{"id":"https://openalex.org/W3089079474","doi":"https://doi.org/10.1109/access.2020.3024953","title":"Energy-Efficient Formation Morphing for Collision Avoidance in a Swarm of Drones","display_name":"Energy-Efficient Formation Morphing for Collision Avoidance in a Swarm of Drones","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3089079474","doi":"https://doi.org/10.1109/access.2020.3024953","mag":"3089079474"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3024953","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09200530.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true},"type":"article","type_crossref":"journal-article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09200530.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034371462","display_name":"Jawad N. Yasin","orcid":"https://orcid.org/0000-0002-2663-9019"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"funder","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jawad Naveed Yasin","raw_affiliation_strings":["University of Turku, Turku, Finland"],"affiliations":[{"raw_affiliation_string":"University of Turku, Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087634003","display_name":"Sherif A. S. Mohamed","orcid":"https://orcid.org/0000-0002-4611-9571"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"funder","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Sherif Abdelmonem Sayed Mohamed","raw_affiliation_strings":["University of Turku, Turku, Finland"],"affiliations":[{"raw_affiliation_string":"University of Turku, Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014977873","display_name":"Mohammad-Hashem Haghbayan","orcid":"https://orcid.org/0000-0001-6583-4418"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"funder","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Mohammad-Hashem Haghbayan","raw_affiliation_strings":["University of Turku, Turku, Finland"],"affiliations":[{"raw_affiliation_string":"University of Turku, Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058539829","display_name":"Jukka Heikkonen","orcid":"https://orcid.org/0000-0002-2468-5708"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"funder","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Jukka Heikkonen","raw_affiliation_strings":["University of Turku, Turku, Finland"],"affiliations":[{"raw_affiliation_string":"University of Turku, Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003371230","display_name":"Hannu Tenhunen","orcid":"https://orcid.org/0000-0003-1959-6513"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"funder","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Hannu Tenhunen","raw_affiliation_strings":["KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014144353","display_name":"Muhammad Mehboob Yasin","orcid":"https://orcid.org/0000-0003-0013-743X"},"institutions":[{"id":"https://openalex.org/I4626487","display_name":"King Faisal University","ror":"https://ror.org/00dn43547","country_code":"SA","type":"funder","lineage":["https://openalex.org/I4626487"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Muhammad Mehboob Yasin","raw_affiliation_strings":["College of Computer Sciences & Information Technology, King Faisal University, Hofuf, Saudi Arabia"],"affiliations":[{"raw_affiliation_string":"College of Computer Sciences & Information Technology, King Faisal University, Hofuf, Saudi Arabia","institution_ids":["https://openalex.org/I4626487"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075314597","display_name":"Juha Plosila","orcid":"https://orcid.org/0000-0003-4018-5495"},"institutions":[{"id":"https://openalex.org/I155660961","display_name":"University of Turku","ror":"https://ror.org/05vghhr25","country_code":"FI","type":"funder","lineage":["https://openalex.org/I155660961"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Juha Plosila","raw_affiliation_strings":["University of Turku, Turku, Finland"],"affiliations":[{"raw_affiliation_string":"University of Turku, Turku, Finland","institution_ids":["https://openalex.org/I155660961"]}]}],"institution_assertions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1528,"currency":"EUR","value_usd":1647},"fwci":3.701,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":39,"citation_normalized_percentile":{"value":0.878148,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"8","issue":null,"first_page":"170681","last_page":"170695"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9999,"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":0.9999,"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":0.9997,"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":0.9984,"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/morphing","display_name":"Morphing","score":0.69216585},{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.46909702},{"id":"https://openalex.org/keywords/swarm-intelligence","display_name":"Swarm intelligence","score":0.4191517}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8173929},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7732473},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7135049},{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.69216585},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.60386294},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.46909702},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.42292005},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4209615},{"id":"https://openalex.org/C119487961","wikidata":"https://www.wikidata.org/wiki/Q863960","display_name":"Swarm intelligence","level":3,"score":0.4191517},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41716692},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40619197},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.3610787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20162436},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15836784},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1279315},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10989651},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08432749},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3024953","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09200530.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true},{"is_oa":false,"landing_page_url":"https://doaj.org/article/9e1d0fb7242a4ea4aa3fe44de95aeb86","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":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3024953","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09200530.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_indexed_in_scopus":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.91,"display_name":"Affordable and clean energy"}],"grants":[{"funder":"https://openalex.org/F4320321108","funder_display_name":"Academy of Finland","award_id":"314048"}],"datasets":[],"versions":[],"referenced_works_count":43,"referenced_works":["https://openalex.org/W1522199380","https://openalex.org/W1524470902","https://openalex.org/W1741382246","https://openalex.org/W1978570723","https://openalex.org/W1981826826","https://openalex.org/W1998030085","https://openalex.org/W2013419160","https://openalex.org/W2082829278","https://openalex.org/W2096840836","https://openalex.org/W2119120935","https://openalex.org/W2119693819","https://openalex.org/W2133754447","https://openalex.org/W2134236847","https://openalex.org/W2149469814","https://openalex.org/W2164490572","https://openalex.org/W2166306230","https://openalex.org/W2166833517","https://openalex.org/W2264166979","https://openalex.org/W2316242150","https://openalex.org/W2330745128","https://openalex.org/W2334123211","https://openalex.org/W2461531612","https://openalex.org/W2547032273","https://openalex.org/W2613830623","https://openalex.org/W2626930290","https://openalex.org/W2752463559","https://openalex.org/W2767385209","https://openalex.org/W2769214024","https://openalex.org/W2785673037","https://openalex.org/W2804761573","https://openalex.org/W2889850168","https://openalex.org/W2899516785","https://openalex.org/W2902706737","https://openalex.org/W2906046465","https://openalex.org/W2909136769","https://openalex.org/W2914650196","https://openalex.org/W2997516367","https://openalex.org/W3000932941","https://openalex.org/W3011202315","https://openalex.org/W3033271745","https://openalex.org/W3034170631","https://openalex.org/W3129749699","https://openalex.org/W4213147678"],"related_works":["https://openalex.org/W4386001959","https://openalex.org/W4385625905","https://openalex.org/W4308079021","https://openalex.org/W3089846858","https://openalex.org/W3045722011","https://openalex.org/W2746377055","https://openalex.org/W2743170747","https://openalex.org/W2594296178","https://openalex.org/W2399799070","https://openalex.org/W1527337688"],"abstract_inverted_index":{"Two":[0],"important":[1,179],"aspects":[2],"in":[3,45,52,143,162],"dealing":[4],"with":[5,164],"autonomous":[6],"navigation":[7],"of":[8,11,28,38,48,56,67,78,82,108,146,156,181,191,197],"a":[9,21,80,94,118],"swarm":[10,158,199],"drones":[12,57],"are":[13,174],"collision":[14,169],"avoidance":[15,170],"mechanism":[16],"and":[17,36,62,71,152,171],"formation":[18,50,111,140,172],"control":[19,51,86,173],"strategy;":[20],"possible":[22],"competition":[23],"between":[24],"these":[25],"two":[26],"modes":[27],"operation":[29],"may":[30],"have":[31],"negative":[32],"implications":[33],"for":[34,84,96,208],"success":[35],"efficiency":[37,155],"the":[39,46,101,109,124,134,138,144,149,157,165,187,194,198],"mission.":[40],"This":[41],"issue":[42],"is":[43,87,159,185,200],"exacerbated":[44],"case":[47],"distributed":[49],"leader-follower":[53],"based":[54],"swarms":[55],"since":[58],"nodes":[59],"concurrently":[60],"decide":[61],"act":[63],"through":[64],"individual":[65],"observation":[66],"neighbouring":[68],"nodes'":[69],"states":[70],"actions.":[72],"To":[73],"dynamically":[74],"handle":[75],"this":[76,90],"duality":[77],"control,":[79],"plan":[81],"action":[83],"multi-priority":[85],"required.":[88],"In":[89],"paper,":[91],"we":[92,116],"propose":[93],"method":[95],"formation-collision":[97],"co-awareness":[98],"by":[99,127],"adapting":[100],"thin-plate":[102],"splines":[103],"algorithm":[104],"to":[105,122],"minimize":[106],"deformation":[107],"swarm's":[110],"while":[112,148],"avoiding":[113],"obstacles.":[114],"Furthermore,":[115],"use":[117],"non-rigid":[119,183],"mapping":[120,184],"function":[121],"reduce":[123],"lag":[125],"caused":[126],"such":[128],"maneuvers.":[129],"Simulation":[130],"results":[131],"show":[132],"that":[133,186],"proposed":[135],"methodology":[136],"maintains":[137],"desired":[139],"very":[141],"closely":[142],"presence":[145],"obstacles,":[147],"response":[150],"time":[151,209],"overall":[153,195],"energy":[154],"significantly":[160,201],"improved":[161],"comparison":[163],"existing":[166],"methods":[167],"where":[168],"only":[175],"loosely":[176],"coupled.":[177],"Another":[178],"result":[180],"using":[182],"slowing":[188],"down":[189],"effect":[190],"obstacles":[192],"on":[193],"speed":[196],"reduced,":[202],"making":[203],"our":[204],"approach":[205],"especially":[206],"suitable":[207],"critical":[210],"missions.":[211]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3089079474","counts_by_year":[{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":4}],"updated_date":"2025-04-25T09:20:14.073341","created_date":"2020-10-01"}