{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,28]],"date-time":"2026-01-28T06:41:23Z","timestamp":1769582483863,"version":"3.49.0"},"reference-count":47,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T00:00:00Z","timestamp":1767657600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T00:00:00Z","timestamp":1767657600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Cluster Comput"],"published-print":{"date-parts":[[2026,4]]},"DOI":"10.1007\/s10586-025-05876-y","type":"journal-article","created":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T15:32:59Z","timestamp":1767713579000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Bio-inspired optimal path planning for UAVs with obstacle avoidance and energy efficiency"],"prefix":"10.1007","volume":"29","author":[{"given":"Awadhesh","family":"Dixit","sequence":"first","affiliation":[]},{"given":"Sunil Kumar","family":"Singh","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2026,1,6]]},"reference":[{"key":"5876_CR1","doi-asserted-by":"publisher","DOI":"10.1016\/j.iot.2023.100790","volume":"22","author":"A Dixit","year":"2023","unstructured":"Dixit, A., Singh, S.K.: Bmudf: Hybrid bio-inspired model for fault-aware UAV routing using destination-aware fan shaped clustering. Int. Things 22, 100790 (2023)","journal-title":"Int. Things"},{"key":"5876_CR2","doi-asserted-by":"publisher","DOI":"10.1016\/j.comnet.2019.106877","volume":"163","author":"A Chriki","year":"2019","unstructured":"Chriki, A., Touati, H., Snoussi, H., Kamoun, F.: Fanet: Communication, mobility models and security issues. Comput. Netw. 163, 106877 (2019)","journal-title":"Comput. Netw."},{"key":"5876_CR3","unstructured":"De\u00a0Filippis, L.: Advanced path planning and collision avoidance algorithms for uavs (2012)"},{"key":"5876_CR4","doi-asserted-by":"crossref","unstructured":"Tsourdos, A., White, B., Shanmugavel, M.: Cooperative path planning of unmanned aerial vehicles, vol.\u00a032 (John Wiley & Sons, 2010)","DOI":"10.2514\/4.867798"},{"key":"5876_CR5","unstructured":"Hsu, K., Murray, C., Cook, J., Feld, A.: China\u2019s military unmanned aerial vehicle industry (US-China Economic and Security Review Commission Washington DC, 2013)"},{"key":"5876_CR6","doi-asserted-by":"crossref","unstructured":"Wolf, H.G.: Drones: Safety risk management for the next evolution of flight (Taylor & Francis, 2017)","DOI":"10.4324\/9781315471419"},{"issue":"8\u201310","key":"5876_CR7","doi-asserted-by":"publisher","first-page":"2427","DOI":"10.1080\/01431161.2016.1252477","volume":"38","author":"C Torresan","year":"2017","unstructured":"Torresan, C., Berton, A., Carotenuto, F., Di Gennaro, S.F., Gioli, B., Matese, A., Miglietta, F., Vagnoli, C., Zaldei, A., Wallace, L.: Forestry applications of uavs in europe: A review. Int. J. Remote Sens. 38(8\u201310), 2427\u20132447 (2017)","journal-title":"Int. J. Remote Sens."},{"issue":"23","key":"5876_CR8","doi-asserted-by":"publisher","first-page":"7898","DOI":"10.3390\/s21237898","volume":"21","author":"JR Sanchez-Ibanez","year":"2021","unstructured":"Sanchez-Ibanez, J.R., Perez-del Pulgar, C.J., Garc\u00eda-Cerezo, A.: Path planning for autonomous mobile robots: A review. Sensors 21(23), 7898 (2021)","journal-title":"Sensors"},{"key":"5876_CR9","doi-asserted-by":"crossref","unstructured":"Valavanis, K.P., Vachtsevanos, G.J.: Introduction to the handbook on uavs. Handbook of Unmanned Aerial Vehicles pp. 5\u201342 (2015)","DOI":"10.1007\/978-90-481-9707-1_91"},{"key":"5876_CR10","doi-asserted-by":"publisher","first-page":"270","DOI":"10.1016\/j.comcom.2019.10.014","volume":"149","author":"S Aggarwal","year":"2020","unstructured":"Aggarwal, S., Kumar, N.: Path planning techniques for unmanned aerial vehicles: A review, solutions, and challenges. Comput. Commun. 149, 270\u2013299 (2020)","journal-title":"Comput. Commun."},{"issue":"5","key":"5876_CR11","doi-asserted-by":"publisher","first-page":"438","DOI":"10.14429\/dsj.64.5992","volume":"64","author":"RA Raji","year":"2014","unstructured":"Raji, R.A., Kumar, A.R., Purohit, S., Lakshmi, T., Dwivedi, V., Kumar, K.: Advanced mission management system for unmanned aerial vehicles. Def. Sci. J. 64(5), 438 (2014)","journal-title":"Def. Sci. J."},{"issue":"3","key":"5876_CR12","doi-asserted-by":"publisher","first-page":"448","DOI":"10.3390\/vehicles3030027","volume":"3","author":"K Karur","year":"2021","unstructured":"Karur, K., Sharma, N., Dharmatti, C., Siegel, J.E.: A survey of path planning algorithms for mobile robots. Vehicles 3(3), 448\u2013468 (2021)","journal-title":"Vehicles"},{"key":"5876_CR13","doi-asserted-by":"crossref","unstructured":"Vashisth, A., Batth, R.S., Ward, R.: Existing path planning techniques in unmanned aerial vehicles (UAVs): a systematic review, in 2021 International Conference on Computational Intelligence and Knowledge Economy (ICCIKE) (IEEE, 2021), pp. 366\u2013372","DOI":"10.1109\/ICCIKE51210.2021.9410787"},{"key":"5876_CR14","doi-asserted-by":"publisher","unstructured":"Miller, B., Stepanyan, K., Miller, A., Andreev, M.: 3D path planning in a threat environment, in 2011 50th IEEE Conference on Decision and Control and European Control Conference (2011), pp. 6864\u20136869. https:\/\/doi.org\/10.1109\/CDC.2011.6160385","DOI":"10.1109\/CDC.2011.6160385"},{"key":"5876_CR15","doi-asserted-by":"crossref","unstructured":"Wang, Y., Chen, W.: Path planning and obstacle avoidance of unmanned aerial vehicle based on improved genetic algorithms. In Proceedings of the 33rd Chinese Control Conference (IEEE), pp. 8612\u20138616, (2014)","DOI":"10.1109\/ChiCC.2014.6896446"},{"key":"5876_CR16","doi-asserted-by":"crossref","unstructured":"Li, X., Chen, J.: An efficient framework for target search with cooperative uavs in a fanet. In 2017 IEEE International Symposium on Parallel and Distributed Processing with Applications and 2017 IEEE International Conference on Ubiquitous Computing and Communications (ISPA\/IUCC) (IEEE), pp. 306\u2013313 (2017)","DOI":"10.1109\/ISPA\/IUCC.2017.00051"},{"key":"5876_CR17","doi-asserted-by":"crossref","unstructured":"Chen, J., Ye, F., Jiang, T.: Path planning under obstacle-avoidance constraints based on ant colony optimization algorithm. In: 2017 IEEE 17th International Conference on Communication Technology (ICCT) (IEEE), pp. 1434\u20131438 (2017)","DOI":"10.1109\/ICCT.2017.8359869"},{"key":"5876_CR18","doi-asserted-by":"crossref","unstructured":"Monwar, M., Semiari, O., Saad, W.: Optimized path planning for inspection by unmanned aerial vehicles swarm with energy constraints. In: 2018 IEEE Global Communications Conference (GLOBECOM) (IEEE), pp. 1\u20136 (2018)","DOI":"10.1109\/GLOCOM.2018.8647342"},{"issue":"3","key":"5876_CR19","doi-asserted-by":"publisher","first-page":"1698","DOI":"10.1109\/JIOT.2018.2796243","volume":"5","author":"P Kumar","year":"2018","unstructured":"Kumar, P., Garg, S., Singh, A., Batra, S., Kumar, N., You, I.: Mvo-based 2-d path planning scheme for providing quality of service in uav environment. IEEE Internet Things J. 5(3), 1698\u20131707 (2018). https:\/\/doi.org\/10.1109\/JIOT.2018.2796243","journal-title":"IEEE Internet Things J."},{"key":"5876_CR20","doi-asserted-by":"publisher","first-page":"34237","DOI":"10.1109\/ACCESS.2018.2817648","volume":"6","author":"Z Wu","year":"2018","unstructured":"Wu, Z., Li, J., Zuo, J., Li, S.: Path planning of UAVS based on collision probability and Kalman filter. IEEE Access 6, 34237\u201334245 (2018)","journal-title":"IEEE Access"},{"key":"5876_CR21","doi-asserted-by":"crossref","unstructured":"Fu, Z., Yu, J., Xie, G., Chen, Y., Mao, Y., et\u00a0al.: A heuristic evolutionary algorithm of uav path planning. Wireless Communications and Mobile Computing 2018 (2018)","DOI":"10.1155\/2018\/2851964"},{"key":"5876_CR22","doi-asserted-by":"publisher","first-page":"831","DOI":"10.1016\/j.ast.2019.06.027","volume":"92","author":"Y Huang","year":"2019","unstructured":"Huang, Y., Chen, J., Wang, H., Su, G.: A method of 3d path planning for solar-powered uav with fixed target and solar tracking. Aerosp. Sci. Technol. 92, 831\u2013838 (2019)","journal-title":"Aerosp. Sci. Technol."},{"key":"5876_CR23","doi-asserted-by":"publisher","first-page":"196","DOI":"10.1016\/j.comcom.2020.04.050","volume":"162","author":"C Xu","year":"2020","unstructured":"Xu, C., Xu, M., Yin, C.: Optimized multi-uav cooperative path planning under the complex confrontation environment. Comput. Commun. 162, 196\u2013203 (2020)","journal-title":"Comput. Commun."},{"key":"5876_CR24","doi-asserted-by":"publisher","DOI":"10.1016\/j.comnet.2020.107207","volume":"175","author":"LH Shi Lin","year":"2020","unstructured":"Shi Lin, L.H., Shoukun, X., Zhongxu, Z.: Qos-aware uav coverage path planning in 5g mmwave network. Comput. Netw. 175, 107207 (2020)","journal-title":"Comput. Netw."},{"key":"5876_CR25","doi-asserted-by":"publisher","DOI":"10.1016\/j.knosys.2020.106209","volume":"204","author":"X Yu","year":"2020","unstructured":"Yu, X., Li, C., Zhou, J.: A constrained differential evolution algorithm to solve uav path planning in disaster scenarios. Knowl.-Based Syst. 204, 106209 (2020)","journal-title":"Knowl.-Based Syst."},{"key":"5876_CR26","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2020.103807","volume":"94","author":"K Li","year":"2020","unstructured":"Li, K., Ge, F., Han, Y., Xu, W., et al.: Path planning of multiple uavs with online changing tasks by an orpfoa algorithm. Eng. Appl. Artif. Intell. 94, 103807 (2020)","journal-title":"Eng. Appl. Artif. Intell."},{"issue":"8","key":"5876_CR27","doi-asserted-by":"publisher","first-page":"2839","DOI":"10.3390\/s21082839","volume":"21","author":"S Poudel","year":"2021","unstructured":"Poudel, S., Moh, S.: Hybrid path planning for efficient data collection in uav-aided wsns for emergency applications. Sensors 21(8), 2839 (2021)","journal-title":"Sensors"},{"key":"5876_CR28","doi-asserted-by":"crossref","unstructured":"Han, B., Li, Q., Cheng, C.: Research on UAV indoor path planning algorithm based on global subdivision grids. In: 2021 IEEE International Geoscience and Remote Sensing Symposium IGARSS (IEEE), pp. 8503\u20138506 (2021)","DOI":"10.1109\/IGARSS47720.2021.9554242"},{"key":"5876_CR29","doi-asserted-by":"publisher","first-page":"102450","DOI":"10.1109\/ACCESS.2021.3097945","volume":"9","author":"HY Lin","year":"2021","unstructured":"Lin, H.Y., Peng, X.Z.: Autonomous quadrotor navigation with vision based obstacle avoidance and path planning. IEEE Access 9, 102450\u2013102459 (2021)","journal-title":"IEEE Access"},{"key":"5876_CR30","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2021.107277","volume":"120","author":"B Wang","year":"2022","unstructured":"Wang, B., Zhang, Y., Zhang, W.: Integrated path planning and trajectory tracking control for quadrotor uavs with obstacle avoidance in the presence of environmental and systematic uncertainties: Theory and experiment. Aerosp. Sci. Technol. 120, 107277 (2022)","journal-title":"Aerosp. Sci. Technol."},{"key":"5876_CR31","doi-asserted-by":"publisher","first-page":"242","DOI":"10.1016\/j.comcom.2021.08.013","volume":"179","author":"C Wu","year":"2021","unstructured":"Wu, C., Liang, R., Xu, F., Ke, F.: Uav path planning for backscatter communication with phase cancellation. Comput. Commun. 179, 242\u2013250 (2021)","journal-title":"Comput. Commun."},{"key":"5876_CR32","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2021.107376","volume":"107","author":"MD Phung","year":"2021","unstructured":"Phung, M.D., Ha, Q.P.: Safety-enhanced uav path planning with spherical vector-based particle swarm optimization. Appl. Soft Comput. 107, 107376 (2021)","journal-title":"Appl. Soft Comput."},{"key":"5876_CR33","doi-asserted-by":"publisher","DOI":"10.1016\/j.adhoc.2021.102427","volume":"116","author":"L Shi","year":"2021","unstructured":"Shi, L., Jiang, Z., Xu, S.: Throughput-aware path planning for uavs in d2d 5g networks. Ad Hoc Netw. 116, 102427 (2021)","journal-title":"Ad Hoc Netw."},{"issue":"9","key":"5876_CR34","doi-asserted-by":"publisher","first-page":"199","DOI":"10.1016\/j.cja.2020.12.018","volume":"34","author":"Z Yaoming","year":"2021","unstructured":"Yaoming, Z., Yu, S., Anhuan, X., Lingyu, K.: A newly bio-inspired path planning algorithm for autonomous obstacle avoidance of uav. Chin. J. Aeronaut. 34(9), 199\u2013209 (2021)","journal-title":"Chin. J. Aeronaut."},{"key":"5876_CR35","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2021.107796","volume":"112","author":"YV Pehlivanoglu","year":"2021","unstructured":"Pehlivanoglu, Y.V., Pehlivanoglu, P.: An enhanced genetic algorithm for path planning of autonomous uav in target coverage problems. Appl. Soft Comput. 112, 107796 (2021)","journal-title":"Appl. Soft Comput."},{"key":"5876_CR36","doi-asserted-by":"publisher","DOI":"10.1016\/j.phycom.2021.101337","volume":"47","author":"SI Khan","year":"2021","unstructured":"Khan, S.I., Qadir, Z., Munawar, H.S., Nayak, S.R., Budati, A.K., Verma, K.D., Prakash, D.: Uavs path planning architecture for effective medical emergency response in future networks. Phys. Commun. 47, 101337 (2021)","journal-title":"Phys. Commun."},{"key":"5876_CR37","doi-asserted-by":"publisher","first-page":"509","DOI":"10.1016\/j.matcom.2021.10.032","volume":"193","author":"JS Pan","year":"2022","unstructured":"Pan, J.S., Lv, J.X., Yan, L.J., Weng, S.W., Chu, S.C., Xue, J.K.: Golden eagle optimizer with double learning strategies for 3d path planning of uav in power inspection. Math. Comput. Simul. 193, 509\u2013532 (2022)","journal-title":"Math. Comput. Simul."},{"key":"5876_CR38","doi-asserted-by":"publisher","first-page":"7350","DOI":"10.1007\/s10489-020-02082-8","volume":"51","author":"W He","year":"2021","unstructured":"He, W., Qi, X., Liu, L.: A novel hybrid particle swarm optimization for multi-uav cooperate path planning. Appl. Intell. 51, 7350\u20137364 (2021)","journal-title":"Appl. Intell."},{"key":"5876_CR39","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s42452-020-03498-0","volume":"2","author":"B Abhishek","year":"2020","unstructured":"Abhishek, B., Ranjit, S., Shankar, T., Eappen, G., Sivasankar, P., Rajesh, A.: Hybrid pso-hsa and pso-ga algorithm for 3d path planning in autonomous uavs. SN Appl. Sci 2, 1\u201316 (2020)","journal-title":"SN Appl. Sci"},{"key":"5876_CR40","doi-asserted-by":"publisher","DOI":"10.1016\/j.knosys.2020.105530","volume":"194","author":"C Qu","year":"2020","unstructured":"Qu, C., Gai, W., Zhang, J., Zhong, M.: A novel hybrid grey wolf optimizer algorithm for unmanned aerial vehicle (uav) path planning. Knowl.-Based Syst. 194, 105530 (2020)","journal-title":"Knowl.-Based Syst."},{"issue":"14","key":"5876_CR41","doi-asserted-by":"publisher","first-page":"16775","DOI":"10.1007\/s10489-021-02353-y","volume":"52","author":"R Zhao","year":"2022","unstructured":"Zhao, R., Wang, Y., Xiao, G., Liu, C., Hu, P., Li, H.: A method of path planning for unmanned aerial vehicle based on the hybrid of selfish herd optimizer and particle swarm optimizer. Appl. Intell. 52(14), 16775\u201316798 (2022)","journal-title":"Appl. Intell."},{"issue":"10","key":"5876_CR42","doi-asserted-by":"publisher","first-page":"13847","DOI":"10.1007\/s12652-022-04098-z","volume":"14","author":"E Balasubramanian","year":"2023","unstructured":"Balasubramanian, E., Elangovan, E., Tamilarasan, P., Kanagachidambaresan, G., Chutia, D.: Optimal energy efficient path planning of uav using hybrid maco-mea* algorithm: theoretical and experimental approach. J. Ambient. Intell. Humaniz. Comput. 14(10), 13847\u201313867 (2023)","journal-title":"J. Ambient. Intell. Humaniz. Comput."},{"key":"5876_CR43","doi-asserted-by":"publisher","DOI":"10.1016\/j.adhoc.2022.103068","volume":"140","author":"A Chowdhury","year":"2023","unstructured":"Chowdhury, A., De, D.: Rgso-uav: Reverse glowworm swarm optimization inspired uav path-planning in a 3d dynamic environment. Ad Hoc Netw. 140, 103068 (2023)","journal-title":"Ad Hoc Netw."},{"key":"5876_CR44","doi-asserted-by":"crossref","unstructured":"Yu, Z., Sun, F., Lu, X., Song, Y.: Overview of research on 3d path planning methods for rotor uav, in 2021 International Conference on Electronics, Circuits and Information Engineering (ECIE) (IEEE, 2021), pp. 368\u2013371","DOI":"10.1109\/ECIE52353.2021.00081"},{"key":"5876_CR45","doi-asserted-by":"crossref","unstructured":"Dixit, A., Singh, S.K.: An empirical analysis of uav routing models from a context-specific statistical perspective. Int. J. Comput. Digital Syst. (2023)","DOI":"10.12785\/ijcds\/130167"},{"issue":"7","key":"5876_CR46","doi-asserted-by":"publisher","first-page":"10516","DOI":"10.1109\/TVT.2024.3363840","volume":"73","author":"E Yanmaz","year":"2024","unstructured":"Yanmaz, E., Balanji, H.M., G\u00fcven, \u0130: Dynamic multi-uav path planning for multi-target search and connectivity. IEEE Trans. Veh. Technol. 73(7), 10516\u201310528 (2024)","journal-title":"IEEE Trans. Veh. Technol."},{"key":"5876_CR47","doi-asserted-by":"publisher","DOI":"10.1016\/j.adhoc.2024.103520","volume":"160","author":"\u0130 G\u00fcven","year":"2024","unstructured":"G\u00fcven, \u0130, Yanmaz, E.: Multi-objective path planning for multi-uav connectivity and area coverage. Ad Hoc Netw. 160, 103520 (2024)","journal-title":"Ad Hoc Netw."}],"container-title":["Cluster Computing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10586-025-05876-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10586-025-05876-y","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10586-025-05876-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,27]],"date-time":"2026-01-27T18:00:15Z","timestamp":1769536815000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10586-025-05876-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,1,6]]},"references-count":47,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2026,4]]}},"alternative-id":["5876"],"URL":"https:\/\/doi.org\/10.1007\/s10586-025-05876-y","relation":{},"ISSN":["1386-7857","1573-7543"],"issn-type":[{"value":"1386-7857","type":"print"},{"value":"1573-7543","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,1,6]]},"assertion":[{"value":"30 September 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"7 November 2025","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"14 November 2025","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"6 January 2026","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 January 2026","order":6,"name":"change_date","label":"Change Date","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"Update","order":7,"name":"change_type","label":"Change Type","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"The original online version of this article was revised: The affiliation \u2018School of Computer Engineering, Manipal Institute of Technology, Bengaluru, Karnataka, 576104, India\u2019 has been corrected to \u2018Manipal Institute of Technology Bengaluru, Manipal Academy of Higher Education, Manipal, India\u2019.","order":8,"name":"change_details","label":"Change Details","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Not applicable","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical Approval"}},{"value":"The authors declare no Conflict of interest.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}],"article-number":"86"}}