{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,4]],"date-time":"2026-03-04T11:14:55Z","timestamp":1772622895127,"version":"3.50.1"},"reference-count":31,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2023,2,8]],"date-time":"2023-02-08T00:00:00Z","timestamp":1675814400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2023,6]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The phenomenal growth in the utilization of commercial unmanned aerial vehicles (UAVs) or drones leads to an urgent need for new approaches to ensure safety in the sky. Effective aerial surveillance requires patrolling swarms to react according to the various behaviors demonstrated by intruding swarms, but existing approaches are not practical when dealing with a large number of drones. Specifically, predicting the behaviors or planned paths of the intruding swarms is highly challenging as intruders may perform evasive strategies to avoid detection. Therefore, this work utilizes heuristic search strategies and investigates how various intruder behaviors affect the search performance. To investigate the search performance, a swarm versus swarm simulator is developed. Using the simulator, first, a comparative study is performed to evaluate how intruders\u2019 behaviors can affect the performance of the patrolling swarm. Subsequently, three approaches, including single-objective optimization, multi-objective optimization, and L\u00e9vy flight, are compared in terms of their detection performance in a bounded space. The results suggest that multi-objective optimization outperforms both single-objective optimization and L\u00e9vy flight-based approaches. Furthermore, our results show that intruders have a lower chance of being tracked when moving in a dense crowd, and this finding reaffirms the schooling behaviors of fish. In a specific simulation scenario, the total percentage of detection is above 90%. However, the detection percentage is highly related to other factors such as search space, number of patrolling UAVs, and the intruders\u2019 behaviors.<\/jats:p>","DOI":"10.1017\/s0263574723000061","type":"journal-article","created":{"date-parts":[[2023,2,8]],"date-time":"2023-02-08T10:26:52Z","timestamp":1675852012000},"page":"1673-1688","source":"Crossref","is-referenced-by-count":10,"title":["Effective UAV patrolling for swarm of intruders with heterogeneous behavior"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2317-1577","authenticated-orcid":false,"given":"Ali","family":"Moltajaei Farid","sequence":"first","affiliation":[]},{"given":"Lim","family":"Mei Kuan","sequence":"additional","affiliation":[]},{"given":"Md Abdus Samad","family":"Kamal","sequence":"additional","affiliation":[]},{"given":"KokSheik","family":"Wong","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2023,2,8]]},"reference":[{"key":"S0263574723000061_ref21","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9491-7"},{"key":"S0263574723000061_ref24","volume-title":"Evolutionary Optimization Algorithms","author":"Simon","year":"2013"},{"key":"S0263574723000061_ref14","doi-asserted-by":"crossref","unstructured":"[14] G\u00f3mez, V. , Thijssen, S. , Symington, A. , Hailes, S. and Kappen, H. J. \u201cReal-Time Stochastic Optimal Control for Multi-Agent Quadrotor Systems,\u201d In: ICAPS (2016) pp. 468\u2013476.","DOI":"10.1609\/icaps.v26i1.13789"},{"key":"S0263574723000061_ref13","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574721000059"},{"key":"S0263574723000061_ref12","doi-asserted-by":"crossref","unstructured":"[12] Farid, A. M. , Egerton, S. , Barca, J. C. and Kamal, M. A. S. \u201cAdaptive Multi-objective Search in a Swarm vs Swarm Context,\u201d In: 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC) (IEEE, 2018) pp. 3641\u20133646.","DOI":"10.1109\/SMC.2018.00616"},{"key":"S0263574723000061_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2011.2158377"},{"key":"S0263574723000061_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS48674.2020.9213996"},{"key":"S0263574723000061_ref10","unstructured":"[10] Changhai, S. , Ding, L. and Xiaobo, D. , \u201cDynamic programming algorithm for the detection of air dim target\u201d In: IET International Radar Conference, 2013."},{"key":"S0263574723000061_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2021.3062810"},{"key":"S0263574723000061_ref28","doi-asserted-by":"publisher","DOI":"10.1038\/scientificamerican0682-114"},{"key":"S0263574723000061_ref17","volume-title":"Theory of Optimal Search,","author":"Stone","year":"1976"},{"key":"S0263574723000061_ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbusres.2011.07.006"},{"key":"S0263574723000061_ref2","doi-asserted-by":"publisher","DOI":"10.1017\/S026357471200032X"},{"key":"S0263574723000061_ref3","unstructured":"[3] Cavoukian, A. , Privacy and Drones: Unmanned Aerial Vehicles, Information and Privacy Commissioner of Ontario, Canada Ontario (2012)."},{"key":"S0263574723000061_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545038"},{"key":"S0263574723000061_ref5","first-page":"1","article-title":"Strategies for patrolling missions with multiple uavs","volume":"99","author":"Kappel","year":"2019","journal-title":"J. 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Syst."},{"key":"S0263574723000061_ref27","volume-title":"Design and Control of Swarm Dynamics","author":"Bouffanais","year":"Singapore, 2016"},{"key":"S0263574723000061_ref7","first-page":"302","volume-title":"Ground\/Air Multisensor Interoperability, Integration, and Networking for Persistent ISR VIII,","author":"M\u00fcller","year":"2017"},{"key":"S0263574723000061_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/BigMM.2017.57"},{"key":"S0263574723000061_ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2013.6617961"},{"key":"S0263574723000061_ref15","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-013-0084-9"},{"key":"S0263574723000061_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354022"},{"key":"S0263574723000061_ref22","volume-title":"Bayesian Multiple Target Tracking","author":"Stone","year":"2013"},{"key":"S0263574723000061_ref18","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-011-9241-4"},{"key":"S0263574723000061_ref30","volume-title":"Multi-objective optimization in: Decision sciences: Theory and practice","author":"Deb","year":"2016"},{"key":"S0263574723000061_ref1","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708004141"},{"key":"S0263574723000061_ref4","unstructured":"[4] Bleasdale, T. D. , Privacy protections implicated by the domestic use of unmanned aerial vehicles or drones, Connecticut General Assembly, Office of Legislative Research (2014)."},{"key":"S0263574723000061_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2001.946095"},{"key":"S0263574723000061_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/MAES.2004.1263228"},{"key":"S0263574723000061_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/7.543865"},{"key":"S0263574723000061_ref16","doi-asserted-by":"crossref","unstructured":"[16] Luke, S. and Spector, L. \u201cEvolving Teamwork and Coordination with Genetic Programming,\u201d In: Proceedings of the 1st Annual Conference on Genetic Programming (MIT Press, 1996) pp. 150\u2013156.","DOI":"10.7551\/mitpress\/3242.003.0021"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574723000061","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,13]],"date-time":"2024-10-13T20:31:22Z","timestamp":1728851482000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574723000061\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,2,8]]},"references-count":31,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2023,6]]}},"alternative-id":["S0263574723000061"],"URL":"https:\/\/doi.org\/10.1017\/s0263574723000061","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,2,8]]}}}