{"id":"https://openalex.org/W4321483939","doi":"https://doi.org/10.1109/tits.2023.3242765","title":"Assignment and Take-Off Approaches for Large-Scale Autonomous UAV Swarms","display_name":"Assignment and Take-Off Approaches for Large-Scale Autonomous UAV Swarms","publication_year":2023,"publication_date":"2023-02-22","ids":{"openalex":"https://openalex.org/W4321483939","doi":"https://doi.org/10.1109/tits.2023.3242765"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2023.3242765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3242765","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":true,"oa_status":"green","oa_url":"https://riunet.upv.es/bitstream/10251/205722/7/WubbenHernandezCecilia-Canales%20-%20Assignment%20and%20Take-Off%20Approaches%20for%20Large-Scale%20Autonomous%20UA....pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036424804","display_name":"Jamie Wubben","orcid":"https://orcid.org/0000-0001-8121-995X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jamie Wubben","raw_affiliation_strings":["Departament of Computer Engineering (DISCA), Universitat Politècnica de València, Valencia, Spain"],"affiliations":[{"raw_affiliation_string":"Departament of Computer Engineering (DISCA), Universitat Politècnica de València, Valencia, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065651136","display_name":"Daniel Hern\u00e1ndez","orcid":"https://orcid.org/0000-0001-8660-2253"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniel Hern\u00e1ndez","raw_affiliation_strings":["Departament of Computer Engineering (DISCA), Universitat Politècnica de València, Valencia, Spain"],"affiliations":[{"raw_affiliation_string":"Departament of Computer Engineering (DISCA), Universitat Politècnica de València, Valencia, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088468258","display_name":"Jos\u00e9 M. Cecilia","orcid":"https://orcid.org/0000-0001-5648-214X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jos\u00e9 M. Cecilia","raw_affiliation_strings":["Departament of Computer Engineering (DISCA), Universitat Politècnica de València, Valencia, Spain"],"affiliations":[{"raw_affiliation_string":"Departament of Computer Engineering (DISCA), Universitat Politècnica de València, Valencia, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5097449846","display_name":"Baldomero Imber\u00f3n","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Baldomero Imber\u00f3n","raw_affiliation_strings":["Departament of Computer Science, Universidad Católica de Murcia (UCAM), Murcia, Spain"],"affiliations":[{"raw_affiliation_string":"Departament of Computer Science, Universidad Católica de Murcia (UCAM), Murcia, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066242048","display_name":"Carlos T. Calafate","orcid":"https://orcid.org/0000-0001-5729-3041"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Carlos T. Calafate","raw_affiliation_strings":["Departament of Computer Engineering (DISCA), Universitat Politècnica de València, Valencia, Spain"],"affiliations":[{"raw_affiliation_string":"Departament of Computer Engineering (DISCA), Universitat Politècnica de València, Valencia, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086152745","display_name":"Juan\u2010Carlos Cano","orcid":"https://orcid.org/0000-0002-0038-0539"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Juan-Carlos Cano","raw_affiliation_strings":["Departament of Computer Engineering (DISCA), Universitat Politècnica de València, Valencia, Spain"],"affiliations":[{"raw_affiliation_string":"Departament of Computer Engineering (DISCA), Universitat Politècnica de València, Valencia, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043546527","display_name":"Pietro Manzoni","orcid":"https://orcid.org/0000-0003-3753-0403"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pietro Manzoni","raw_affiliation_strings":["Departament of Computer Engineering (DISCA), Universitat Politècnica de València, Valencia, Spain"],"affiliations":[{"raw_affiliation_string":"Departament of Computer Engineering (DISCA), Universitat Politècnica de València, Valencia, Spain","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076632476","display_name":"Chai Keong Toh","orcid":"https://orcid.org/0000-0002-3191-8194"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chai Keong Toh","raw_affiliation_strings":["GLG Group, San Francisco, CA, USA"],"affiliations":[{"raw_affiliation_string":"GLG Group, San Francisco, CA, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5036424804"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.937,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.94583671,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"24","issue":"5","first_page":"4836","last_page":"4847"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9994999766349792,"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":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6894916296005249},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6783119440078735},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6682950854301453},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6468225717544556},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6423969864845276},{"id":"https://openalex.org/keywords/assignment-problem","display_name":"Assignment problem","score":0.5896999835968018},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4604173004627228},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.44274261593818665},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44203639030456543},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4343799948692322},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.41261520981788635},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33892491459846497},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33540913462638855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1969875693321228},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.194390207529068},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17706173658370972},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12020167708396912}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6894916296005249},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6783119440078735},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6682950854301453},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6468225717544556},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6423969864845276},{"id":"https://openalex.org/C85044808","wikidata":"https://www.wikidata.org/wiki/Q620614","display_name":"Assignment problem","level":2,"score":0.5896999835968018},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4604173004627228},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.44274261593818665},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44203639030456543},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4343799948692322},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41261520981788635},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33892491459846497},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33540913462638855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1969875693321228},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.194390207529068},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17706173658370972},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12020167708396912},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tits.2023.3242765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3242765","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"},{"id":"pmh:oai:riunet.upv.es:10251/205722","is_oa":true,"landing_page_url":"http://hdl.handle.net/10251/205722","pdf_url":"https://riunet.upv.es/bitstream/10251/205722/7/WubbenHernandezCecilia-Canales%20-%20Assignment%20and%20Take-Off%20Approaches%20for%20Large-Scale%20Autonomous%20UA....pdf","source":{"id":"https://openalex.org/S4306401500","display_name":"RiuNet (Politechnical University of Valencia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I60053951","host_organization_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","host_organization_lineage":["https://openalex.org/I60053951"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:riunet.upv.es:10251/205722","is_oa":true,"landing_page_url":"http://hdl.handle.net/10251/205722","pdf_url":"https://riunet.upv.es/bitstream/10251/205722/7/WubbenHernandezCecilia-Canales%20-%20Assignment%20and%20Take-Off%20Approaches%20for%20Large-Scale%20Autonomous%20UA....pdf","source":{"id":"https://openalex.org/S4306401500","display_name":"RiuNet (Politechnical University of Valencia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I60053951","host_organization_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","host_organization_lineage":["https://openalex.org/I60053951"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1320060331","display_name":null,"funder_award_id":"MCIN/AEI/10.13039/50110001103","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G1598597440","display_name":null,"funder_award_id":"MCIN/AEI/10.13039/5011000110","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G1622782223","display_name":null,"funder_award_id":"MCIN/AEI/10","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G1643949827","display_name":null,"funder_award_id":"AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G1815864298","display_name":null,"funder_award_id":"CIN/AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G2262748287","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G2969783435","display_name":null,"funder_award_id":"CIN/AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G300979063","display_name":null,"funder_award_id":"10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3219925899","display_name":null,"funder_award_id":"MCIN/AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3429648993","display_name":null,"funder_award_id":"PID202","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3480869486","display_name":null,"funder_award_id":"13039","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3589957443","display_name":null,"funder_award_id":"PID2021-122580NB-I00","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G4045093968","display_name":null,"funder_award_id":"MCIN/AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G410571670","display_name":null,"funder_award_id":"10.13039/501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G4126322094","display_name":null,"funder_award_id":"01100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G451917667","display_name":null,"funder_award_id":"13039/501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G5080475149","display_name":null,"funder_award_id":"10.13039","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G5539308778","display_name":null,"funder_award_id":"AEI/10.13039/501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G5967599077","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G661330594","display_name":null,"funder_award_id":"00110","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G6685425346","display_name":null,"funder_award_id":"0011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G6838289232","display_name":null,"funder_award_id":"MCIN/AEI/10.13039/50110001103","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G7084143925","display_name":null,"funder_award_id":"AEI/10","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G7266728691","display_name":null,"funder_award_id":"13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G7535663061","display_name":null,"funder_award_id":"AEI/10.","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G8260616629","display_name":null,"funder_award_id":"011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G8570012161","display_name":null,"funder_award_id":"unknown","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"},{"id":"https://openalex.org/G8638682022","display_name":null,"funder_award_id":"10.13039/50110001103","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"}],"funders":[{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320335598","display_name":"Agencia Estatal de Investigaci\u00f3n","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4321483939.pdf"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1855227287","https://openalex.org/W2141461755","https://openalex.org/W2222512263","https://openalex.org/W2340269637","https://openalex.org/W2401971606","https://openalex.org/W2608726595","https://openalex.org/W2618349427","https://openalex.org/W2753312046","https://openalex.org/W2763585481","https://openalex.org/W2846760949","https://openalex.org/W2903413433","https://openalex.org/W2903702432","https://openalex.org/W2907882680","https://openalex.org/W2927861950","https://openalex.org/W2939049558","https://openalex.org/W2952509755","https://openalex.org/W2969091770","https://openalex.org/W2978626209","https://openalex.org/W3013167434","https://openalex.org/W3021592648","https://openalex.org/W3039147083","https://openalex.org/W3106592980","https://openalex.org/W3112576174","https://openalex.org/W3120918496","https://openalex.org/W3192099410","https://openalex.org/W4226145823","https://openalex.org/W4292075229"],"related_works":["https://openalex.org/W4288714711","https://openalex.org/W3200708550","https://openalex.org/W2771637876","https://openalex.org/W2736680465","https://openalex.org/W4294093918","https://openalex.org/W4240853094","https://openalex.org/W2810496283","https://openalex.org/W2170656329","https://openalex.org/W3131977017","https://openalex.org/W3205823858"],"abstract_inverted_index":{"In":[0,37,158],"the":[1,4,43,54,61,71,78,88,92,102,111,117,129,136,142,146,164,168,171,180,183,193,205,209,225,228,234,244],"last":[2],"decade,":[3],"popularity":[5],"of":[6,22,104,131,138,154,160,176,208,246],"UAVs":[7,23],"has":[8],"increased":[9],"tremendously.":[10],"Nowadays,":[11],"many":[12,29],"researchers":[13],"are":[14],"interested":[15],"in":[16,77,217],"UAV":[17,47,69],"swarms.":[18],"Coordinating":[19],"a":[20,25,109,238],"swarm":[21,194],"is":[24,60,84,211,221],"complicated":[26],"task":[27],"and":[28,86,116,152],"problems":[30],"should":[31],"be":[32,188],"addressed":[33],"before":[34],"wide-spread":[35],"adoption.":[36],"this":[38],"work,":[39],"we":[40,66,144],"focus":[41,52],"on":[42,53,70],"take-off":[44,63],"for":[45,120,227],"large-scale":[46],"swarms,":[48],"with":[49],"an":[50],"extra":[51],"assignment":[55,58,82,107,229],"phase.":[56],"The":[57],"phase":[59],"first":[62],"stage":[64],"whereby":[65],"decide":[67],"which":[68,75],"ground":[72],"goes":[73],"to":[74,178,223,237],"place":[76],"air.":[79],"A":[80],"good":[81],"algorithm,":[83],"quick,":[85],"at":[87],"same":[89],"time":[90],"reduce":[91,233,243],"total":[93,149,161],"distance":[94,150,162,235],"travelled":[95,236],"as":[96,98,133,135,190,192,230],"much":[97],"possible.":[99],"We":[100,213],"assess":[101],"performance":[103],"three":[105],"different":[106],"algorithms:":[108],"heuristic,":[110],"original":[112],"Kuhn-Munkres":[113],"algorithm":[114,124,185],"(KMA),":[115],"KMA":[118,165,172,184,210,226],"adapted":[119],"GPU":[121,206],"use.":[122],"Each":[123],"was":[125],"tested":[126],"while":[127],"varying":[128],"number":[130,153,245],"UAVs,":[132],"well":[134],"type":[137],"flight":[139,155,247],"formation.":[140],"During":[141],"experiments,":[143],"measured":[145],"calculation":[147],"time,":[148],"travelled,":[151,163],"paths":[156,248],"crossing.":[157,249],"terms":[159],"always":[166],"outperforms":[167],"heuristic.":[169],"However,":[170],"takes":[173],"longer":[174],"(orders":[175],"magnitude)":[177],"calculate":[179],"assignment.":[181],"Realistically,":[182],"can":[186,214],"only":[187],"used":[189],"long":[191],"does":[195],"not":[196],"contain":[197],"more":[198],"than":[199],"500":[200],"UAVs.":[201],"From":[202],"that":[203],"point":[204],"version":[207],"faster.":[212],"conclude":[215],"that,":[216],"most":[218],"cases,":[219],"it":[220,231],"recommendable":[222],"use":[224],"will":[232],"minimum":[239],"and,":[240],"consequently,":[241],"also":[242]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}