{"id":"https://openalex.org/W4417131840","doi":"https://doi.org/10.1109/tvt.2025.3641536","title":"Novel Pigeon-Inspired 3D Obstacle Detection and Avoidance Maneuver for Multi-UAV Systems","display_name":"Novel Pigeon-Inspired 3D Obstacle Detection and Avoidance Maneuver for Multi-UAV Systems","publication_year":2025,"publication_date":"2025-12-08","ids":{"openalex":"https://openalex.org/W4417131840","doi":"https://doi.org/10.1109/tvt.2025.3641536"},"language":null,"primary_location":{"id":"doi:10.1109/tvt.2025.3641536","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3641536","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","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/A5000877559","display_name":"Reza Ahmadvand","orcid":"https://orcid.org/0000-0001-9326-6358"},"institutions":[{"id":"https://openalex.org/I8692664","display_name":"University of Oklahoma","ror":"https://ror.org/02aqsxs83","country_code":"US","type":"education","lineage":["https://openalex.org/I8692664"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Reza Ahmadvand","raw_affiliation_strings":["School of Electrical and Computer Engineering, University of Oklahoma, Norman, OK, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, University of Oklahoma, Norman, OK, USA","institution_ids":["https://openalex.org/I8692664"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033454223","display_name":"Safura Sharifi","orcid":"https://orcid.org/0000-0002-4667-6650"},"institutions":[{"id":"https://openalex.org/I8692664","display_name":"University of Oklahoma","ror":"https://ror.org/02aqsxs83","country_code":"US","type":"education","lineage":["https://openalex.org/I8692664"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sarah Safura Sharif","raw_affiliation_strings":["School of Electrical and Computer Engineering, University of Oklahoma, Norman, OK, USA"],"raw_orcid":"https://orcid.org/0000-0002-4667-6650","affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, University of Oklahoma, Norman, OK, USA","institution_ids":["https://openalex.org/I8692664"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068910901","display_name":"Yaser Mike Banad","orcid":"https://orcid.org/0000-0001-7339-810X"},"institutions":[{"id":"https://openalex.org/I8692664","display_name":"University of Oklahoma","ror":"https://ror.org/02aqsxs83","country_code":"US","type":"education","lineage":["https://openalex.org/I8692664"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yaser Mike Banad","raw_affiliation_strings":["School of Electrical and Computer Engineering, University of Oklahoma, Norman, OK, USA"],"raw_orcid":"https://orcid.org/0000-0001-7339-810X","affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, University of Oklahoma, Norman, OK, USA","institution_ids":["https://openalex.org/I8692664"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I8692664"],"apc_list":null,"apc_paid":null,"fwci":0.9389,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.82613791,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"75","issue":"6","first_page":"9212","last_page":"9224"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.4691999852657318,"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":0.4691999852657318,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.39660000801086426,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.01860000006854534,"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/collision-avoidance","display_name":"Collision avoidance","score":0.781499981880188},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7475000023841858},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7218999862670898},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6233000159263611},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.574400007724762},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.49779999256134033},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4088999927043915},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39329999685287476},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.3801000118255615}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.781499981880188},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7475000023841858},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7218999862670898},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6233000159263611},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.574400007724762},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5565999746322632},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5401999950408936},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.49779999256134033},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4088999927043915},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39329999685287476},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3815999925136566},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3801000118255615},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3790000081062317},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3521000146865845},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3179999887943268},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3160000145435333},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.3041999936103821},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.29499998688697815},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.29260000586509705},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2808000147342682},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2775000035762787},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2711000144481659},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.2678999900817871},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.266400009393692},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26489999890327454},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.25450000166893005},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.25279998779296875}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tvt.2025.3641536","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvt.2025.3641536","pdf_url":null,"source":{"id":"https://openalex.org/S10936095","display_name":"IEEE Transactions on Vehicular Technology","issn_l":"0018-9545","issn":["0018-9545","1939-9359"],"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 Vehicular Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7794939855","display_name":null,"funder_award_id":"1-511123-OU2 RIG","funder_id":"https://openalex.org/F4320310179","funder_display_name":"University of Oklahoma"}],"funders":[{"id":"https://openalex.org/F4320310179","display_name":"University of Oklahoma","ror":"https://ror.org/02aqsxs83"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,17,71,79,143,158],"multi-agent":[3],"systems":[4,16,142],"manipulation":[5],"have":[6],"demonstrated":[7,151],"a":[8,54,60,75,83,87,99],"rising":[9],"demand":[10],"for":[11,59,92,106],"the":[12,25,35,43,46,51,64,68,96,107,114,121,134,152,155,159,168],"implementation":[13],"of":[14,27,38,45,53,95,127,154,171],"multi-UAV":[15,61,141],"urban":[18],"areas":[19],"which":[20,80],"are":[21],"always":[22],"subjected":[23],"to":[24,120,140],"presence":[26],"buildings,":[28],"static":[29],"and":[30,41,110,145,148,164,173],"dynamic":[31,160],"obstacles.":[32],"Inspired":[33],"by":[34],"collective":[36],"behavior":[37],"tilapia":[39],"fish":[40],"pigeon,":[42],"focus":[44],"presented":[47,115,135,156],"research":[48],"is":[49],"on":[50,82],"introduction":[52],"nature-inspired":[55],"collision-free":[56],"formation":[57],"control":[58,77,101],"system":[62],"considering":[63],"obstacle":[65,111],"avoidance":[66],"maneuvers.":[67,129],"developed":[69],"framework":[70,116,136],"this":[72],"study":[73],"utilizes":[74],"semi-distributed":[76],"approach,":[78],"based":[81],"probabilistic":[84],"Lloyd's":[85],"algorithm,":[86],"centralized":[88],"guidance":[89],"algorithm":[90],"works":[91],"optimal":[93],"positioning":[94],"UAVs,":[97],"while":[98],"distributed":[100],"approach":[102],"has":[103,117,137],"been":[104,118,138],"used":[105],"intervehicle":[108],"collision":[109],"avoidance.":[112],"Further,":[113],"extended":[119],"3D":[122,128,146],"space":[123],"with":[124,167],"novel":[125],"definition":[126],"Finally,":[130],"utilizing":[131],"Monte-Carlo":[132],"simulations,":[133],"applied":[139],"2D":[144],"scenarios":[147],"obtained":[149],"results":[150],"validity":[153],"method":[157],"environments":[161],"encountering":[162],"stationary":[163],"moving":[165],"obstacles":[166],"success":[169],"rates":[170],"98.4%":[172],"100%":[174],"respectively.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-23T06:36:01.041984","created_date":"2025-12-08T00:00:00"}
