{"id":"https://openalex.org/W2801151606","doi":"https://doi.org/10.3390/s18051472","title":"A Cooperative Search and Coverage Algorithm with Controllable Revisit and Connectivity Maintenance for Multiple Unmanned Aerial Vehicles","display_name":"A Cooperative Search and Coverage Algorithm with Controllable Revisit and Connectivity Maintenance for Multiple Unmanned Aerial Vehicles","publication_year":2018,"publication_date":"2018-05-08","ids":{"openalex":"https://openalex.org/W2801151606","doi":"https://doi.org/10.3390/s18051472","mag":"2801151606","pmid":"https://pubmed.ncbi.nlm.nih.gov/29738497"},"language":"en","primary_location":{"id":"doi:10.3390/s18051472","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18051472","pdf_url":"https://www.mdpi.com/1424-8220/18/5/1472/pdf?version=1525782611","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/18/5/1472/pdf?version=1525782611","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031721367","display_name":"Zhong Liu","orcid":"https://orcid.org/0000-0001-9650-6097"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhong Liu","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xi\u2019an 710072, China","School of Electronics and Information, Northwestern Polytechnical University, Xi'an 710072, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi\u2019an 710072, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi'an 710072, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101433470","display_name":"Xiaoguang Gao","orcid":"https://orcid.org/0000-0002-9209-3325"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoguang Gao","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xi\u2019an 710072, China","School of Electronics and Information, Northwestern Polytechnical University, Xi'an 710072, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi\u2019an 710072, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi'an 710072, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084272556","display_name":"Xiaowei Fu","orcid":"https://orcid.org/0000-0002-0495-0279"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaowei Fu","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xi\u2019an 710072, China","School of Electronics and Information, Northwestern Polytechnical University, Xi'an 710072, China"],"raw_orcid":"https://orcid.org/0000-0002-0495-0279","affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi\u2019an 710072, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi'an 710072, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5031721367"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":2.2277,"has_fulltext":true,"cited_by_count":47,"citation_normalized_percentile":{"value":0.88639195,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"18","issue":"5","first_page":"1472","last_page":"1472"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T12288","display_name":"Optimization and Search Problems","score":0.9994999766349792,"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":0.9984999895095825,"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/computer-science","display_name":"Computer science","score":0.5345427393913269},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3968474566936493},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.393618106842041}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5345427393913269},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3968474566936493},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.393618106842041}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s18051472","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18051472","pdf_url":"https://www.mdpi.com/1424-8220/18/5/1472/pdf?version=1525782611","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:29738497","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/29738497","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:0f3c678e9699494b9de21de97fd97e22","is_oa":true,"landing_page_url":"https://doaj.org/article/0f3c678e9699494b9de21de97fd97e22","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 18, Iss 5, p 1472 (2018)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:4940620","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5982467","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},{"id":"pmh:oai:mdpi.com:/1424-8220/18/5/1472/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s18051472","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors; Volume 18; Issue 5; Pages: 1472","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s18051472","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s18051472","pdf_url":"https://www.mdpi.com/1424-8220/18/5/1472/pdf?version=1525782611","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2801151606.pdf","grobid_xml":"https://content.openalex.org/works/W2801151606.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1130343902","https://openalex.org/W1140590240","https://openalex.org/W1546949524","https://openalex.org/W1909816562","https://openalex.org/W1946812513","https://openalex.org/W1974676331","https://openalex.org/W1980610687","https://openalex.org/W1984539514","https://openalex.org/W1986724566","https://openalex.org/W2039915459","https://openalex.org/W2044437309","https://openalex.org/W2048924658","https://openalex.org/W2054657157","https://openalex.org/W2058967398","https://openalex.org/W2067965875","https://openalex.org/W2075092260","https://openalex.org/W2077205651","https://openalex.org/W2077371116","https://openalex.org/W2097569568","https://openalex.org/W2103271075","https://openalex.org/W2135598790","https://openalex.org/W2167347855","https://openalex.org/W2167485994","https://openalex.org/W2261299082","https://openalex.org/W2328918510","https://openalex.org/W2334277903","https://openalex.org/W2414195390","https://openalex.org/W2464603117","https://openalex.org/W2752587437","https://openalex.org/W2765744544","https://openalex.org/W2768554830","https://openalex.org/W2787037903","https://openalex.org/W2789590088","https://openalex.org/W6719423645","https://openalex.org/W6746045459"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2051487156","https://openalex.org/W2073681303","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109"],"abstract_inverted_index":{"In":[0,201],"this":[1,59],"paper,":[2],"we":[3,151,238],"mainly":[4],"study":[5],"a":[6,13,25,61,106,153,172,188,241],"cooperative":[7,63,195],"search":[8,45,64,148,196,245],"and":[9,35,54,65,95,109,118,197,224,248,274,299,303],"coverage":[10,66,198,246],"algorithm":[11,67,191,257],"for":[12,112,192],"given":[14],"bounded":[15],"rectangle":[16],"region,":[17],"which":[18,135],"contains":[19],"several":[20],"unknown":[21],"stationary":[22],"targets,":[23],"by":[24,213,260,263],"team":[26],"of":[27,78,126,146,183,208,221,254,265,269,289,292],"unmanned":[28],"aerial":[29],"vehicles":[30],"(UAVs)":[31],"with":[32,68],"non-ideal":[33],"sensors":[34],"limited":[36],"communication":[37,305],"ranges.":[38],"Our":[39],"goal":[40],"is":[41,72,199,211,258,283],"to":[42,131,167,217,285],"minimize":[43],"the":[44,52,76,79,81,86,91,96,113,127,132,137,147,159,165,181,193,202,206,209,214,219,230,244,249,255,267,270,275,287,290,294,297,304,308],"time,":[46],"while":[47],"gathering":[48],"more":[49,56],"information":[50],"about":[51],"environment":[53],"finding":[55],"targets.":[57],"For":[58],"purpose,":[60],"novel":[62],"controllable":[69,154,271],"revisit":[70,155,168,272],"mechanism":[71,156,162,273],"presented.":[73],"Firstly,":[74],"as":[75],"representation":[77],"environment,":[80],"cognitive":[82,114,128],"maps":[83,129],"that":[84,123,170],"included":[85],"target":[87,174],"probability":[88,175],"map":[89,93,99],"(TPM),":[90],"uncertain":[92],"(UM),":[94],"digital":[97],"pheromone":[98],"(DPM)":[100],"are":[101],"constituted.":[102],"We":[103],"also":[104],"design":[105],"distributed":[107,184],"update":[108,117],"fusion":[110,119],"scheme":[111,120],"map.":[115],"This":[116,161],"can":[121,163,239],"guarantee":[122],"each":[124,144],"one":[125],"converges":[130],"same":[133],"one,":[134],"reflects":[136],"targets’":[138],"true":[139],"existence":[140],"or":[141,176],"absence":[142],"in":[143,180],"cell":[145],"region.":[149],"Secondly,":[150],"develop":[152],"based":[157],"on":[158,307],"DPM.":[160],"concentrate":[164],"UAVs":[166,210],"sub-areas":[169],"have":[171],"large":[173],"high":[177],"uncertainty.":[178],"Thirdly,":[179],"frame":[182],"receding":[185],"horizon":[186],"optimizing,":[187],"path":[189,203],"planning":[190,204],"multi-UAVs":[194],"designed.":[200],"algorithm,":[205],"movement":[207],"restricted":[212],"potential":[215],"fields":[216],"meet":[218],"requirements":[220],"avoiding":[222],"collision":[223],"maintaining":[225],"connectivity":[226,250,276],"constraints.":[227],"Moreover,":[228],"using":[229],"minimum":[231],"spanning":[232],"tree":[233],"(MST)":[234],"topology":[235],"optimization":[236],"strategy,":[237],"obtain":[240],"tradeoff":[242],"between":[243],"enhancement":[247],"maintenance.":[251],"The":[252,279],"feasibility":[253],"proposed":[256,309],"demonstrated":[259],"comparison":[261],"simulations":[262],"way":[264],"analyzing":[266],"effects":[268],"maintenance":[277],"scheme.":[278],"Monte":[280],"Carlo":[281],"method":[282],"employed":[284],"validate":[286],"influence":[288],"number":[291],"UAVs,":[293],"sensing":[295],"radius,":[296],"detection":[298],"false":[300],"alarm":[301],"probabilities,":[302],"range":[306],"algorithm.":[310]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}