{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,20]],"date-time":"2026-06-20T13:50:32Z","timestamp":1781963432865,"version":"3.54.5"},"reference-count":47,"publisher":"Springer Science and Business Media LLC","issue":"9","license":[{"start":{"date-parts":[[2026,6,20]],"date-time":"2026-06-20T00:00:00Z","timestamp":1781913600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2026,6,20]],"date-time":"2026-06-20T00:00:00Z","timestamp":1781913600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61703287"],"award-info":[{"award-number":["61703287"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"the Liaoning Provincial Natural Science Foundation","award":["2024-MS-137"],"award-info":[{"award-number":["2024-MS-137"]}]},{"name":"the Scientific Research Program of Liaoning Provincial Education Department","award":["LJ232510143006"],"award-info":[{"award-number":["LJ232510143006"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Supercomput"],"DOI":"10.1007\/s11227-026-08640-0","type":"journal-article","created":{"date-parts":[[2026,6,20]],"date-time":"2026-06-20T11:37:48Z","timestamp":1781955468000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["MSPSO: a multi-strategy particle swarm optimization for safe and efficient collaborative multi-UAV path planning in complex 3D environments"],"prefix":"10.1007","volume":"82","author":[{"given":"Chuanyun","family":"Wang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xipei","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Huilong","family":"Zheng","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qian","family":"Gao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Linlin","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2026,6,20]]},"reference":[{"key":"8640_CR1","doi-asserted-by":"crossref","unstructured":"Ran W, Nantogma S, Zhang S, Xu Y (2025) Bio-inspired UAV swarm operation approach towards decentralized aerial electronic defense. Appl Soft Comput 113136","DOI":"10.1016\/j.asoc.2025.113136"},{"issue":"2","key":"8640_CR2","doi-asserted-by":"publisher","first-page":"317","DOI":"10.1111\/2041-210X.14457","volume":"16","author":"TC Stone","year":"2025","unstructured":"Stone TC, Davis KJ (2025) Using unmanned aerial vehicles to estimate body volume at scale for ecological monitoring. Methods Ecol Evol 16(2):317\u2013331","journal-title":"Methods Ecol Evol"},{"key":"8640_CR3","doi-asserted-by":"publisher","DOI":"10.1016\/j.ecoinf.2023.102305","volume":"78","author":"MA Istiak","year":"2023","unstructured":"Istiak MA, Mahbubul Syeed MM, Hossain MS, Uddin MF, Hasan M, Khan RH, Azad NS (2023) Adoption of unmanned aerial vehicle (UAV) imagery in agricultural management: a systematic literature review. Eco Inform 78:102305","journal-title":"Eco Inform"},{"issue":"23","key":"8640_CR4","doi-asserted-by":"publisher","first-page":"20408","DOI":"10.1109\/JIOT.2023.3284045","volume":"10","author":"OB Piramuthu","year":"2023","unstructured":"Piramuthu OB, Caesar M (2023) Drone-hosted computation for emergency response. IEEE Internet Things J 10(23):20408\u201320414","journal-title":"IEEE Internet Things J"},{"key":"8640_CR5","doi-asserted-by":"crossref","unstructured":"Xu N, Mu C, Ma L, Wang K (2025) Real-time voltage control in smart distribution network through multi-agent cooperative optimization. IEEE Trans Sustain Energy","DOI":"10.1109\/TSTE.2025.3598325"},{"issue":"5","key":"8640_CR6","doi-asserted-by":"publisher","first-page":"4295","DOI":"10.1007\/s10462-022-10281-7","volume":"56","author":"J Tang","year":"2023","unstructured":"Tang J, Duan H, Lao S (2023) Swarm intelligence algorithms for multiple unmanned aerial vehicles collaboration: a comprehensive review. Artif Intell Rev 56(5):4295\u20134327","journal-title":"Artif Intell Rev"},{"key":"8640_CR7","doi-asserted-by":"publisher","first-page":"147","DOI":"10.1016\/j.arcontrol.2019.10.001","volume":"48","author":"S Huang","year":"2019","unstructured":"Huang S, Teo RSH, Tan KK (2019) Collision avoidance of multi unmanned aerial vehicles: a review. Annu Rev Control 48:147\u2013164","journal-title":"Annu Rev Control"},{"key":"8640_CR8","doi-asserted-by":"publisher","DOI":"10.1016\/j.cie.2021.107612","volume":"161","author":"SW Cho","year":"2021","unstructured":"Cho SW, Park HJ, Lee H, Shim DH, Kim S-Y (2021) Coverage path planning for multiple unmanned aerial vehicles in maritime search and rescue operations. Comput Industrial Eng 161:107612","journal-title":"Comput Industrial Eng"},{"issue":"9","key":"8640_CR9","doi-asserted-by":"publisher","first-page":"11727","DOI":"10.1109\/TVT.2023.3266817","volume":"72","author":"H Wenjian","year":"2023","unstructured":"Wenjian H, Yao Yu, Liu S, She C, Guo L, Vucetic B, Li Y (2023) Multi-UAV coverage path planning: a distributed online cooperation method. IEEE Trans Veh Technol 72(9):11727\u201311740","journal-title":"IEEE Trans Veh Technol"},{"key":"8640_CR10","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2023.111033","volume":"150","author":"K Li","year":"2024","unstructured":"Li K, Yan X, Han Y (2024) Multi-mechanism swarm optimization for multi-UAV task assignment and path planning in transmission line inspection under multi-wind field. Appl Soft Comput 150:111033","journal-title":"Appl Soft Comput"},{"issue":"6","key":"8640_CR11","doi-asserted-by":"publisher","first-page":"394","DOI":"10.3390\/drones7060394","volume":"7","author":"T Xiong","year":"2023","unstructured":"Xiong T, Liu F, Liu H, Ge J, Li H, Ding K, Li Q (2023) Multi-drone optimal mission assignment and 3d path planning for disaster rescue. Drones 7(6):394","journal-title":"Drones"},{"key":"8640_CR12","doi-asserted-by":"publisher","DOI":"10.1016\/j.swevo.2024.101612","volume":"88","author":"B Yildiz","year":"2024","unstructured":"Yildiz B, Aslan MF, Durdu A, Kayabasi A (2024) Consensus-based virtual leader tracking swarm algorithm with gdrrt*-pso for path-planning of multiple-UAVs. Swarm Evol Comput 88:101612","journal-title":"Swarm Evol Comput"},{"key":"8640_CR13","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2022.105654","volume":"118","author":"W Yu","year":"2023","unstructured":"Yu W, Shuting X, Dai W, Lin L (2023) Heuristic position allocation methods for forming multiple UAV formations. Eng Appl Artif Intell 118:105654","journal-title":"Eng Appl Artif Intell"},{"key":"8640_CR14","doi-asserted-by":"publisher","DOI":"10.1016\/j.seps.2024.101907","volume":"93","author":"S Choi","year":"2024","unstructured":"Choi S, Lee M, Park H, Han J (2024) Mathematical programming-based heuristic for highway patrol drone scheduling problem. Socioecon Plann Sci 93:101907","journal-title":"Socioecon Plann Sci"},{"issue":"9","key":"8640_CR15","doi-asserted-by":"publisher","DOI":"10.1016\/j.jksuci.2023.101734","volume":"35","author":"RA Qamar","year":"2023","unstructured":"Qamar RA, Sarfraz M, Rahman A, Ghauri SA (2023) Multi-criterion multi-UAV task allocation under dynamic conditions. J King Saud Univers-Comput Inf Sci 35(9):101734","journal-title":"J King Saud Univers-Comput Inf Sci"},{"key":"8640_CR16","doi-asserted-by":"publisher","DOI":"10.1016\/j.knosys.2024.111830","volume":"296","author":"J Li","year":"2024","unstructured":"Li J, Yang X, Yang Y, Liu X (2024) Cooperative mapping task assignment of heterogeneous multi-UAV using an improved genetic algorithm. Knowl-Based Syst 296:111830","journal-title":"Knowl-Based Syst"},{"key":"8640_CR17","doi-asserted-by":"publisher","DOI":"10.1016\/j.swevo.2024.101694","volume":"91","author":"T-Y Chen","year":"2024","unstructured":"Chen T-Y, Miao Z-H, Li W-M, Pan Q-K (2024) A learning-based memetic algorithm for a cooperative task allocation problem of multiple unmanned aerial vehicles in smart agriculture. Swarm Evol Comput 91:101694","journal-title":"Swarm Evol Comput"},{"issue":"20","key":"8640_CR18","doi-asserted-by":"publisher","first-page":"43143","DOI":"10.1109\/JIOT.2025.3595102","volume":"12","author":"X Chen","year":"2025","unstructured":"Chen X, Zipeng Zhao Yu, Wan JQ, Ruan Y, Xin L, Tang J (2025) ccdnca: A dual-neighborhood search-based dual-population coevolutionary algorithm for multi-UAV task allocation problems with complex constraints. IEEE Internet Things J 12(20):43143\u201343165","journal-title":"IEEE Internet Things J"},{"issue":"7","key":"8640_CR19","doi-asserted-by":"publisher","first-page":"4305","DOI":"10.1109\/TCOMM.2024.3361536","volume":"72","author":"X Wenlong","year":"2024","unstructured":"Wenlong X, Zhang T, Xidong M, Liu Y, Wang Y (2024) Trajectory planning and resource allocation for multi-UAV cooperative computation. IEEE Trans Commun 72(7):4305\u20134318","journal-title":"IEEE Trans Commun"},{"issue":"5","key":"8640_CR20","doi-asserted-by":"publisher","first-page":"2740","DOI":"10.1109\/TCOMM.2023.3255240","volume":"71","author":"X Wang","year":"2023","unstructured":"Wang X, Yi M, Liu J, Zhang Y, Wang M, Bai B (2023) Cooperative data collection with multiple UAVs for information freshness in the internet of things. IEEE Trans Commun 71(5):2740\u20132755","journal-title":"IEEE Trans Commun"},{"issue":"13","key":"8640_CR21","doi-asserted-by":"publisher","first-page":"10676","DOI":"10.1109\/JIOT.2021.3125784","volume":"9","author":"D Liu","year":"2021","unstructured":"Liu D, Bao W, Zhu X, Fei B, Men T, Xiao Z (2021) Cooperative path optimization for multiple UAVs surveillance in uncertain environment. IEEE Internet Things J 9(13):10676\u201310692","journal-title":"IEEE Internet Things J"},{"key":"8640_CR22","doi-asserted-by":"publisher","first-page":"197","DOI":"10.1016\/j.dt.2025.01.008","volume":"47","author":"M Wang","year":"2025","unstructured":"Wang M, Zhang D, Li C, Zhang Z (2025) Multiple fixed-wing UAVs collaborative coverage 3d path planning method for complex areas. Defence Technol 47:197\u2013215","journal-title":"Defence Technol"},{"issue":"6","key":"8640_CR23","doi-asserted-by":"publisher","first-page":"251","DOI":"10.3390\/drones8060251","volume":"8","author":"T Sun","year":"2024","unstructured":"Sun T, Sun W, Sun C, He R (2024) Multi-UAV formation path planning based on compensation look-ahead algorithm. Drones 8(6):251","journal-title":"Drones"},{"key":"8640_CR24","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2025.112927","volume":"173","author":"X Xiuju","year":"2025","unstructured":"Xiuju X, Xie C, Ma L, Yang L, Zhang T (2025) Multi-objective evolutionary algorithm with two balancing mechanisms for heterogeneous UAV swarm path planning. Appl Soft Comput 173:112927","journal-title":"Appl Soft Comput"},{"issue":"21","key":"8640_CR25","doi-asserted-by":"publisher","first-page":"5364","DOI":"10.3390\/en17215364","volume":"17","author":"Y Li","year":"2024","unstructured":"Li Y, Dong X, Ding Q, Xiong Y, Liao H, Wang T (2024) Improved a-star algorithm for power line inspection UAV path planning. Energies 17(21):5364","journal-title":"Energies"},{"issue":"4","key":"8640_CR26","doi-asserted-by":"publisher","first-page":"966","DOI":"10.1109\/TRO.2018.2830331","volume":"34","author":"JD Gammell","year":"2018","unstructured":"Gammell JD, Barfoot TD, Srinivasa SS (2018) Informed sampling for asymptotically optimal path planning. IEEE Trans Rob 34(4):966\u2013984","journal-title":"IEEE Trans Rob"},{"key":"8640_CR27","doi-asserted-by":"publisher","first-page":"147827","DOI":"10.1109\/ACCESS.2020.3015976","volume":"8","author":"M Luo","year":"2020","unstructured":"Luo M, Hou X, Yang J (2020) Surface optimal path planning using an extended Dijkstra algorithm. IEEE access 8:147827\u2013147838","journal-title":"IEEE access"},{"issue":"6","key":"8640_CR28","doi-asserted-by":"publisher","first-page":"645","DOI":"10.1016\/j.mechmachtheory.2005.01.006","volume":"40","author":"J Agirrebeitia","year":"2005","unstructured":"Agirrebeitia J, Avil\u00e9s R, De Bustos IF, Ajuria G (2005) A new APF strategy for path planning in environments with obstacles. Mech Mach Theory 40(6):645\u2013658","journal-title":"Mech Mach Theory"},{"key":"8640_CR29","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2021.107376","volume":"107","author":"Manh Duong Phung and Quang Phuc Ha","year":"2021","unstructured":"Manh Duong Phung and Quang Phuc Ha (2021) Safety-enhanced UAV path planning with spherical vector-based particle swarm optimization. Appl Soft Comput 107:107376","journal-title":"Appl Soft Comput"},{"issue":"5","key":"8640_CR30","doi-asserted-by":"publisher","first-page":"4295","DOI":"10.1007\/s10462-022-10281-7","volume":"56","author":"J Tang","year":"2023","unstructured":"Tang J, Duan H, Lao S (2023) Swarm intelligence algorithms for multiple unmanned aerial vehicles collaboration: a comprehensive review. Artif Intell Rev 56(5):4295\u20134327","journal-title":"Artif Intell Rev"},{"issue":"9","key":"8640_CR31","doi-asserted-by":"publisher","first-page":"638","DOI":"10.3390\/drones9090638","volume":"9","author":"Y Wang","year":"2025","unstructured":"Wang Y, Liu J, Qian Y, Yi W (2025) Path planning for multi-UAV in a complex environment based on reinforcement-learning-driven continuous ant colony optimization. Drones 9(9):638","journal-title":"Drones"},{"key":"8640_CR32","doi-asserted-by":"crossref","unstructured":"Zhang Z, Na Z, Lin Y, Lin Y, Nallanathan A (2025) Multi-UAV path planning based on an improved wolf pack algorithm in complex 3d terrains. Chinese J Aeronaut 104012","DOI":"10.1016\/j.cja.2025.104012"},{"key":"8640_CR33","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2023.121862","volume":"238","author":"W Zhang","year":"2024","unstructured":"Zhang W, Peng C, Yuan Y, Cui J, Qi L (2024) A novel multi-objective evolutionary algorithm with a two-fold constraint-handling mechanism for multiple UAV path planning. Expert Syst Appl 238:121862","journal-title":"Expert Syst Appl"},{"key":"8640_CR34","doi-asserted-by":"publisher","first-page":"229","DOI":"10.1016\/j.neucom.2018.06.032","volume":"313","author":"D Zhang","year":"2018","unstructured":"Zhang D, Duan H (2018) Social-class pigeon-inspired optimization and time stamp segmentation for multi-UAV cooperative path planning. Neurocomputing 313:229\u2013246","journal-title":"Neurocomputing"},{"issue":"24","key":"8640_CR35","doi-asserted-by":"publisher","first-page":"9786","DOI":"10.3390\/s22249786","volume":"22","author":"S Li","year":"2022","unstructured":"Li S, Zhang R, Ding Y, Qin X, Han Y, Zhang H (2022) Multi-UAV path planning algorithm based on BINN-HHO. Sensors 22(24):9786","journal-title":"Sensors"},{"issue":"5","key":"8640_CR36","doi-asserted-by":"publisher","first-page":"192","DOI":"10.3390\/drones8050192","volume":"8","author":"Q Meng","year":"2024","unstructured":"Meng Q, Chen K, Qingjun Q (2024) PPSwarm: multi-UAV path planning based on hybrid PSO in complex scenarios. Drones 8(5):192","journal-title":"Drones"},{"issue":"8","key":"8640_CR37","doi-asserted-by":"publisher","first-page":"3417","DOI":"10.3390\/app11083417","volume":"11","author":"N Ahmed","year":"2021","unstructured":"Ahmed N, Pawase CJ, Chang K (2021) Distributed 3-d path planning for multi-UAVs with full area surveillance based on particle swarm optimization. Appl Sci 11(8):3417","journal-title":"Appl Sci"},{"issue":"6","key":"8640_CR38","doi-asserted-by":"publisher","first-page":"1504","DOI":"10.1016\/j.cja.2019.03.026","volume":"32","author":"LIU Yang","year":"2019","unstructured":"Yang LIU, Xuejun Zhang Yu, Zhang GUANX (2019) Collision free 4d path planning for multiple UAVs based on spatial refined voting mechanism and PSO approach. Chin J Aeronaut 32(6):1504\u20131519","journal-title":"Chin J Aeronaut"},{"issue":"3","key":"8640_CR39","doi-asserted-by":"publisher","first-page":"194","DOI":"10.1016\/j.kjs.2023.05.004","volume":"50","author":"P Saraiva","year":"2023","unstructured":"Saraiva P (2023) On Shannon entropy and its applications. Kuwait J Sci 50(3):194\u2013199","journal-title":"Kuwait J Sci"},{"key":"8640_CR40","unstructured":"Ahrari A, Elsayed S, Sarker R, Essam D, Coello CA (2022) Problem definition and evaluation criteria for the CEC\u20192022 competition on dynamic multimodal optimization. In: Proceedings of the IEEE world congress on computational intelligence (IEEE WCCI 2022), Padua, Italy, pp 18\u201323"},{"key":"8640_CR41","doi-asserted-by":"publisher","first-page":"327","DOI":"10.1016\/j.apm.2023.10.045","volume":"126","author":"A-Q Tian","year":"2024","unstructured":"Tian A-Q, Liu F-F, Lv H-X (2024) Snow geese algorithm: a novel migration-inspired meta-heuristic algorithm for constrained engineering optimization problems. Appl Math Model 126:327\u2013347","journal-title":"Appl Math Model"},{"issue":"2","key":"8640_CR42","first-page":"751","volume":"205","author":"M Xi","year":"2008","unstructured":"Xi M, Sun J, Wenbo X (2008) An improved quantum-behaved particle swarm optimization algorithm with weighted mean best position. Appl Math Comput 205(2):751\u2013759","journal-title":"Appl Math Comput"},{"key":"8640_CR43","doi-asserted-by":"publisher","DOI":"10.1016\/j.swevo.2022.101212","volume":"76","author":"Y Zhang","year":"2023","unstructured":"Zhang Y (2023) Elite archives-driven particle swarm optimization for large scale numerical optimization and its engineering applications. Swarm Evol Comput 76:101212","journal-title":"Swarm Evol Comput"},{"issue":"1","key":"8640_CR44","doi-asserted-by":"publisher","first-page":"427","DOI":"10.1007\/s11831-022-09804-w","volume":"30","author":"FS Gharehchopogh","year":"2023","unstructured":"Gharehchopogh FS, Namazi M, Ebrahimi L, Abdollahzadeh B (2023) Advances in sparrow search algorithm: a comprehensive survey. Arch Comput Methods Eng 30(1):427\u2013455","journal-title":"Arch Comput Methods Eng"},{"issue":"7","key":"8640_CR45","doi-asserted-by":"publisher","first-page":"7305","DOI":"10.1007\/s11227-022-04959-6","volume":"79","author":"J Xue","year":"2023","unstructured":"Xue J, Shen B (2023) Dung beetle optimizer: a new meta-heuristic algorithm for global optimization: J. Xue, B. Shen. J Supercomput 79(7):7305\u20137336","journal-title":"J Supercomput"},{"issue":"10","key":"8640_CR46","doi-asserted-by":"publisher","first-page":"11675","DOI":"10.1007\/s10462-023-10446-y","volume":"56","author":"M Abdel-Basset","year":"2023","unstructured":"Abdel-Basset M, Mohamed R, Jameel M, Abouhawwash M (2023) Spider wasp optimizer: a novel meta-heuristic optimization algorithm. Artif Intell Rev 56(10):11675\u201311738","journal-title":"Artif Intell Rev"},{"key":"8640_CR47","doi-asserted-by":"publisher","DOI":"10.1016\/j.compeleceng.2024.110034","volume":"123","author":"B Niu","year":"2025","unstructured":"Niu B, Wang Y, Liu J, Yue GX-G (2025) Path planning for unmanned aerial vehicles in complex environment based on an improved continuous ant colony optimisation. Comput Electr Eng 123:110034","journal-title":"Comput Electr Eng"}],"container-title":["The Journal of Supercomputing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11227-026-08640-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11227-026-08640-0","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11227-026-08640-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,6,20]],"date-time":"2026-06-20T13:02:23Z","timestamp":1781960543000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11227-026-08640-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,6,20]]},"references-count":47,"journal-issue":{"issue":"9","published-online":{"date-parts":[[2026,6]]}},"alternative-id":["8640"],"URL":"https:\/\/doi.org\/10.1007\/s11227-026-08640-0","relation":{},"ISSN":["1573-0484"],"issn-type":[{"value":"1573-0484","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,6,20]]},"assertion":[{"value":"16 March 2026","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 May 2026","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 June 2026","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}],"article-number":"515"}}