{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,4]],"date-time":"2026-07-04T12:15:13Z","timestamp":1783167313234,"version":"3.54.6"},"reference-count":35,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T00:00:00Z","timestamp":1782864000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62461040"],"award-info":[{"award-number":["62461040"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62371068"],"award-info":[{"award-number":["62371068"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62401241"],"award-info":[{"award-number":["62401241"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62261035"],"award-info":[{"award-number":["62261035"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012326","name":"International Science and Technology Cooperation Programme","doi-asserted-by":"publisher","award":["20244BDF60010"],"award-info":[{"award-number":["20244BDF60010"]}],"id":[{"id":"10.13039\/501100012326","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004479","name":"Natural Science Foundation of Jiangxi Province","doi-asserted-by":"publisher","award":["20244BAB28002"],"award-info":[{"award-number":["20244BAB28002"]}],"id":[{"id":"10.13039\/501100004479","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100004479","name":"Natural Science Foundation of Jiangxi Province","doi-asserted-by":"publisher","award":["20242BAB20036"],"award-info":[{"award-number":["20242BAB20036"]}],"id":[{"id":"10.13039\/501100004479","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Physical Communication"],"published-print":{"date-parts":[[2026,7]]},"DOI":"10.1016\/j.phycom.2026.103129","type":"journal-article","created":{"date-parts":[[2026,4,24]],"date-time":"2026-04-24T23:38:26Z","timestamp":1777073906000},"page":"103129","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["Minimum energy consumption of multi-UAV logistics distribution with heading angle constraints based on radio map"],"prefix":"10.1016","volume":"77","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8653-8079","authenticated-orcid":false,"given":"Fahui","family":"Wu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-1957-0922","authenticated-orcid":false,"given":"Hanrui","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xin","family":"Xiao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5938-3611","authenticated-orcid":false,"given":"Yipeng","family":"Liang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dingcheng","family":"Yang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Changhe","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xin","family":"Yang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haitao","family":"Tan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"12","key":"10.1016\/j.phycom.2026.103129_bib0001","doi-asserted-by":"crossref","first-page":"15926","DOI":"10.1109\/TCOMM.2025.3621045","article-title":"Cooperative digital twin-enhanced UAV topology optimization for multi-target tracking","volume":"73","author":"Zhou","year":"2025","journal-title":"IEEE Trans. Commun."},{"issue":"1","key":"10.1016\/j.phycom.2026.103129_bib0002","doi-asserted-by":"crossref","first-page":"120","DOI":"10.1109\/MWC.2018.1800023","article-title":"Cellular-connected UAV: potential, challenges, and promising technologies","volume":"26","author":"Zeng","year":"2019","journal-title":"IEEE Wirel. Commun."},{"key":"10.1016\/j.phycom.2026.103129_bib0003","series-title":"IEEE INFOCOM 2022 - IEEE Conference on Computer Communications","first-page":"1559","article-title":"Energy-efficient trajectory optimization for aerial video surveillance under QoS constraints","author":"Zhan","year":"2022"},{"issue":"4","key":"10.1016\/j.phycom.2026.103129_bib0004","doi-asserted-by":"crossref","first-page":"7048","DOI":"10.1109\/JIOT.2019.2913887","article-title":"Network-connected UAV: 3-D system modeling and coverage performance analysis","volume":"6","author":"Lyu","year":"2019","journal-title":"IEEE Internet Things J."},{"key":"10.1016\/j.phycom.2026.103129_bib0005","series-title":"2018 IEEE International Conference on Communications Workshops (ICC Workshops)","first-page":"1","article-title":"Trajectory optimization for cellular-connected UAVs with disconnectivity constraint","author":"Bulut","year":"2018"},{"issue":"2","key":"10.1016\/j.phycom.2026.103129_bib0006","doi-asserted-by":"crossref","first-page":"1346","DOI":"10.1109\/TWC.2019.2892131","article-title":"Cellular UAV-to-x communications: design and optimization for multi-UAV networks","volume":"18","author":"Zhang","year":"2019","journal-title":"IEEE Trans. Wirel. Commun."},{"issue":"12","key":"10.1016\/j.phycom.2026.103129_bib0007","doi-asserted-by":"crossref","first-page":"7796","DOI":"10.1109\/TWC.2020.3016024","article-title":"3D UAV trajectory design and frequency band allocation for energy-efficient and fair communication: a deep reinforcement learning approach","volume":"19","author":"Ding","year":"2020","journal-title":"IEEE Trans. Wirel. Commun."},{"issue":"3","key":"10.1016\/j.phycom.2026.103129_bib0008","doi-asserted-by":"crossref","first-page":"2109","DOI":"10.1109\/TWC.2017.2789293","article-title":"Joint trajectory and communication design for multi-UAV enabled wireless networks","volume":"17","author":"Wu","year":"2018","journal-title":"IEEE Trans. Wirel. Commun."},{"issue":"12","key":"10.1016\/j.phycom.2026.103129_bib0009","doi-asserted-by":"crossref","first-page":"6614","DOI":"10.1109\/TCOMM.2018.2865922","article-title":"Common throughput maximization in UAV-enabled OFDMA systems with delay consideration","volume":"66","author":"Wu","year":"2018","journal-title":"IEEE Trans. Commun."},{"issue":"12","key":"10.1016\/j.phycom.2026.103129_bib0010","doi-asserted-by":"crossref","first-page":"2327","DOI":"10.1109\/JPROC.2019.2952892","article-title":"Accessing from the sky: a tutorial on UAV communications for 5G and beyond","volume":"107","author":"Zeng","year":"2019","journal-title":"Proc. IEEE"},{"issue":"10","key":"10.1016\/j.phycom.2026.103129_bib0011","doi-asserted-by":"crossref","first-page":"3051","DOI":"10.1109\/JSAC.2021.3088679","article-title":"Intelligent reflecting surface enhanced multi-UAV NOMA networks","volume":"39","author":"Mu","year":"2021","journal-title":"IEEE J. Sel. Areas Commun."},{"issue":"2","key":"10.1016\/j.phycom.2026.103129_bib0012","doi-asserted-by":"crossref","first-page":"133","DOI":"10.1109\/MWC.2019.1800146","article-title":"Engineering radio maps for wireless resource management","volume":"26","author":"Bi","year":"2019","journal-title":"IEEE Wirel. Commun."},{"issue":"11","key":"10.1016\/j.phycom.2026.103129_bib0013","doi-asserted-by":"crossref","first-page":"2159","DOI":"10.1016\/j.comnet.2008.02.020","article-title":"Optimization models and methods for planning wireless mesh networks","volume":"52","author":"Amaldi","year":"2008","journal-title":"Comput. Netw."},{"issue":"1","key":"10.1016\/j.phycom.2026.103129_bib0014","doi-asserted-by":"crossref","first-page":"136","DOI":"10.1109\/JSAC.2004.837362","article-title":"Network planning in wireless ad hoc networks: a cross-layer approach","volume":"23","author":"Wu","year":"2005","journal-title":"IEEE J. Sel. Areas Commun."},{"key":"10.1016\/j.phycom.2026.103129_bib0015","series-title":"2007 4th International Symposium on Wireless Communication Systems","first-page":"612","article-title":"Genetic algorithm to optimize node placement and configuration for WLAN planning","author":"Vanhatupa","year":"2007"},{"issue":"6","key":"10.1016\/j.phycom.2026.103129_bib0016","doi-asserted-by":"crossref","first-page":"907","DOI":"10.1109\/8.686780","article-title":"A ray-tracing method for modeling indoor wave propagation and penetration","volume":"46","author":"Yang","year":"1998","journal-title":"IEEE Trans. Antennas Propag."},{"key":"10.1016\/j.phycom.2026.103129_bib0017","doi-asserted-by":"crossref","first-page":"1089","DOI":"10.1109\/ACCESS.2015.2453991","article-title":"Ray tracing for radio propagation modeling: principles and applications","volume":"3","author":"Yun","year":"2015","journal-title":"IEEE Access"},{"key":"10.1016\/j.phycom.2026.103129_bib0018","doi-asserted-by":"crossref","first-page":"250","DOI":"10.1016\/j.scitotenv.2017.02.188","article-title":"Mapping landslide susceptibility using data-driven methods","volume":"589","author":"Z\u00eazere","year":"2017","journal-title":"Sci. Total Environ."},{"issue":"3","key":"10.1016\/j.phycom.2026.103129_bib0019","doi-asserted-by":"crossref","first-page":"1838","DOI":"10.1109\/TCOMM.2019.2958916","article-title":"Beamforming optimization for wireless network aided by intelligent reflecting surface with discrete phase shifts","volume":"68","author":"Wu","year":"2019","journal-title":"IEEE Trans. Commun."},{"issue":"1","key":"10.1016\/j.phycom.2026.103129_bib0020","doi-asserted-by":"crossref","first-page":"492","DOI":"10.1109\/COMST.2021.3123267","article-title":"Cell-free massive MIMO: a survey","volume":"24","author":"Elhoushy","year":"2021","journal-title":"IEEE Commun. Surv. Tutor."},{"issue":"11","key":"10.1016\/j.phycom.2026.103129_bib0021","doi-asserted-by":"crossref","first-page":"5205","DOI":"10.1109\/TCOMM.2018.2846272","article-title":"Channel hardening and favorable propagation in cell-free massive MIMO with stochastic geometry","volume":"66","author":"Chen","year":"2018","journal-title":"IEEE Trans. Commun."},{"issue":"4","key":"10.1016\/j.phycom.2026.103129_bib0022","doi-asserted-by":"crossref","first-page":"3920","DOI":"10.1109\/JSYST.2017.2776401","article-title":"Massive MIMO linear precoding: a survey","volume":"12","author":"Fatema","year":"2017","journal-title":"IEEE Syst. J."},{"issue":"11","key":"10.1016\/j.phycom.2026.103129_bib0023","doi-asserted-by":"crossref","first-page":"6259","DOI":"10.1109\/TWC.2014.2355833","article-title":"A comparative study of downlink MIMO cellular networks with co-located and distributed base-station antennas","volume":"13","author":"Liu","year":"2014","journal-title":"IEEE Trans. Wirel. Commun."},{"issue":"10","key":"10.1016\/j.phycom.2026.103129_bib0024","doi-asserted-by":"crossref","first-page":"6377","DOI":"10.1109\/TWC.2020.3002988","article-title":"Cell-free massive MIMO for wireless federated learning","volume":"19","author":"Vu","year":"2020","journal-title":"IEEE Trans. Wirel. Commun."},{"issue":"2","key":"10.1016\/j.phycom.2026.103129_bib0025","doi-asserted-by":"crossref","first-page":"215","DOI":"10.1109\/LWC.2021.3123075","article-title":"IRS-aided wireless relaying: deployment strategy and capacity scaling","volume":"11","author":"Kang","year":"2021","journal-title":"IEEE Wirel. Commun. Lett."},{"issue":"9","key":"10.1016\/j.phycom.2026.103129_bib0026","doi-asserted-by":"crossref","first-page":"1942","DOI":"10.1109\/JSAC.2018.2864420","article-title":"Flight time minimization of UAV for data collection over wireless sensor networks","volume":"36","author":"Gong","year":"2018","journal-title":"IEEE J. Sel. Areas Commun."},{"issue":"6","key":"10.1016\/j.phycom.2026.103129_bib0027","doi-asserted-by":"crossref","first-page":"3747","DOI":"10.1109\/TWC.2017.2688328","article-title":"Energy-efficient UAV communication with trajectory optimization","volume":"16","author":"Zeng","year":"2017","journal-title":"IEEE Trans. Wirel. Commun."},{"issue":"9","key":"10.1016\/j.phycom.2026.103129_bib0028","doi-asserted-by":"crossref","first-page":"2059","DOI":"10.1109\/JSAC.2018.2864373","article-title":"Energy-efficient UAV control for effective and fair communication coverage: a deep reinforcement learning approach","volume":"36","author":"Liu","year":"2018","journal-title":"IEEE J. Sel. Areas Commun."},{"issue":"11","key":"10.1016\/j.phycom.2026.103129_bib0029","doi-asserted-by":"crossref","first-page":"3459","DOI":"10.1109\/JSAC.2021.3088633","article-title":"MPC-based UAV navigation for simultaneous solar-energy harvesting and two-way communications","volume":"39","author":"Tuan","year":"2021","journal-title":"IEEE J. Sel. Areas Commun."},{"issue":"1","key":"10.1016\/j.phycom.2026.103129_bib0030","doi-asserted-by":"crossref","first-page":"70","DOI":"10.1109\/TSMC.2016.2582745","article-title":"Vehicle routing problems for drone delivery","volume":"47","author":"Dorling","year":"2016","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"issue":"9","key":"10.1016\/j.phycom.2026.103129_bib0031","doi-asserted-by":"crossref","first-page":"5772","DOI":"10.1109\/TITS.2020.2992549","article-title":"Synchronized truck and drone routing in package delivery logistics","volume":"22","author":"Das","year":"2020","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"4","key":"10.1016\/j.phycom.2026.103129_bib0032","doi-asserted-by":"crossref","first-page":"4839","DOI":"10.1109\/TMC.2025.3626747","article-title":"Digital twins for low-altitude UAV networks-cooperation and learning","volume":"25","author":"Zhou","year":"2026","journal-title":"IEEE Trans. Mob. Comput."},{"key":"10.1016\/j.phycom.2026.103129_bib0033","doi-asserted-by":"crossref","first-page":"3393","DOI":"10.1109\/TCCN.2025.3623599","article-title":"LST-DT: long short-term digital twins for cooperative low altitude UAV scenarios","volume":"12","author":"Zhou","year":"2026","journal-title":"IEEE Trans. Cogn. Commun. Netw."},{"issue":"10","key":"10.1016\/j.phycom.2026.103129_bib0034","doi-asserted-by":"crossref","first-page":"10099","DOI":"10.1109\/TMC.2025.3567284","article-title":"VerDT: a versatile digital twins framework for UAVs-based industrial cyber-physical systems","volume":"24","author":"Zhou","year":"2025","journal-title":"IEEE Trans. Mob. Comput."},{"issue":"12","key":"10.1016\/j.phycom.2026.103129_bib0035","doi-asserted-by":"crossref","first-page":"3608","DOI":"10.1109\/LWC.2024.3482357","article-title":"Environment-aware channel estimation via integrating channel knowledge map and dynamic sensing information","volume":"13","author":"Wu","year":"2024","journal-title":"IEEE Wirel. Commun. Lett."}],"container-title":["Physical Communication"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S1874490726001382?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S1874490726001382?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,7,4]],"date-time":"2026-07-04T11:16:45Z","timestamp":1783163805000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S1874490726001382"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,7]]},"references-count":35,"alternative-id":["S1874490726001382"],"URL":"https:\/\/doi.org\/10.1016\/j.phycom.2026.103129","relation":{},"ISSN":["1874-4907"],"issn-type":[{"value":"1874-4907","type":"print"}],"subject":[],"published":{"date-parts":[[2026,7]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Minimum energy consumption of multi-UAV logistics distribution with heading angle constraints based on radio map","name":"articletitle","label":"Article Title"},{"value":"Physical Communication","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.phycom.2026.103129","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Published by Elsevier B.V.","name":"copyright","label":"Copyright"}],"article-number":"103129"}}