{"id":"https://openalex.org/W3123618603","doi":"https://doi.org/10.3390/s21020622","title":"UAV Swarms Behavior Modeling Using Tracking Bigraphical Reactive Systems","display_name":"UAV Swarms Behavior Modeling Using Tracking Bigraphical Reactive Systems","publication_year":2021,"publication_date":"2021-01-17","ids":{"openalex":"https://openalex.org/W3123618603","doi":"https://doi.org/10.3390/s21020622","mag":"3123618603","pmid":"https://pubmed.ncbi.nlm.nih.gov/33477345"},"language":"en","primary_location":{"id":"doi:10.3390/s21020622","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21020622","pdf_url":"https://www.mdpi.com/1424-8220/21/2/622/pdf?version=1611053239","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/1424-8220/21/2/622/pdf?version=1611053239","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067090615","display_name":"Piotr Cybulski","orcid":"https://orcid.org/0000-0001-9465-2373"},"institutions":[{"id":"https://openalex.org/I2800249161","display_name":"Military University of Technology in Warsaw","ror":"https://ror.org/05fct5h31","country_code":"PL","type":"education","lineage":["https://openalex.org/I2800249161"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Piotr Cybulski","raw_affiliation_strings":["Faculty of Cybernetics, Military University of Technology, ul. gen. S. Kaliskiego 2, 00-908 Warsaw, Poland"],"raw_orcid":"https://orcid.org/0000-0001-9465-2373","affiliations":[{"raw_affiliation_string":"Faculty of Cybernetics, Military University of Technology, ul. gen. S. Kaliskiego 2, 00-908 Warsaw, Poland","institution_ids":["https://openalex.org/I2800249161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075483657","display_name":"Zbigniew Zieli\u0144ski","orcid":"https://orcid.org/0000-0001-5129-0448"},"institutions":[{"id":"https://openalex.org/I2800249161","display_name":"Military University of Technology in Warsaw","ror":"https://ror.org/05fct5h31","country_code":"PL","type":"education","lineage":["https://openalex.org/I2800249161"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Zbigniew Zieli\u0144ski","raw_affiliation_strings":["Faculty of Cybernetics, Military University of Technology, ul. gen. S. Kaliskiego 2, 00-908 Warsaw, Poland"],"raw_orcid":"https://orcid.org/0000-0001-5129-0448","affiliations":[{"raw_affiliation_string":"Faculty of Cybernetics, Military University of Technology, ul. gen. S. Kaliskiego 2, 00-908 Warsaw, Poland","institution_ids":["https://openalex.org/I2800249161"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5067090615"],"corresponding_institution_ids":["https://openalex.org/I2800249161"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":1.0393,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.76397435,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"21","issue":"2","first_page":"622","last_page":"622"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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":0.9988999962806702,"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":0.9983000159263611,"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/swarm-behaviour","display_name":"Swarm behaviour","score":0.9541670680046082},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6928415298461914},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6818703413009644},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6476175785064697},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.6461842060089111},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5248191952705383},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5026860237121582},{"id":"https://openalex.org/keywords/swarm-intelligence","display_name":"Swarm intelligence","score":0.4333184063434601},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.34820085763931274},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.34532320499420166},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32665666937828064},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32409897446632385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2626752257347107},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21184691786766052},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.15844008326530457},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06553861498832703}],"concepts":[{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.9541670680046082},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6928415298461914},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6818703413009644},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6476175785064697},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.6461842060089111},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5248191952705383},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5026860237121582},{"id":"https://openalex.org/C119487961","wikidata":"https://www.wikidata.org/wiki/Q863960","display_name":"Swarm intelligence","level":3,"score":0.4333184063434601},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.34820085763931274},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.34532320499420166},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32665666937828064},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32409897446632385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2626752257347107},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21184691786766052},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.15844008326530457},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06553861498832703},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s21020622","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21020622","pdf_url":"https://www.mdpi.com/1424-8220/21/2/622/pdf?version=1611053239","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:33477345","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33477345","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:1b3d298203114e5ea3800e6315221bee","is_oa":true,"landing_page_url":"https://doaj.org/article/1b3d298203114e5ea3800e6315221bee","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 21, Iss 2, p 622 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/2/622/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21020622","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 21; Issue 2; Pages: 622","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:7830453","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/7830453","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s21020622","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21020622","pdf_url":"https://www.mdpi.com/1424-8220/21/2/622/pdf?version=1611053239","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":[{"id":"https://metadata.un.org/sdg/17","score":0.49000000953674316,"display_name":"Partnerships for the goals"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3123618603.pdf","grobid_xml":"https://content.openalex.org/works/W3123618603.grobid-xml"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W67980525","https://openalex.org/W992148507","https://openalex.org/W1544985403","https://openalex.org/W1588422495","https://openalex.org/W1685612739","https://openalex.org/W1785874214","https://openalex.org/W1833548343","https://openalex.org/W1983248233","https://openalex.org/W1988876749","https://openalex.org/W2000030706","https://openalex.org/W2017150251","https://openalex.org/W2026751635","https://openalex.org/W2054382008","https://openalex.org/W2061836133","https://openalex.org/W2072794470","https://openalex.org/W2082511574","https://openalex.org/W2118331730","https://openalex.org/W2133846610","https://openalex.org/W2136239655","https://openalex.org/W2143969246","https://openalex.org/W2149469814","https://openalex.org/W2158422857","https://openalex.org/W2161404123","https://openalex.org/W2267863633","https://openalex.org/W2340390498","https://openalex.org/W2400716922","https://openalex.org/W2460834910","https://openalex.org/W2490818584","https://openalex.org/W2491367853","https://openalex.org/W2499720498","https://openalex.org/W2790892475","https://openalex.org/W2889376928","https://openalex.org/W2890343207","https://openalex.org/W2969141318","https://openalex.org/W3033176505","https://openalex.org/W4233987368","https://openalex.org/W4237274613","https://openalex.org/W4250819843","https://openalex.org/W4256363426","https://openalex.org/W4294621147","https://openalex.org/W6632542259","https://openalex.org/W6679921963","https://openalex.org/W6683776073","https://openalex.org/W6693721198"],"related_works":["https://openalex.org/W4233987368","https://openalex.org/W1988876749","https://openalex.org/W65954170","https://openalex.org/W2182522217","https://openalex.org/W4386001959","https://openalex.org/W4234675952","https://openalex.org/W2048054807","https://openalex.org/W4304182880","https://openalex.org/W4362659455","https://openalex.org/W2510991340"],"abstract_inverted_index":{"Recently,":[0],"there":[1],"has":[2],"been":[3],"a":[4,44,74,198],"fairly":[5],"rapid":[6],"increase":[7],"in":[8,10,17,39,154,178],"interest":[9],"the":[11,53,86,109,117,120,132,135,164,179,190],"use":[12],"of":[13,35,46,57,116,134,158,197],"UAV":[14,79,110,199],"swarms":[15,36],"both":[16],"civilian":[18],"and":[19,32,64,82,104,147],"military":[20],"operations.":[21],"This":[22],"is":[23,49,94,119,143],"mainly":[24],"due":[25],"to":[26,41,51,61,66,71,108,151,175,187],"relatively":[27],"low":[28],"cost,":[29],"greater":[30],"flexibility,":[31],"increasing":[33],"efficiency":[34],"themselves.":[37],"However,":[38],"order":[40,70],"efficiently":[42],"operate":[43],"swarm":[45,80,87,111,129,159,200],"UAVs,":[47],"it":[48,153,162],"necessary":[50],"address":[52],"various":[54],"autonomous":[55],"behaviors":[56],"its":[58],"constituent":[59],"elements,":[60],"achieve":[62],"cooperation":[63],"suitability":[65],"complex":[67],"scenarios.":[68],"In":[69],"do":[72],"so,":[73],"novel":[75],"method":[76,93,142],"for":[77,85,100,122,128],"modeling":[78,101,166],"missions":[81],"determining":[83,123,170],"behavior":[84,126,169],"elements":[88,130],"was":[89],"developed.":[90],"The":[91,113,140],"proposed":[92],"based":[95],"on":[96],"bigraphs":[97],"with":[98,194],"tracking":[99],"different":[102,156],"tasks":[103],"agents":[105],"activities":[106],"related":[107],"mission.":[112,201],"key":[114],"finding":[115],"study":[118],"algorithm":[121],"all":[124],"possible":[125],"policies":[127],"achieving":[131],"objective":[133],"mission":[136,165],"within":[137],"certain":[138],"assumptions.":[139],"design":[141,191],"scalable,":[144],"highly":[145],"automated,":[146],"problem-agnostic,":[148],"which":[149],"allows":[150],"incorporate":[152],"solving":[155],"kinds":[157],"tasks.":[160],"Additionally,":[161],"separates":[163],"stage":[167],"from":[168],"thus":[171],"allowing":[172],"new":[173],"algorithms":[174],"be":[176],"used":[177],"future.":[180],"Two":[181],"simulation":[182],"case":[183],"studies":[184],"are":[185],"presented":[186],"demonstrate":[188],"how":[189],"process":[192],"deals":[193],"typical":[195],"aspects":[196]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}