://openalex.org/W6640305102","https://openalex.org/W6653662020","https://openalex.org/W6666614057","https://openalex.org/W6684549166"],"related_works":["https://openalex.org/W2358719579","https://openalex.org/W2951976120","https://openalex.org/W2983685817","https://openalex.org/W4285278887","https://openalex.org/W2995925505","https://openalex.org/W134783735","https://openalex.org/W2365237642","https://openalex.org/W3116484972","https://openalex.org/W4232431455","https://openalex.org/W2021332829"],"abstract_inverted_index":{"This":[0,76],"paper":[1,77],"presents":[2],"a":[3,89],"study":[4],"on":[5,133,190],"short-term":[6,196],"cooperative":[7],"conflict":[8,99],"detection":[9],"and":[10,36,95,188,242],"resolution":[11,100],"(CDR)":[12],"of":[13,34,74,83,88,182,186,201,221,239],"unmanned":[14],"aerial":[15],"vehicles":[16],"(UAVs).":[17],"A":[18,92,137,152],"two-layered":[19],"CDR":[20],"mechanism":[21],"is":[22,49,102,118,141,158,236],"proposed,":[23],"which":[24],"aims":[25],"at":[26],"guaranteeing":[27],"safe":[28,80,130],"separation,":[29],"minimizing":[30],"the":[31,41,44,47,52,62,71,79,107,111,122,145,162,172,180,198,205,211,219,237],"overall":[32],"cost":[33],"UAVs,":[35,187],"improving":[37],"computational":[38,199],"efficiency.":[39],"In":[40,51],"first":[42],"layer,":[43,54],"information":[45],"from":[46],"environment":[48],"processed.":[50],"second":[53],"conflicts":[55,85],"among":[56],"UAVs":[57],"are":[58,135],"resolved":[59],"by":[60],"applying":[61],"local":[63,123],"centralized":[64],"optimization":[65],"method,":[66],"with":[67,106,194,210],"consideration":[68],"given":[69],"to":[70,120,143,160,224],"dynamic":[72],"constraints":[73,82,132],"UAVs.":[75],"studies":[78],"separation":[81,131],"pairwise":[84,150,240],"in":[86],"virtue":[87],"geometry-based":[90],"method.":[91],"heading":[93,125,174],"change":[94,97,126,165,175,216],"speed":[96,164,215],"mixed":[98,153],"approach":[101],"applied.":[103],"To":[104],"meet":[105],"online":[108,206],"planning":[109,207],"requirements,":[110],"vectorized":[112],"stochastic":[113],"parallel":[114],"gradient":[115],"descent-based":[116],"method":[117,140],"proposed":[119,173],"find":[121,161],"optimal":[124,163],"solutions.":[127,166],"The":[128,167],"linear":[129,155],"speeds":[134],"derived.":[136],"periodicity":[138],"feature-based":[139],"used":[142],"depart":[144],"feasible":[146,222],"sub-regions":[147,223],"for":[148],"each":[149],"conflict.":[151],"integer":[154],"programming":[156],"model":[157],"established":[159],"experiments":[168],"results":[169],"show":[170],"that":[171],"algorithm":[176,203,217],"could":[177],"greatly":[178],"reduce":[179],"summation":[181],"additional":[183],"flight":[184],"distances":[185],"influences":[189],"air":[191],"traffic,":[192],"compared":[193],"other":[195],"algorithms;":[197],"efficiency":[200],"this":[202],"satisfies":[204],"requirement.":[208],"Comparing":[209],"existing":[212],"algorithm,":[213],"our":[214],"reduces":[218,245],"number":[220,238],"2":[225],"<sup":[226],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[227,234],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">nc</sup>":[228],"times":[229],"lower,":[230],"where":[231],"n":[232],"<sub":[233],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">c</sub>":[235],"conflict,":[241],"therefore,":[243],"it":[244],"computation":[246],"time":[247],"dramatically.":[248]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
