{"id":"https://openalex.org/W4386702908","doi":"https://doi.org/10.1109/tiv.2023.3313599","title":"In-Depth Coordination and Extension: Decentralized Onboard Conflict Resolution of UAVs in the Low Altitude Airspace","display_name":"In-Depth Coordination and Extension: Decentralized Onboard Conflict Resolution of UAVs in the Low Altitude Airspace","publication_year":2023,"publication_date":"2023-09-13","ids":{"openalex":"https://openalex.org/W4386702908","doi":"https://doi.org/10.1109/tiv.2023.3313599"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2023.3313599","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3313599","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","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/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Yang","raw_affiliation_strings":["School of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2984-8836","affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016199067","display_name":"Yang Hu","orcid":"https://orcid.org/0000-0002-6255-6376"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang Hu","raw_affiliation_strings":["Science and Technology on Complex Aviation System Simulation Laboratory, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6255-6376","affiliations":[{"raw_affiliation_string":"Science and Technology on Complex Aviation System Simulation Laboratory, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhuliang Yu","orcid":"https://orcid.org/0000-0003-4087-6544"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuliang Yu","raw_affiliation_strings":["School of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4087-6544","affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077717000","display_name":"Fangzhou Chen","orcid":"https://orcid.org/0009-0001-1323-2340"},"institutions":[{"id":"https://openalex.org/I4210148107","display_name":"Space Engineering University","ror":"https://ror.org/04rj1td02","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210148107"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangzhou Chen","raw_affiliation_strings":["Space Department, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0001-1323-2340","affiliations":[{"raw_affiliation_string":"Space Department, Beijing, China","institution_ids":["https://openalex.org/I4210148107"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100319789","display_name":"Xiao Xu","orcid":"https://orcid.org/0000-0001-9302-2230"},"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":"Xiao Xu","raw_affiliation_strings":["Joint Operations College, National Defense University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9302-2230","affiliations":[{"raw_affiliation_string":"Joint Operations College, National Defense University, Beijing, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.8449,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.91269759,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"1","first_page":"2780","last_page":"2793"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9986000061035156,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9986000061035156,"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"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9970999956130981,"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/T12158","display_name":"Guidance and Control Systems","score":0.996999979019165,"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/extension","display_name":"Extension (predicate logic)","score":0.655154824256897},{"id":"https://openalex.org/keywords/altitude","display_name":"Altitude (triangle)","score":0.6280801892280579},{"id":"https://openalex.org/keywords/conflict-resolution","display_name":"Conflict resolution","score":0.5644860863685608},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.5538293123245239},{"id":"https://openalex.org/keywords/low-altitude","display_name":"Low altitude","score":0.5323130488395691},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.48480454087257385},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4529305398464203},{"id":"https://openalex.org/keywords/resolution","display_name":"Resolution (logic)","score":0.43962353467941284},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.3410910964012146},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.23493692278862},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21978560090065002},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.10524746775627136},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09494909644126892},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06577715277671814}],"concepts":[{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.655154824256897},{"id":"https://openalex.org/C6350597","wikidata":"https://www.wikidata.org/wiki/Q339495","display_name":"Altitude (triangle)","level":2,"score":0.6280801892280579},{"id":"https://openalex.org/C21711469","wikidata":"https://www.wikidata.org/wiki/Q1194317","display_name":"Conflict resolution","level":2,"score":0.5644860863685608},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.5538293123245239},{"id":"https://openalex.org/C2993172488","wikidata":"https://www.wikidata.org/wiki/Q190200","display_name":"Low altitude","level":3,"score":0.5323130488395691},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.48480454087257385},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4529305398464203},{"id":"https://openalex.org/C138268822","wikidata":"https://www.wikidata.org/wiki/Q1051925","display_name":"Resolution (logic)","level":2,"score":0.43962353467941284},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3410910964012146},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.23493692278862},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21978560090065002},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.10524746775627136},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09494909644126892},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06577715277671814},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/tiv.2023.3313599","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3313599","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"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 Vehicles","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8559548746","display_name":null,"funder_award_id":"61906211","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":46,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1518672027","https://openalex.org/W1535928210","https://openalex.org/W1917426573","https://openalex.org/W1965760189","https://openalex.org/W2001227302","https://openalex.org/W2006619020","https://openalex.org/W2035118637","https://openalex.org/W2053742773","https://openalex.org/W2055933372","https://openalex.org/W2056465559","https://openalex.org/W2057774317","https://openalex.org/W2061605453","https://openalex.org/W2064639082","https://openalex.org/W2097490641","https://openalex.org/W2167395957","https://openalex.org/W2510669280","https://openalex.org/W2620579191","https://openalex.org/W2772685498","https://openalex.org/W2782493803","https://openalex.org/W2884236119","https://openalex.org/W2898074724","https://openalex.org/W2906418098","https://openalex.org/W2930105790","https://openalex.org/W2944806455","https://openalex.org/W2948180128","https://openalex.org/W3002159761","https://openalex.org/W3006868075","https://openalex.org/W3035633917","https://openalex.org/W3037683188","https://openalex.org/W3111019671","https://openalex.org/W3113892411","https://openalex.org/W3128714894","https://openalex.org/W3130553833","https://openalex.org/W3138596516","https://openalex.org/W3139047046","https://openalex.org/W3139540107","https://openalex.org/W3168913804","https://openalex.org/W3190439699","https://openalex.org/W3198819272","https://openalex.org/W4229007520","https://openalex.org/W4286358446","https://openalex.org/W4289821918","https://openalex.org/W4298061479","https://openalex.org/W4316660825","https://openalex.org/W6632248409"],"related_works":["https://openalex.org/W574916204","https://openalex.org/W2945563562","https://openalex.org/W2087911195","https://openalex.org/W2406921723","https://openalex.org/W2386865535","https://openalex.org/W2353302948","https://openalex.org/W2372292493","https://openalex.org/W1510008292","https://openalex.org/W4237620542","https://openalex.org/W2366663192"],"abstract_inverted_index":{"The":[0,128,160],"wide":[1,52],"applications":[2],"of":[3,46,68,99,132,157,173,221],"Unmanned":[4],"Aerial":[5],"Vehicles":[6],"(UAVs)":[7],"in":[8,50,171,210],"the":[9,16,28,44,47,66,71,85,92,106,111,123,133,141,146,155,167,178,190,202,212,215],"low":[10],"altitude":[11],"airspace":[12],"have":[13],"brought":[14],"about":[15],"requirement":[17],"for":[18,189],"online":[19],"conflict":[20,74,96,118,174,225],"resolution":[21],"coordination.":[22],"In":[23,84,110],"this":[24],"article,":[25],"we":[26,37,139],"propose":[27],"decentralized":[29],"onboard":[30],"in-depth":[31,79,124,142],"coordination":[32,80,108,125,143,150],"method.":[33,109],"As":[34],"a":[35,51],"premise,":[36],"anticipate":[38],"that":[39,73,177,205],"each":[40,60,88,114],"UAV":[41,61,90,115,148],"could":[42],"receive":[43],"states":[45],"neighboring":[48,134],"UAVs":[49,72,135,162,170,180],"range":[53],"with":[54,75,152,223],"advanced":[55],"wireless":[56],"communication":[57],"devices.":[58],"Therefore,":[59],"is":[62,82,208,219],"able":[63],"to":[64,122,145,154,165,186],"determine":[65],"surroundings":[67],"itself":[69,100],"and":[70,95,101,201,218],"it.":[76],"A":[77],"two-layered":[78],"method":[81,144,151,207],"proposed.":[83],"first":[86],"layer,":[87,113],"conflict-involved":[89,192],"determines":[91,116],"maneuver":[93],"constraints":[94],"avoidance":[97,119],"responsibilities":[98],"its":[102],"neighbors":[103],"based":[104],"on":[105,198,214],"rules-based":[107],"second":[112],"appropriate":[117,183],"maneuvers":[120,185],"according":[121],"mechanism":[126],"independently.":[127],"safe":[129],"separation":[130],"requirements":[131],"are":[136,163],"considered.":[137],"Furthermore,":[138],"extend":[140],"bio-inspired":[147],"flocks":[149],"reference":[153],"behaviors":[156],"biological":[158],"flocks.":[159],"virtual":[161],"constructed":[164],"promote":[166],"connections":[168],"between":[169],"terms":[172],"resolution,":[175],"so":[176],"boundary":[179],"would":[181],"take":[182],"heading":[184],"make":[187],"room":[188],"practical":[191],"UAVs.":[193],"We":[194],"validate":[195],"our":[196,206],"approach":[197],"representative":[199],"scenarios,":[200],"results":[203],"demonstrate":[204],"beneficial":[209],"reducing":[211],"impact":[213],"air":[216],"traffic,":[217],"capable":[220],"dealing":[222],"complex":[224],"scenarios.":[226]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
