{"id":"https://openalex.org/W4386893736","doi":"https://doi.org/10.3390/s23187980","title":"A Two-Stage Distributed Task Assignment Algorithm Based on Contract Net Protocol for Multi-UAV Cooperative Reconnaissance Task Reassignment in Dynamic Environments","display_name":"A Two-Stage Distributed Task Assignment Algorithm Based on Contract Net Protocol for Multi-UAV Cooperative Reconnaissance Task Reassignment in Dynamic Environments","publication_year":2023,"publication_date":"2023-09-20","ids":{"openalex":"https://openalex.org/W4386893736","doi":"https://doi.org/10.3390/s23187980","pmid":"https://pubmed.ncbi.nlm.nih.gov/37766035"},"language":"en","primary_location":{"id":"doi:10.3390/s23187980","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23187980","pdf_url":"https://www.mdpi.com/1424-8220/23/18/7980/pdf?version=1695175982","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/1424-8220/23/18/7980/pdf?version=1695175982","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100600473","display_name":"Gang Wang","orcid":"https://orcid.org/0000-0003-4742-8103"},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Wang","raw_affiliation_strings":["College of Computer Engineering, Naval University of Engineering, Wuhan 430033, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Engineering, Naval University of Engineering, Wuhan 430033, China","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082488249","display_name":"Xiao Lv","orcid":null},"institutions":[{"id":"https://openalex.org/I2800710378","display_name":"Naval University of Engineering","ror":"https://ror.org/056vyez31","country_code":"CN","type":"education","lineage":["https://openalex.org/I2800710378"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiao Lv","raw_affiliation_strings":["College of Computer Engineering, Naval University of Engineering, Wuhan 430033, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Engineering, Naval University of Engineering, Wuhan 430033, China","institution_ids":["https://openalex.org/I2800710378"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042216285","display_name":"Xiaohu Yan","orcid":"https://orcid.org/0000-0002-5657-5271"},"institutions":[{"id":"https://openalex.org/I182722699","display_name":"Shenzhen Polytechnic University","ror":"https://ror.org/00d2w9g53","country_code":"CN","type":"education","lineage":["https://openalex.org/I182722699"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaohu Yan","raw_affiliation_strings":["School of Undergraduate Education, Shenzhen Polytechnic University, Shenzhen 518055, China"],"raw_orcid":"https://orcid.org/0000-0002-5657-5271","affiliations":[{"raw_affiliation_string":"School of Undergraduate Education, Shenzhen Polytechnic University, Shenzhen 518055, China","institution_ids":["https://openalex.org/I182722699"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5082488249"],"corresponding_institution_ids":["https://openalex.org/I2800710378"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":2.305,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.89082372,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"23","issue":"18","first_page":"7980","last_page":"7980"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.9993000030517578,"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/task","display_name":"Task (project management)","score":0.739361047744751},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7253720760345459},{"id":"https://openalex.org/keywords/contract-net-protocol","display_name":"Contract Net Protocol","score":0.6983017325401306},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6304652094841003},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.5317453145980835},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.5311312079429626},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4684448540210724},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4442817270755768},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3246975839138031},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18780410289764404},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.1503714919090271},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12411409616470337},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09057006239891052}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.739361047744751},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7253720760345459},{"id":"https://openalex.org/C183756365","wikidata":"https://www.wikidata.org/wiki/Q1129064","display_name":"Contract Net Protocol","level":3,"score":0.6983017325401306},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6304652094841003},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5317453145980835},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.5311312079429626},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4684448540210724},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4442817270755768},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3246975839138031},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18780410289764404},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.1503714919090271},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12411409616470337},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09057006239891052},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s23187980","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23187980","pdf_url":"https://www.mdpi.com/1424-8220/23/18/7980/pdf?version=1695175982","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:37766035","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37766035","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:pubmedcentral.nih.gov:10537739","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10537739","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10537739/pdf/sensors-23-07980.pdf","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"},{"id":"pmh:oai:doaj.org/article:1349e6d8e6934339802ba6547c2ae9d0","is_oa":true,"landing_page_url":"https://doaj.org/article/1349e6d8e6934339802ba6547c2ae9d0","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 23, Iss 18, p 7980 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s23187980","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23187980","pdf_url":"https://www.mdpi.com/1424-8220/23/18/7980/pdf?version=1695175982","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/13","display_name":"Climate action","score":0.7699999809265137}],"awards":[{"id":"https://openalex.org/G2237685260","display_name":null,"funder_award_id":"6023310030K","funder_id":"https://openalex.org/F4320322186","funder_display_name":"Natural Science Foundation of Hubei Province"},{"id":"https://openalex.org/G3018536828","display_name":null,"funder_award_id":"20220812102547001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3882510083","display_name":null,"funder_award_id":"6023310030K","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4802784348","display_name":null,"funder_award_id":"6022312044K","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5070706345","display_name":null,"funder_award_id":"6022312044K","funder_id":"https://openalex.org/F4320322186","funder_display_name":"Natural Science Foundation of Hubei Province"},{"id":"https://openalex.org/G5371057479","display_name":null,"funder_award_id":"62102268","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6682228004","display_name":null,"funder_award_id":"2019CFB627","funder_id":"https://openalex.org/F4320322186","funder_display_name":"Natural Science Foundation of Hubei Province"},{"id":"https://openalex.org/G7707076937","display_name":null,"funder_award_id":"2019CFB627","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7879665093","display_name":null,"funder_award_id":"62102268","funder_id":"https://openalex.org/F4320322186","funder_display_name":"Natural Science Foundation of Hubei Province"},{"id":"https://openalex.org/G8679275924","display_name":null,"funder_award_id":"6022312044K","funder_id":"https://openalex.org/F4320313851","funder_display_name":"Shenzhen Polytechnic"},{"id":"https://openalex.org/G887679113","display_name":null,"funder_award_id":"20220812102547001","funder_id":"https://openalex.org/F4320322186","funder_display_name":"Natural Science Foundation of Hubei Province"},{"id":"https://openalex.org/G8880815128","display_name":null,"funder_award_id":"6023310030K","funder_id":"https://openalex.org/F4320313851","funder_display_name":"Shenzhen Polytechnic"}],"funders":[{"id":"https://openalex.org/F4320313851","display_name":"Shenzhen Polytechnic","ror":"https://ror.org/00d2w9g53"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322186","display_name":"Natural Science Foundation of Hubei Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386893736.pdf"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W2142544818","https://openalex.org/W2151408086","https://openalex.org/W2157488300","https://openalex.org/W2731669863","https://openalex.org/W2735505183","https://openalex.org/W2765933650","https://openalex.org/W2790522942","https://openalex.org/W2803012509","https://openalex.org/W2922223573","https://openalex.org/W2942394565","https://openalex.org/W2959250524","https://openalex.org/W3005448462","https://openalex.org/W3011792002","https://openalex.org/W3013247350","https://openalex.org/W3048165508","https://openalex.org/W3049686946","https://openalex.org/W3129512607","https://openalex.org/W3160311678","https://openalex.org/W3165309558","https://openalex.org/W3165902623","https://openalex.org/W3168955240","https://openalex.org/W3198723631","https://openalex.org/W3204742620","https://openalex.org/W3207673614","https://openalex.org/W3214468037","https://openalex.org/W4200335950","https://openalex.org/W4200381379","https://openalex.org/W4205129187","https://openalex.org/W4220938246","https://openalex.org/W4220982663","https://openalex.org/W4221019573","https://openalex.org/W4224219418","https://openalex.org/W4282969947","https://openalex.org/W4285725522","https://openalex.org/W4309001838","https://openalex.org/W4321597924","https://openalex.org/W4361298708","https://openalex.org/W4385894351","https://openalex.org/W4390580254","https://openalex.org/W6795210579"],"related_works":["https://openalex.org/W2362812697","https://openalex.org/W2181767556","https://openalex.org/W1485744282","https://openalex.org/W2100556539","https://openalex.org/W2110867671","https://openalex.org/W1967744929","https://openalex.org/W2376475914","https://openalex.org/W2119250154","https://openalex.org/W168785973","https://openalex.org/W2374355475"],"abstract_inverted_index":{"Multi-UAV":[0],"systems":[1],"have":[2],"been":[3],"widely":[4],"used":[5],"in":[6,32,47,57,107,145],"reconnaissance,":[7],"disaster":[8],"relief,":[9],"communication,":[10],"and":[11,45,50,89,123],"other":[12],"fields.":[13],"However,":[14],"many":[15],"dynamic":[16,78,108,146],"events":[17,52],"can":[18,138],"cause":[19],"a":[20,54,66,94],"partial":[21],"failure":[22],"of":[23,60,68,86,116,154],"the":[24,28,58,114,117,135,141,151],"original":[25],"mission":[26,29],"during":[27],"execution":[30],"process,":[31],"which":[33],"case":[34],"task":[35,72,97,142],"reassignment":[36,73,106,143],"should":[37],"be":[38],"carried":[39],"out.":[40],"How":[41],"to":[42,103],"reassign":[43],"resources":[44],"tasks":[46],"multi-dynamic,":[48],"multi-target,":[49],"multi-constraint":[51],"becomes":[53],"core":[55],"issue":[56],"enhancement":[59],"combat":[61],"efficiency.":[62],"This":[63],"paper":[64,112],"establishes":[65],"model":[67],"multi-UAV":[69],"cooperative":[70],"reconnaissance":[71],"that":[74,134],"comprehensively":[75],"considers":[76],"various":[77],"factors":[79],"such":[80],"as":[81],"UAV":[82,155],"performance":[83,126],"differences,":[84],"size":[85],"target":[87],"areas,":[88],"time":[90],"window":[91],"constraints.":[92],"Then,":[93],"two-stage":[95],"distributed":[96],"assignment":[98],"algorithm":[99,119,137],"(TS-DTA)":[100],"is":[101],"presented":[102],"achieve":[104],"multi-task":[105],"environments.":[109],"Finally,":[110],"this":[111],"verifies":[113],"effectiveness":[115],"TS-DTA":[118,136],"through":[120,127],"simulation":[121],"experiments":[122],"analyzes":[124],"its":[125],"comparative":[128],"experiments.":[129],"The":[130],"experimental":[131],"results":[132],"show":[133],"efficiently":[139],"solve":[140],"problem":[144],"environments":[147],"while":[148],"effectively":[149],"reducing":[150],"communication":[152],"burden":[153],"formations.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}