{"id":"https://openalex.org/W7141404612","doi":"https://doi.org/10.48550/arxiv.2603.24908","title":"Integrated Multi-Drone Task Allocation, Sequencing, and Optimal Trajectory Generation in Obstacle-Rich 3D Environments","display_name":"Integrated Multi-Drone Task Allocation, Sequencing, and Optimal Trajectory Generation in Obstacle-Rich 3D Environments","publication_year":2026,"publication_date":"2026-03-26","ids":{"openalex":"https://openalex.org/W7141404612","doi":"https://doi.org/10.48550/arxiv.2603.24908"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.24908","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.24908","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.24908","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5130788067","display_name":"Yunes Alqudsi","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Alqudsi, Yunes","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5076434437","display_name":"Murat Makarac\u0131","orcid":"https://orcid.org/0000-0002-7952-1989"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Makaraci, Murat","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5130788067"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8664000034332275,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8664000034332275,"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/T11082","display_name":"Spacecraft Dynamics and Control","score":0.044599998742341995,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.020500000566244125,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6987000107765198},{"id":"https://openalex.org/keywords/waypoint","display_name":"Waypoint","score":0.6620000004768372},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6340000033378601},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6144999861717224},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5602999925613403},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.510200023651123},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4968000054359436},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.49230000376701355},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4830999970436096}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7041000127792358},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6987000107765198},{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.6620000004768372},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6340000033378601},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6144999861717224},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5602999925613403},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.510200023651123},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4968000054359436},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.49230000376701355},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4830999970436096},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4717999994754791},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.46639999747276306},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4578999876976013},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4413999915122986},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.43529999256134033},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.387800008058548},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3707999885082245},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.3434000015258789},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.3260999917984009},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3237000107765198},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30869999527931213},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.28949999809265137},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27149999141693115},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.27070000767707825},{"id":"https://openalex.org/C72898154","wikidata":"https://www.wikidata.org/wiki/Q458038","display_name":"Flight envelope","level":3,"score":0.266400009393692},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2653000056743622},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2563999891281128},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.2540999948978424}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.24908","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.24908","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.24908","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.24908","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Coordinating":[0],"teams":[1,66],"of":[2,14,140,193],"aerial":[3],"robots":[4],"in":[5,24,68],"cluttered":[6,157],"three-dimensional":[7],"(3D)":[8],"environments":[9],"requires":[10],"a":[11,77,133,175,189],"principled":[12],"integration":[13],"discrete":[15],"mission":[16,119,191],"planning-deciding":[17],"which":[18,21],"robot":[19],"serves":[20],"goals":[22],"and":[23,36,47,60,81,85,116,143],"what":[25],"order":[26],"--":[27],"with":[28,137,179],"continuous-time":[29],"trajectory":[30,62],"synthesis":[31],"that":[32,53,161],"enforces":[33],"collision":[34],"avoidance":[35],"dynamic":[37],"feasibility.":[38],"This":[39],"paper":[40],"introduces":[41],"IMD-TAPP":[42],"(Integrated":[43],"Multi-Drone":[44],"Task":[45],"Allocation":[46],"Path":[48],"Planning),":[49],"an":[50,98],"end-to-end":[51],"framework":[52],"jointly":[54],"addresses":[55],"multi-goal":[56],"allocation,":[57],"tour":[58],"sequencing,":[59],"safe":[61],"generation":[63],"for":[64],"quadrotor":[65],"operating":[67],"obstacle-rich":[69],"spaces.":[70],"IMD--TAPP":[71,162],"first":[72],"discretizes":[73],"the":[74,122,185,197],"workspace":[75],"into":[76,128],"3D":[78,158],"navigation":[79],"graph":[80],"computes":[82],"obstacle-aware":[83],"robot-to-goal":[84],"goal-to-goal":[86],"travel":[87],"costs":[88,93],"via":[89],"graph-search-based":[90],"pathfinding.":[91],"These":[92],"are":[94,126,151],"then":[95],"embedded":[96],"within":[97],"Injected":[99],"Particle":[100],"Swarm":[101],"Optimization":[102],"(IPSO)":[103],"scheme,":[104],"guided":[105],"by":[106],"multiple":[107,183],"linear":[108],"assignment,":[109],"to":[110,117],"efficiently":[111],"explore":[112],"coupled":[113],"assignment/ordering":[114],"alternatives":[115],"minimize":[118],"makespan.":[120],"Finally,":[121],"resulting":[123],"waypoint":[124],"tours":[125],"transformed":[127],"time-parameterized":[129],"minimum-snap":[130],"trajectories":[131,168],"through":[132],"generation-and-optimization":[134],"routine":[135],"equipped":[136],"iterative":[138],"validation":[139],"obstacle":[141],"clearance":[142],"inter-robot":[144],"separation,":[145],"triggering":[146],"re-planning":[147],"when":[148],"safety":[149,199],"margins":[150],"violated.":[152],"Extensive":[153],"MATLAB":[154],"simulations":[155],"across":[156],"scenarios":[159],"demonstrate":[160],"consistently":[163],"produces":[164],"dynamically":[165],"feasible,":[166],"collision-free":[167],"while":[169,195],"achieving":[170],"competitive":[171],"completion":[172],"times.":[173],"In":[174],"representative":[176],"case":[177],"study":[178],"two":[180],"drones":[181],"serving":[182],"goals,":[184],"proposed":[186],"approach":[187],"attains":[188],"minimum":[190],"time":[192],"136~s":[194],"maintaining":[196],"required":[198],"constraints":[200],"throughout":[201],"execution.":[202]},"counts_by_year":[],"updated_date":"2026-05-04T08:30:34.212998","created_date":"2026-03-28T00:00:00"}
