{"id":"https://openalex.org/W7133825502","doi":"https://doi.org/10.1109/tits.2026.3667967","title":"Cooperative Task Allocation and Path Planning for Multi-UAVs in Low-Altitude Urban Intelligent Transportation Systems","display_name":"Cooperative Task Allocation and Path Planning for Multi-UAVs in Low-Altitude Urban Intelligent Transportation Systems","publication_year":2026,"publication_date":"2026-03-05","ids":{"openalex":"https://openalex.org/W7133825502","doi":"https://doi.org/10.1109/tits.2026.3667967"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2026.3667967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2026.3667967","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/A5128133066","display_name":"Zhe Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe Zhang","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-3761-0000","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ju Jiang","orcid":"https://orcid.org/0009-0002-4705-5394"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ju Jiang","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0002-4705-5394","affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017456876","display_name":"Keck Voon Ling","orcid":"https://orcid.org/0000-0002-9293-9394"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Keck Voon Ling","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-9293-9394","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128194897","display_name":"Xinhua Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinhua Wang","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-2200-8797","affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5128218587","display_name":"Wen-An Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen-An Zhang","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.8969,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.96729086,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"27","issue":"4","first_page":"4112","last_page":"4124"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.765999972820282,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.765999972820282,"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/T11133","display_name":"UAV Applications and Optimization","score":0.045899998396635056,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.03909999877214432,"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/intelligent-transportation-system","display_name":"Intelligent transportation system","score":0.6363999843597412},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5967000126838684},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5249999761581421},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4410000145435333},{"id":"https://openalex.org/keywords/transportation-planning","display_name":"Transportation planning","score":0.41589999198913574},{"id":"https://openalex.org/keywords/intelligent-decision-support-system","display_name":"Intelligent decision support system","score":0.36800000071525574},{"id":"https://openalex.org/keywords/advanced-traffic-management-system","display_name":"Advanced Traffic Management System","score":0.3418999910354614}],"concepts":[{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.6363999843597412},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6057999730110168},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5967000126838684},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5249999761581421},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4410000145435333},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.4343999922275543},{"id":"https://openalex.org/C39118121","wikidata":"https://www.wikidata.org/wiki/Q1034047","display_name":"Transportation planning","level":2,"score":0.41589999198913574},{"id":"https://openalex.org/C56397880","wikidata":"https://www.wikidata.org/wiki/Q6044094","display_name":"Intelligent decision support system","level":2,"score":0.36800000071525574},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.35920000076293945},{"id":"https://openalex.org/C42693407","wikidata":"https://www.wikidata.org/wiki/Q4686317","display_name":"Advanced Traffic Management System","level":3,"score":0.3418999910354614},{"id":"https://openalex.org/C539828613","wikidata":"https://www.wikidata.org/wiki/Q178512","display_name":"Public transport","level":2,"score":0.313400000333786},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31049999594688416},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2815000116825104},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.26600000262260437},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2632000148296356},{"id":"https://openalex.org/C49545453","wikidata":"https://www.wikidata.org/wiki/Q69883","display_name":"Urban planning","level":2,"score":0.2619999945163727},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.2572999894618988},{"id":"https://openalex.org/C2989549987","wikidata":"https://www.wikidata.org/wiki/Q350882","display_name":"Route planning","level":2,"score":0.2517000138759613},{"id":"https://openalex.org/C114809511","wikidata":"https://www.wikidata.org/wiki/Q1412924","display_name":"Flow network","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tits.2026.3667967","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2026.3667967","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:dr.ntu.edu.sg:10356/211915","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/211915","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7792038321495056}],"awards":[{"id":"https://openalex.org/G5594970661","display_name":null,"funder_award_id":"62173305","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8046586722","display_name":"\u57fa\u4e8e\u56fe\u6a21\u578b\u7406\u8bba\u7684\u4e0d\u786e\u5b9a\u51b2\u7a81\u73af\u5883\u4e0b\u51b3\u7b56\u884c\u4e3a\u8bc6\u522b\u53ca\u8bf1\u5bfc\u673a\u5236\u7814\u7a76","funder_award_id":"71971115","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8339948675","display_name":null,"funder_award_id":"61973158","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":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"low-altitude":[1,50,174],"urban":[2,51,175],"intelligent":[3],"transportation":[4],"systems,":[5],"efficient":[6],"cooperative":[7,41],"task":[8,42,58,149,155],"allocation":[9,43,59],"and":[10,35,44,60,69,90,128,160,169],"path":[11,45,61],"planning":[12,37,46,62],"for":[13,21,47,77,132],"multiple":[14],"unmanned":[15],"aerial":[16],"vehicles":[17],"(UAV)":[18],"are":[19,63,94],"critical":[20],"ensuring":[22],"the":[23,78,99,105,137,144,148,154,172],"effective":[24],"execution":[25,156],"of":[26,57],"complex":[27,173],"tasks.":[28],"This":[29],"paper":[30],"proposes":[31],"a":[32,74,110,114],"distributed":[33],"decision-making":[34],"autonomous":[36],"framework":[38],"to":[39,102,104,125],"achieve":[40],"multi-UAVs":[48],"in":[49,171],"traffic":[52,176],"environment.":[53],"The":[54],"mission":[55],"requirements":[56],"modeled":[64],"using":[65],"evolutionary":[66],"potential":[67,80],"games":[68],"show":[70],"that":[71,143],"there":[72],"exists":[73],"Nash":[75,107],"equilibrium":[76,108],"proposed":[79,100,145],"function.":[81],"An":[82],"Improved":[83],"Log-linear":[84],"Learning":[85],"Algorithm":[86],"(ILLA)":[87],"is":[88,123],"proposed,":[89],"suitable":[91],"Boltzmann":[92],"parameters":[93],"derived":[95],"which":[96],"will":[97],"enable":[98],"ILLA":[101],"converge":[103],"optimal":[106,127],"with":[109,136],"probability":[111],"one.":[112],"Furthermore,":[113],"Constraint-Based":[115],"Multi-layer":[116],"Bidirectional":[117],"Adaptive":[118],"A-Star":[119],"(CBMBA":[120],"A-Star)":[121],"algorithm":[122],"designed":[124],"find":[126],"collision":[129],"free":[130],"paths":[131],"each":[133],"UAV.":[134],"Compared":[135],"baseline":[138],"method,":[139],"simulation":[140],"results":[141],"demonstrate":[142],"approach":[146],"improves":[147],"reward":[150],"by":[151,158,164],"11.67%,":[152],"reduces":[153],"time":[157,163],"37.41%,":[159],"decreases":[161],"run":[162],"61.02%,":[165],"confirming":[166],"its":[167],"effectiveness":[168],"efficiency":[170],"scenario.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-04-14T06:02:45.956762","created_date":"2026-03-06T00:00:00"}
