{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,13]],"date-time":"2026-06-13T00:56:54Z","timestamp":1781312214926,"version":"3.54.1"},"reference-count":57,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,8,1]],"date-time":"2026-08-01T00:00:00Z","timestamp":1785542400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,8,1]],"date-time":"2026-08-01T00:00:00Z","timestamp":1785542400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,4,10]],"date-time":"2026-04-10T00:00:00Z","timestamp":1775779200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100014754","name":"Helmholtz-Zentrum Dresden-Rossendorf","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100014754","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Expert Systems with Applications"],"published-print":{"date-parts":[[2026,8]]},"DOI":"10.1016\/j.eswa.2026.132382","type":"journal-article","created":{"date-parts":[[2026,4,15]],"date-time":"2026-04-15T20:59:16Z","timestamp":1776286756000},"page":"132382","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["A distributed coverage path planning framework for autonomous unmanned aerial vehicle (UAV) swarms"],"prefix":"10.1016","volume":"322","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1445-8018","authenticated-orcid":false,"given":"Wilfried Yves Hamilton","family":"Adoni","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8464-2331","authenticated-orcid":false,"given":"Sandra","family":"Lorenz","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4383-473X","authenticated-orcid":false,"given":"Richard","family":"Gloaguen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Aastha","family":"Singh","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5471-2407","authenticated-orcid":false,"given":"Thomas D.","family":"K\u00fchne","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"1","key":"10.1016\/j.eswa.2026.132382_bib0001","doi-asserted-by":"crossref","first-page":"329","DOI":"10.1007\/s10846-012-9716-3","article-title":"Cooperative large area surveillance with a team of aerial mobile robots for long endurance missions","volume":"70","author":"Acevedo","year":"2013","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"1","key":"10.1016\/j.eswa.2026.132382_bib0002","doi-asserted-by":"crossref","first-page":"28","DOI":"10.5772\/52765","article-title":"Distributed approach for coverage and patrolling missions with a team of heterogeneous aerial robots under communication constraints","volume":"10","author":"Acevedo","year":"2013","journal-title":"International Journal of Advanced Robotic Systems"},{"key":"10.1016\/j.eswa.2026.132382_bib0003","series-title":"2024 21st International conference on ubiquitous robots (UR)","first-page":"153","article-title":"Autotarget*: A distributed robot operating system framework for autonomous aerial swarms","author":"Adoni","year":"2024"},{"issue":"10","key":"10.1016\/j.eswa.2026.132382_bib0004","doi-asserted-by":"crossref","first-page":"575","DOI":"10.3390\/drones8100575","article-title":"Intelligent swarm: Concept, design and validation of self-organized UAVs based on leader-followers paradigm for autonomous mission planning","volume":"8","author":"Adoni","year":"2024","journal-title":"Drones"},{"issue":"4","key":"10.1016\/j.eswa.2026.132382_bib0005","doi-asserted-by":"crossref","first-page":"263","DOI":"10.3390\/drones7040263","article-title":"Investigation of autonomous multi-UAV systems for target detection in distributed environment: Current developments and open challenges","volume":"7","author":"Adoni","year":"2023","journal-title":"Drones"},{"issue":"1","key":"10.1016\/j.eswa.2026.132382_bib0006","doi-asserted-by":"crossref","first-page":"16","DOI":"10.1186\/s40537-018-0125-8","article-title":"The MapReduce-based approach to improve the shortest path computation in large-scale road networks: The case of A* algorithm","volume":"5","author":"Adoni","year":"2018","journal-title":"Journal of Big Data"},{"issue":"1","key":"10.1016\/j.eswa.2026.132382_bib0007","doi-asserted-by":"crossref","first-page":"76","DOI":"10.1186\/s40537-020-00357-y","article-title":"DHPV: A distributed algorithm for large-scale graph partitioning","volume":"7","author":"Adoni","year":"2020","journal-title":"Journal of Big Data"},{"key":"10.1016\/j.eswa.2026.132382_bib0008","doi-asserted-by":"crossref","first-page":"69","DOI":"10.1016\/j.isatra.2020.02.005","article-title":"Consensus control of multi-agent systems with input and communication delay: A frequency domain perspective","volume":"101","author":"Ahmed","year":"2020","journal-title":"ISA Transactions"},{"key":"10.1016\/j.eswa.2026.132382_bib0009","series-title":"2017 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","first-page":"4319","article-title":"Field coverage and weed mapping by UAV swarms","author":"Albani","year":"2017"},{"issue":"1","key":"10.1016\/j.eswa.2026.132382_bib0010","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1007\/s10846-014-0143-5","article-title":"Survey of unmanned helicopter model-based navigation and control techniques","volume":"80","author":"Alvarenga","year":"2015","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"10.1016\/j.eswa.2026.132382_bib0011","unstructured":"Andersen, H. L. (2014). Path planning for search and rescue mission using multicopters. Master\u2019s thesis.Institutt for teknisk kybernetikk. Accepted: 2014-12-19T14:10:06Z Publication Title: 135https:\/\/ntnuopen.ntnu.no\/ntnu-xmlui\/handle\/11250\/261317."},{"key":"10.1016\/j.eswa.2026.132382_bib0012","series-title":"2013 IEEE symposium on computational intelligence for security and defense applications, CISDA 2013, Singapore, April 16-19, 2013","first-page":"30","article-title":"Multiple UAV area decomposition and coverage","author":"Araujo","year":"2013"},{"key":"10.1016\/j.eswa.2026.132382_bib0013","doi-asserted-by":"crossref","first-page":"151","DOI":"10.1016\/j.engappai.2015.02.008","article-title":"A MapReduce-based approach for shortest path problem in large-scale networks","volume":"41","author":"Aridhi","year":"2015","journal-title":"Engineering Applications of Artificial Intelligence"},{"issue":"21","key":"10.1016\/j.eswa.2026.132382_bib0014","doi-asserted-by":"crossref","first-page":"8766","DOI":"10.3390\/s23218766","article-title":"Application of deep reinforcement learning to uav swarming for ground surveillance","volume":"23","author":"Arranz","year":"2023","journal-title":"Sensors"},{"key":"10.1016\/j.eswa.2026.132382_bib0015","series-title":"2016 25th International conference on computer communication and networks (ICCCN)","first-page":"1","article-title":"Energy-aware trajectory planning for the localization of mobile devices using an unmanned aerial vehicle","author":"Artemenko","year":"2016"},{"key":"10.1016\/j.eswa.2026.132382_bib0016","series-title":"2016 International conference on unmanned aircraft systems (ICUAS)","first-page":"275","article-title":"Area decomposition, partition and coverage with multiple remotely piloted aircraft systems operating in coastal regions","author":"Balampanis","year":"2016"},{"issue":"2","key":"10.1016\/j.eswa.2026.132382_bib0017","doi-asserted-by":"crossref","first-page":"751","DOI":"10.1007\/s10846-017-0559-9","article-title":"Area partition for coastal regions with multiple UAS","volume":"88","author":"Balampanis","year":"2017","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"4","key":"10.1016\/j.eswa.2026.132382_bib0018","doi-asserted-by":"crossref","first-page":"808","DOI":"10.3390\/s17040808","article-title":"Coastal areas division and coverage with multiple UAVs for remote sensing","volume":"17","author":"Balampanis","year":"2017","journal-title":"Sensors"},{"issue":"1","key":"10.1016\/j.eswa.2026.132382_sbref0019","doi-asserted-by":"crossref","first-page":"4","DOI":"10.3390\/drones3010004","article-title":"Survey on coverage path planning with unmanned aerial vehicles","volume":"3","author":"Cabreira","year":"2019","journal-title":"Drones"},{"issue":"4","key":"10.1016\/j.eswa.2026.132382_bib0020","doi-asserted-by":"crossref","first-page":"3662","DOI":"10.1109\/LRA.2018.2854967","article-title":"Energy-aware spiral coverage path planning for UAV photogrammetric applications","volume":"3","author":"Cabreira","year":"2018","journal-title":"IEEE Robotics and Automation Letters"},{"key":"10.1016\/j.eswa.2026.132382_bib0021","doi-asserted-by":"crossref","DOI":"10.1016\/j.swevo.2021.101005","article-title":"Coverage path planning of heterogeneous unmanned aerial vehicles based on ant colony system","volume":"69","author":"Chen","year":"2022","journal-title":"Swarm and Evolutionary Computation"},{"issue":"3","key":"10.1016\/j.eswa.2026.132382_bib0022","first-page":"1766","article-title":"Decentralized event-triggered tracking of a class of uncertain interconnected nonlinear systems using minimal function approximators","volume":"51","author":"Choi","year":"2021","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems"},{"issue":"1","key":"10.1016\/j.eswa.2026.132382_bib0023","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1023\/A:1016639210559","article-title":"Coverage for robotics - a survey of recent results","volume":"31","author":"Choset","year":"2001","journal-title":"Annals of Mathematics and Artificial Intelligence"},{"key":"10.1016\/j.eswa.2026.132382_bib0024","series-title":"2017 International conference on unmanned aircraft systems (ICUAS)","first-page":"1563","article-title":"Boustrophedon coverage path planning for UAV aerial surveys in wind","author":"Coombes","year":"2017"},{"issue":"1","key":"10.1016\/j.eswa.2026.132382_bib0025","doi-asserted-by":"crossref","first-page":"233","DOI":"10.1007\/s10846-011-9642-9","article-title":"Survey of motion planning literature in the presence of uncertainty: Considerations for UAV guidance","volume":"65","author":"Dadkhah","year":"2012","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"3","key":"10.1016\/j.eswa.2026.132382_bib0026","doi-asserted-by":"crossref","first-page":"445","DOI":"10.1007\/s10846-016-0348-x","article-title":"Coverage path planning for UAVs photogrammetry with energy and resolution constraints","volume":"83","author":"Di Franco","year":"2016","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"12","key":"10.1016\/j.eswa.2026.132382_bib0027","doi-asserted-by":"crossref","first-page":"1258","DOI":"10.1016\/j.robot.2013.09.004","article-title":"A survey on coverage path planning for robotics","volume":"61","author":"Galceran","year":"2013","journal-title":"Robotics and Autonomous Systems"},{"issue":"1","key":"10.1016\/j.eswa.2026.132382_bib0028","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1007\/s10846-009-9383-1","article-title":"A survey of motion planning algorithms from the perspective of autonomous UAV guidance","volume":"57","author":"Goerzen","year":"2010","journal-title":"Journal of Intelligent and Robotic Systems"},{"key":"10.1016\/j.eswa.2026.132382_bib0029","series-title":"2022 International conference on robotics and automation (ICRA)","first-page":"8787","article-title":"Coverage control in multi-robot systems via graph neural networks","author":"Gosrich","year":"2022"},{"key":"10.1016\/j.eswa.2026.132382_bib0030","series-title":"2024 IEEE international conference on unmanned systems (ICUS)","first-page":"1822","article-title":"A multi-UAV monitoring and search strategy based on multi-agent reinforcement learning","author":"Guo","year":"2024"},{"key":"10.1016\/j.eswa.2026.132382_bib0031","series-title":"2023 International conference on wireless communications and signal processing (WCSP)","first-page":"683","article-title":"UAV swarm deployment and trajectory for 3D area coverage via reinforcement learning","author":"He","year":"2023"},{"key":"10.1016\/j.eswa.2026.132382_bib0032","series-title":"Proceedings 2001 ICRA. IEEE international conference on robotics and automation (Cat. No.01CH37164)","first-page":"27","article-title":"Optimal line-sweep-based decompositions for coverage algorithms","volume":"vol. 1","author":"Huang","year":"2001"},{"issue":"10","key":"10.1016\/j.eswa.2026.132382_bib0033","doi-asserted-by":"crossref","first-page":"267","DOI":"10.1007\/s10462-024-10913-0","article-title":"Evolutionary computation for unmanned aerial vehicle path planning: a survey","volume":"57","author":"Jiang","year":"2024","journal-title":"Artificial Intelligence Review"},{"key":"10.1016\/j.eswa.2026.132382_bib0034","series-title":"2010 5th IEEE conference on industrial electronics and applications","first-page":"1467","article-title":"Research on the coverage path planning of UAVs for polygon areas","author":"Jiao","year":"2010"},{"issue":"4","key":"10.1016\/j.eswa.2026.132382_bib0035","doi-asserted-by":"crossref","first-page":"427","DOI":"10.1007\/s10514-012-9298-8","article-title":"A comparison of path planning strategies for autonomous exploration and mapping of unknown environments","volume":"33","author":"Juli\u00e1","year":"2012","journal-title":"Autonomous Robots"},{"key":"10.1016\/j.eswa.2026.132382_bib0036","series-title":"Geometric modeling for scientific visualization","first-page":"241","article-title":"Fully dynamic constrained delaunay triangulations","author":"Kallmann","year":"2004"},{"key":"10.1016\/j.eswa.2026.132382_bib0037","series-title":"2013 International conference on unmanned aircraft systems (ICUAS)","first-page":"221","article-title":"A survey of unmanned aerial vehicles (UAVs) for traffic monitoring","author":"Kanistras","year":"2013"},{"key":"10.1016\/j.eswa.2026.132382_bib0038","doi-asserted-by":"crossref","first-page":"87658","DOI":"10.1109\/ACCESS.2019.2924410","article-title":"Micro air vehicle link (MAVlink) in a nutshell: A survey","volume":"7","author":"Koub\u00e2a","year":"2019","journal-title":"IEEE Access"},{"issue":"9","key":"10.1016\/j.eswa.2026.132382_bib0039","doi-asserted-by":"crossref","first-page":"699","DOI":"10.1049\/el.2015.4551","article-title":"Energy-optimal coverage path planning on topographic map for environment survey with unmanned aerial vehicles","volume":"52","author":"Li","year":"2016","journal-title":"Electronics Letters"},{"issue":"9","key":"10.1016\/j.eswa.2026.132382_bib0040","doi-asserted-by":"crossref","first-page":"4347","DOI":"10.1109\/TCYB.2025.3583387","article-title":"Multiagent consensus tracking control over asynchronous cooperation-competition networks","volume":"55","author":"Li","year":"2025","journal-title":"IEEE Transactions on Cybernetics"},{"issue":"5","key":"10.1016\/j.eswa.2026.132382_bib0041","doi-asserted-by":"crossref","first-page":"876","DOI":"10.1016\/j.mechatronics.2010.10.009","article-title":"Coverage path planning for UAVs based on enhanced exact cellular decomposition method","volume":"21","author":"Li","year":"2011","journal-title":"Mechatronics"},{"issue":"2","key":"10.1016\/j.eswa.2026.132382_bib0042","doi-asserted-by":"crossref","first-page":"136","DOI":"10.5139\/JASS.2010.11.2.136","article-title":"Waypoint planning algorithm using cost functions for surveillance","volume":"11","author":"Lim","year":"2010","journal-title":"International Journal of Aeronautical and Space Sciences"},{"issue":"23","key":"10.1016\/j.eswa.2026.132382_bib0043","doi-asserted-by":"crossref","first-page":"24768","DOI":"10.1609\/aaai.v39i23.34658","article-title":"Debate on graph: A flexible and reliable reasoning framework for large language models","volume":"39","author":"Ma","year":"2025","journal-title":"Proceedings of the AAAI Conference on Artificial Intelligence"},{"issue":"3","key":"10.1016\/j.eswa.2026.132382_bib0044","doi-asserted-by":"crossref","first-page":"69","DOI":"10.3390\/drones6030069","article-title":"Flight trajectories optimization of fixed-wing UAV by bank-turn mechanism","volume":"6","author":"Machmudah","year":"2022","journal-title":"Drones"},{"key":"10.1016\/j.eswa.2026.132382_bib0045","series-title":"Distributed autonomous robotic systems 6","first-page":"221","article-title":"Multiple UAV cooperative searching operation using polygon area decomposition and efficient coverage algorithms","author":"Maza","year":"2007"},{"key":"10.1016\/j.eswa.2026.132382_bib0046","series-title":"2015 IEEE international conference on robotics and automation (ICRA)","first-page":"6235","article-title":"PX4: A node-based multithreaded open source robotics framework for deeply embedded platforms","author":"Meier","year":"2015"},{"key":"10.1016\/j.eswa.2026.132382_bib0047","series-title":"Search path generation with UAV applications using approximate convex decomposition","author":"\u00d6st","year":"2012"},{"key":"10.1016\/j.eswa.2026.132382_bib0048","series-title":"Proceedings of the 33rd Chinese control conference","first-page":"5241","article-title":"Consensus tracking of multi-agent systems with time delays and disturbances","author":"Ren","year":"2014"},{"key":"10.1016\/j.eswa.2026.132382_bib0049","unstructured":"Santamaria, E., Segor, F., & Tchouchenkov, I. (2013). Rapid aerial mapping with multiple heterogeneous unmanned vehicles, International Conference on Information Systems for Crisis Response and Management. https:\/\/www.semanticscholar.org\/paper\/Rapid-aerial-mapping-with-multiple-heterogeneous-Santamaria-Segor\/25ca871a95e3b949a9250a9abe10f09d76031adc."},{"issue":"7","key":"10.1016\/j.eswa.2026.132382_bib0050","doi-asserted-by":"crossref","first-page":"2460","DOI":"10.3390\/s21072460","article-title":"B\u00e9zier curves-based optimal trajectory design for multirotor UAVs with any-angle pathfinding algorithms","volume":"21","author":"Satai","year":"2021","journal-title":"Sensors"},{"key":"10.1016\/j.eswa.2026.132382_bib0051","series-title":"Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems","first-page":"903","article-title":"Performance of digital pheromones for swarming vehicle control","author":"Sauter","year":"2005"},{"issue":"7","key":"10.1016\/j.eswa.2026.132382_bib0052","doi-asserted-by":"crossref","first-page":"4752","DOI":"10.1109\/TSMC.2025.3559667","article-title":"Consensus and products of substochastic matrices: Convergence rate with communication delays","volume":"55","author":"Shi","year":"2025","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems"},{"key":"10.1016\/j.eswa.2026.132382_bib0053","doi-asserted-by":"crossref","first-page":"441","DOI":"10.1016\/j.eswa.2016.02.007","article-title":"Coverage path planning with unmanned aerial vehicles for 3D terrain reconstruction","volume":"55","author":"Torres","year":"2016","journal-title":"Expert Systems with Applications"},{"key":"10.1016\/j.eswa.2026.132382_bib0054","series-title":"Proceedings of the 2004 ACM symposium on applied computing","first-page":"79","article-title":"A framework and analysis for cooperative search using UAV swarms","author":"Vincent","year":"2004"},{"key":"10.1016\/j.eswa.2026.132382_bib0055","series-title":"2017 Chinese automation congress (CAC)","first-page":"5776","article-title":"Consensus error of the linear multi-agent systems with noises","author":"Wang","year":"2017"},{"key":"10.1016\/j.eswa.2026.132382_bib0056","series-title":"2011 IEEE international conference on robotics and automation","first-page":"2513","article-title":"Optimal complete terrain coverage using an Unmanned Aerial Vehicle","author":"Xu","year":"2011"},{"key":"10.1016\/j.eswa.2026.132382_bib0057","doi-asserted-by":"crossref","first-page":"163","DOI":"10.4028\/www.scientific.net\/AMM.613.163","article-title":"Insect pheromone strategy for the robots coordination","volume":"613","author":"Zelenka","year":"2014","journal-title":"Applied Mechanics and Materials"}],"container-title":["Expert Systems with Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0957417426012959?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0957417426012959?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,6,13]],"date-time":"2026-06-13T00:11:54Z","timestamp":1781309514000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0957417426012959"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,8]]},"references-count":57,"alternative-id":["S0957417426012959"],"URL":"https:\/\/doi.org\/10.1016\/j.eswa.2026.132382","relation":{},"ISSN":["0957-4174"],"issn-type":[{"value":"0957-4174","type":"print"}],"subject":[],"published":{"date-parts":[[2026,8]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"A distributed coverage path planning framework for autonomous unmanned aerial vehicle (UAV) swarms","name":"articletitle","label":"Article Title"},{"value":"Expert Systems with Applications","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.eswa.2026.132382","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 The Author(s). Published by Elsevier Ltd.","name":"copyright","label":"Copyright"}],"article-number":"132382"}}