{"id":"https://openalex.org/W7130531427","doi":"https://doi.org/10.1109/tits.2026.3660878","title":"Bi-Level Optimization Framework for Urban Low-Altitude UAV Delivery Ensuring Target Level of Safety","display_name":"Bi-Level Optimization Framework for Urban Low-Altitude UAV Delivery Ensuring Target Level of Safety","publication_year":2026,"publication_date":"2026-02-19","ids":{"openalex":"https://openalex.org/W7130531427","doi":"https://doi.org/10.1109/tits.2026.3660878"},"language":null,"primary_location":{"id":"doi:10.1109/tits.2026.3660878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2026.3660878","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/A5126401340","display_name":"Bo Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I58995867","display_name":"Civil Aviation Flight University of China","ror":"https://ror.org/01xyb1v19","country_code":"CN","type":"education","lineage":["https://openalex.org/I58995867"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Jiang","raw_affiliation_strings":["Flight Technology College, Civil Aviation Flight University of China, Guanghan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Flight Technology College, Civil Aviation Flight University of China, Guanghan, China","institution_ids":["https://openalex.org/I58995867"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126364799","display_name":"Yichao Li","orcid":null},"institutions":[{"id":"https://openalex.org/I58995867","display_name":"Civil Aviation Flight University of China","ror":"https://ror.org/01xyb1v19","country_code":"CN","type":"education","lineage":["https://openalex.org/I58995867"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yichao Li","raw_affiliation_strings":["College of Air Traffic Management, Civil Aviation Flight University of China, Guanghan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Air Traffic Management, Civil Aviation Flight University of China, Guanghan, China","institution_ids":["https://openalex.org/I58995867"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126369237","display_name":"Chenglong Li","orcid":null},"institutions":[{"id":"https://openalex.org/I58995867","display_name":"Civil Aviation Flight University of China","ror":"https://ror.org/01xyb1v19","country_code":"CN","type":"education","lineage":["https://openalex.org/I58995867"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenglong Li","raw_affiliation_strings":["Flight Technology College, Civil Aviation Flight University of China, Guanghan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Flight Technology College, Civil Aviation Flight University of China, Guanghan, China","institution_ids":["https://openalex.org/I58995867"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126395991","display_name":"Yuan Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I58995867","display_name":"Civil Aviation Flight University of China","ror":"https://ror.org/01xyb1v19","country_code":"CN","type":"education","lineage":["https://openalex.org/I58995867"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Zheng","raw_affiliation_strings":["School of Computer Science and Artificial Intelligence, Civil Aviation Flight University of China, Guanghan, China"],"raw_orcid":"https://orcid.org/0009-0008-5862-1789","affiliations":[{"raw_affiliation_string":"School of Computer Science and Artificial Intelligence, Civil Aviation Flight University of China, Guanghan, China","institution_ids":["https://openalex.org/I58995867"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I58995867"],"apc_list":null,"apc_paid":null,"fwci":13.6955,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.9699832,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"27","issue":"7","first_page":"8624","last_page":"8637"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11489","display_name":"Air Traffic Management and Optimization","score":0.41909998655319214,"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/T11489","display_name":"Air Traffic Management and Optimization","score":0.41909998655319214,"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/T11133","display_name":"UAV Applications and Optimization","score":0.2653000056743622,"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":0.12389999628067017,"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/trajectory","display_name":"Trajectory","score":0.5802000164985657},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.5396999716758728},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.5375000238418579},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4684999883174896},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.46459999680519104},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4472000002861023},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.39660000801086426},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.37310001254081726}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6570000052452087},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5802000164985657},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.576200008392334},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.5396999716758728},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.5375000238418579},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4684999883174896},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.46459999680519104},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4472000002861023},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.39660000801086426},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.37310001254081726},{"id":"https://openalex.org/C55416958","wikidata":"https://www.wikidata.org/wiki/Q6206757","display_name":"Job shop scheduling","level":3,"score":0.3474000096321106},{"id":"https://openalex.org/C32896092","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Risk management","level":2,"score":0.3467999994754791},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.33959999680519104},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.3391999900341034},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3382999897003174},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.3310000002384186},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.32829999923706055},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.31130000948905945},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.3052999973297119},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.2833000123500824},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.2808000147342682},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.2533999979496002},{"id":"https://openalex.org/C141934464","wikidata":"https://www.wikidata.org/wiki/Q3305386","display_name":"Local optimum","level":2,"score":0.2506999969482422}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2026.3660878","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2026.3660878","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":[{"display_name":"Sustainable cities and communities","score":0.8121443390846252,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G111171035","display_name":null,"funder_award_id":"U2333214","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1864112212","https://openalex.org/W1971086298","https://openalex.org/W1976930960","https://openalex.org/W2022485595","https://openalex.org/W2054113582","https://openalex.org/W2081516178","https://openalex.org/W2126105956","https://openalex.org/W2143381319","https://openalex.org/W2150046657","https://openalex.org/W2161769133","https://openalex.org/W2890938544","https://openalex.org/W2943892291","https://openalex.org/W3048896029","https://openalex.org/W3105750523","https://openalex.org/W3137336600","https://openalex.org/W3165042204","https://openalex.org/W3172861927","https://openalex.org/W3186068139","https://openalex.org/W3207673614","https://openalex.org/W3209869755","https://openalex.org/W3210939417","https://openalex.org/W4206738427","https://openalex.org/W4225723765","https://openalex.org/W4307436796","https://openalex.org/W4308310328","https://openalex.org/W4311573645","https://openalex.org/W4362611784","https://openalex.org/W4376456745","https://openalex.org/W4378008993","https://openalex.org/W4381616516","https://openalex.org/W4386883188","https://openalex.org/W4387977141","https://openalex.org/W4388101338","https://openalex.org/W4388760395","https://openalex.org/W4390388760","https://openalex.org/W4390939352","https://openalex.org/W4394951271","https://openalex.org/W4396693513","https://openalex.org/W4399389830","https://openalex.org/W4399801302","https://openalex.org/W4400277232","https://openalex.org/W4402303658","https://openalex.org/W4403187910","https://openalex.org/W4403296849","https://openalex.org/W4404524308","https://openalex.org/W4406560875","https://openalex.org/W4407405191","https://openalex.org/W4409059589","https://openalex.org/W4409681965","https://openalex.org/W4410378584","https://openalex.org/W4411639912","https://openalex.org/W4412000940","https://openalex.org/W4412530850"],"related_works":[],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"urban":[3,216,239],"low-altitude":[4,240],"UAV":[5,155],"logistics":[6],"has":[7],"emerged":[8],"as":[9,98,208],"a":[10,99,130,184],"pivotal":[11],"solution":[12,231],"for":[13,34,102,143,164,232],"last-mile":[14],"delivery.":[15],"To":[16,124],"enhance":[17],"operational":[18],"efficiency,":[19],"it":[20],"is":[21,96,141,162],"essential":[22],"to":[23,70,146,167],"address":[24],"the":[25,58,63,118,138,159,173,179,193,220],"Coupled":[26],"Task":[27],"Allocation":[28],"and":[29,154,211,224,234],"Trajectory":[30],"Optimization":[31],"Problem":[32],"(CTA-TOP)":[33],"heterogeneous":[35],"UAVs.":[36],"However,":[37],"existing":[38],"research,":[39],"which":[40],"often":[41],"approaches":[42],"this":[43,125,127],"problem":[44],"using":[45],"multi-objective":[46,60],"weight":[47,67],"assignment":[48],"methods,":[49],"suffers":[50],"from":[51,74],"two":[52],"primary":[53],"shortcomings:":[54],"(1)":[55],"It":[56],"overlooks":[57],"inherently":[59],"nature":[61],"of":[62,121],"problem,":[64],"where":[65],"improper":[66],"allocation":[68,145],"leads":[69],"solutions":[71],"that":[72,111,178],"deviate":[73],"practical":[75],"needs":[76],"(e.g.,":[77],"low":[78],"risk":[79,95,170,210],"weights":[80,88],"may":[81],"ignore":[82],"excessive":[83],"local":[84],"risks,":[85],"while":[86,158],"high":[87],"unduly":[89],"sacrifice":[90],"efficiency).":[91],"(2)":[92],"Although":[93],"ground":[94,149],"recognized":[97],"fundamental":[100],"constraint":[101],"Urban":[103],"Air":[104],"Mobility":[105],"(UAM),":[106],"weight-based":[107],"optimization":[108,132],"cannot":[109],"guarantee":[110],"segment":[112],"path":[113,169],"risks":[114],"consistently":[115],"remain":[116],"below":[117,172],"Target":[119],"Level":[120],"Safety":[122],"(TLS).":[123],"end,":[126],"paper":[128],"proposes":[129],"bi-level":[131],"framework":[133,199],"based":[134],"on":[135],"improved":[136],"algorithms:":[137],"TC-NSGA-III":[139],"algorithm":[140],"employed":[142],"task":[144],"minimize":[147],"total":[148,209],"risk,":[150],"delivery":[151],"time":[152,212],"cost,":[153],"workload":[156],"balance,":[157],"RG-FMT${}^{\\ast":[160,181],"}$algorithm":[161,182],"used":[163],"trajectory":[165,190],"planning":[166,191],"ensure":[168],"remains":[171],"TLS.":[174],"Simulation":[175],"results":[176],"demonstrate":[177],"proposed":[180],"achieves":[183],"100%":[185],"TLS":[186],"compliance":[187],"rate":[188],"in":[189,238],"with":[192],"shortest":[194],"computation":[195],"time.":[196],"The":[197],"overall":[198],"significantly":[200],"outperforms":[201],"comparative":[202],"methods":[203],"across":[204],"key":[205],"metrics":[206],"such":[207],"cost.":[213],"Further":[214],"large-scale":[215],"scenario":[217],"simulations":[218],"validate":[219],"algorithm\u2019s":[221],"generalization":[222],"capability":[223],"scalability.":[225],"This":[226],"study":[227],"provides":[228],"an":[229],"effective":[230],"safe":[233],"efficient":[235],"coordinated":[236],"scheduling":[237],"logistics.":[241]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2026-02-20T00:00:00"}