{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,6]],"date-time":"2026-06-06T17:14:16Z","timestamp":1780766056875,"version":"3.54.1"},"reference-count":136,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2020,1,1]],"date-time":"2020-01-01T00:00:00Z","timestamp":1577836800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"name":"National Key Research and Development Project of China","award":["2017YFB0503005"],"award-info":[{"award-number":["2017YFB0503005"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["41971359"],"award-info":[{"award-number":["41971359"]}],"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":["41771388"],"award-info":[{"award-number":["41771388"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Tianjin Intelligent Manufacturing Project: Technology 16 of Intelligent Networking by Autonomous Control UAVs for Observation and Application"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Access"],"published-print":{"date-parts":[[2020]]},"DOI":"10.1109\/access.2020.2987622","type":"journal-article","created":{"date-parts":[[2020,4,28]],"date-time":"2020-04-28T19:57:21Z","timestamp":1588103841000},"page":"74175-74194","source":"Crossref","is-referenced-by-count":193,"title":["Recent Research Progress of Unmanned Aerial Vehicle Regulation Policies and Technologies in Urban Low Altitude"],"prefix":"10.1109","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7900-2564","authenticated-orcid":false,"given":"Chenchen","family":"Xu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaohan","family":"Liao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junming","family":"Tan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Huping","family":"Ye","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haiying","family":"Lu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1080\/01431161.2017.1302115"},{"key":"ref38","year":"2019","journal-title":"FAADroneZone"},{"key":"ref33","year":"2017","journal-title":"Announcement of the Limits of Obstacle Protection of Civil Airports"},{"key":"ref32","year":"2019","journal-title":"Announcement of Obstacle Limit Area Protection for Daxing International Airport in Beijing"},{"key":"ref31","year":"2018","journal-title":"TopGun Has Become the First One Has Been Passing Electronic Fence Verification!"},{"key":"ref30","year":"2019","journal-title":"Geofencing for Safe and Autonomous Flight in Europe&#x2014;GEOSAFE"},{"key":"ref37","first-page":"570","article-title":"Construction of a UAV low-altitude public air route based on an improved ant colony algorithm","volume":"21","author":"xu","year":"2019","journal-title":"J Geo Inf Sci"},{"key":"ref36","first-page":"45","article-title":"Research on UAV low-altitude public air route planning based on geographical information","volume":"2","author":"liao","year":"2018","journal-title":"The UAV"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2019.8798083"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.3390\/rs4061671"},{"key":"ref28","year":"2016","journal-title":"DC Area Prohibited & Restricted Airspace"},{"key":"ref27","author":"hennigan","year":"2018","journal-title":"Experts Say Drones Pose a National Security Threat- and We Aren&#x2019;t Ready"},{"key":"ref29","year":"2016","journal-title":"U S Senate Passes Drone Geo-Fencing"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.3390\/rs9050459"},{"key":"ref22","year":"2019","journal-title":"Japan&#x2019;s Safety Rules on Unmanned Aircraft (UA)\/Drone"},{"key":"ref21","year":"2018","journal-title":"Fact Sheet-Small Unmanned Aircraft Systems (Part 107)"},{"key":"ref24","year":"2014","journal-title":"Interim Regulations On Flight Management of UAVs"},{"key":"ref23","year":"1997","journal-title":"Airspace Designation and Standards[S]"},{"key":"ref101","doi-asserted-by":"publisher","DOI":"10.1016\/S0167-739X(00)00043-1"},{"key":"ref26","author":"miller","year":"2015","journal-title":"Drone That Crashed at White House Was Quadcopter"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1016\/S0167-739X(99)00124-7"},{"key":"ref25","year":"2020","journal-title":"The Second Research Institute of CAAC Civil Aviation Administration of China Unmanned Aircraft System Traffic Management Information Service System (Beta Version)"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.2514\/6.2016-0891"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.5772\/62027"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2019.8798078"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2018.8453424"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2018.04.021"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1108\/IR-07-2017-0137"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2019.2892034"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2755669"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-018-0826-4"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.2514\/6.2016-0515"},{"key":"ref40","first-page":"315","article-title":"A review of UAV regulations and policies in India","author":"srivastava","year":"2019","journal-title":"Proc UASG"},{"key":"ref4","article-title":"Annual statistics in the exchange system operation in 2018","author":"bai","year":"2019","journal-title":"Statistics Summary of Drone Operation in China"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1038\/nature14542"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2017.1600238CM"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1108\/IJPDLM-01-2016-0008"},{"key":"ref8","article-title":"Low altitude UAV traffic management: An introductory overview and proposal","volume":"41","author":"quan","year":"2019","journal-title":"Acta Aeronautical et Astronautica Sinica"},{"key":"ref49","year":"2017","journal-title":"Air Traffic Management Research Institute NTU Air Navigation Services Centre Of Excellence for ATM Programme Office CAAS A Study of Cyber Security Threats to Traffic Management of Unmanned Aircraft Systems"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1038\/d41586-019-02474-y"},{"key":"ref9","year":"2017","journal-title":"UAV Geofence MH\/T 2008-2017"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/RED-UAS.2017.8101649"},{"key":"ref45","year":"2019","journal-title":"Unmanned Aircraft Systems Traffic Management (UTM)&#x2014;A Common Framework With Core Principles for Global Harmonization (Edition 2)"},{"key":"ref48","first-page":"1","article-title":"A preliminary study in managing safe and efficient low-altitude unmanned aircraft system operations in a densely built-up urban environment","author":"low","year":"2014","journal-title":"Int Symp Enhanc Solut Aircr Veh Surveill Appl"},{"key":"ref47","year":"2020","journal-title":"Platform of Planning and Regulation for Low-Altitude Public Air Route Network of UAVs"},{"key":"ref42","year":"2017","journal-title":"Introduction of a Regulatory Framework for the Operation of Drones"},{"key":"ref41","article-title":"Unmanned aircraft system traffic management (UTM) TCL4","author":"johnson","year":"2019"},{"key":"ref44","year":"2020","journal-title":"Unmanned Aircraft System Traffic Management (UTM)"},{"key":"ref43","first-page":"117","article-title":"A Study on the legal and institutional military UAV rules in Korea","volume":"2","author":"lee","year":"2013","journal-title":"Korea Soc Air Space Law Policy"},{"key":"ref127","year":"2019"},{"key":"ref126","year":"2019","journal-title":"Guidance on Promoting the Development of Civil Unmanned Aviation (Draft for Comments)"},{"key":"ref125","article-title":"Drones are everywhere. Get used to it","volume":"22","author":"fitzpatrick","year":"2018"},{"key":"ref124","year":"2018","journal-title":"The Roadmap for the Safe Integration of Autonomous Aircraft"},{"key":"ref73","article-title":"Automatic construction of aerial corridor for navigation of unmanned aircraft systems in class g airspace using LiDAR","author":"feng","year":"2016","journal-title":"Proc Airborne Intell Surveill Reconnaissance (ISR) Syst Appl II"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/IGARSS.2016.7729199"},{"key":"ref129","year":"2019","journal-title":"Guangdong Power Grid Plans to Have Full Coverage of Unmanned Aerial Vehicles By 2019"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2925531"},{"key":"ref128","year":"2019","journal-title":"Economic Daily&#x2014;China Economic Net China Has Completed Its First Remote Sensing Test for a Regional Network of More Than Ten Unmanned Aerial Vehicles"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.2514\/6.2018-3032"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1016\/j.trpro.2018.12.006"},{"key":"ref130","year":"2017","journal-title":"UAV Delivery is Coming to SF Express the First Legal Flight Rights in China"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-018-0924-3"},{"key":"ref74","first-page":"50","article-title":"Primary exploration of 3S technology in the matching design of visual alarm chart in low altitude airspace","volume":"5","author":"feng","year":"2015","journal-title":"Foreign Electron Meas Technol"},{"key":"ref75","first-page":"137","article-title":"Construction of aircraft traffic management platform for low altitude security based on three-dimensional digital aerial corridor","volume":"25","author":"feng","year":"2017","journal-title":"Comput Meas Control"},{"key":"ref133","first-page":"1","article-title":"Metropolis: Relating airspace structure and capacity for extreme traffic densities","author":"sunil","year":"2015","journal-title":"Proc of USA\/Europe Air Traffic Management Research & Development Seminar"},{"key":"ref134","year":"2019","journal-title":"The Global Visualization Viewer (GloVis) Dataset"},{"key":"ref131","year":"2019","journal-title":"JD com Logistics Has Started Regular Delivery of UAVs in Sichuan After the Launch of Delivery Robots on Campus"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2017.7991358"},{"key":"ref132","year":"2019","journal-title":"China Mobile Has Been Approved the First National UAV Base Station Inspection Airspace"},{"key":"ref79","article-title":"UAV path planning in absence of GPS signals","volume":"10195","author":"el-sallabi","year":"2017","journal-title":"Proc SPIE"},{"key":"ref136","first-page":"1439","article-title":"The mass innovation era of UAV remote sensing","volume":"18","author":"liao","year":"2016","journal-title":"J Geo Inf Sci"},{"key":"ref135","year":"2019","journal-title":"Service Platform of the National Earth System Science Data Center for Sharing Data"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.2514\/6.2017-0223"},{"key":"ref62","year":"2017","journal-title":"3GPP Technical Specification Group Radio Access Network Study On Enhanced LTE Support for Aerial Vehicles (Release 15)"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2019.2906228"},{"key":"ref63","year":"2019","journal-title":"Connected Aerial Vehicle Live"},{"key":"ref64","year":"2018","journal-title":"Research and Development Projects"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2018.2856587"},{"key":"ref66","first-page":"719","article-title":"Channel model in the urban environment for unmanned aerial vehicle communications","author":"yang","year":"2018","journal-title":"Proc of the European Conf on Antennas and Propag (EuCAP)"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/ICCW.2018.8403633"},{"key":"ref68","first-page":"1197","article-title":"Rules and methods of UAV activities&#x2019; aerial lanes design for (ultra) low airspace in regional areas","volume":"11","author":"bai","year":"2016","journal-title":"Advances in Earth Science"},{"key":"ref2","year":"2019","journal-title":"Civil Drone Market to 2027&#x2014;Global Analysis and Forecasts By Type Platform Application End-User"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1007\/s41324-018-0205-z"},{"key":"ref1","author":"department of transportation","year":"2019","journal-title":"FAA Drone Registry Tops One Million"},{"key":"ref109","doi-asserted-by":"publisher","DOI":"10.1109\/ISCID.2016.2114"},{"key":"ref95","first-page":"13","article-title":"A new approach to automatic positioning of road junctions in high spatial resolution remotely sensed imagery","volume":"1","author":"zhang","year":"2012","journal-title":"Remote Sens Land Resources"},{"key":"ref108","article-title":"Research on UAV air traffic control key technologies based on 4G mobile network","author":"lan","year":"2018"},{"key":"ref94","doi-asserted-by":"publisher","DOI":"10.3390\/rs9060625"},{"key":"ref107","first-page":"64","article-title":"Ant colony algorithm based on the optimization of potential field method for unmanned aircraft path planning","volume":"32","author":"wang","year":"2014","journal-title":"J Xi&#x2019;an Aeronaut Univ"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1142\/S0218001417500094"},{"key":"ref106","first-page":"165","article-title":"Estimation of power distribution network state based on genetic algorithm and ant colony algorithm","volume":"39","author":"zhang","year":"2016","journal-title":"Modern Electronic Technology"},{"key":"ref92","first-page":"476","article-title":"The impact of UAV remote sensing technology on the industrial development of China: A review","volume":"21","author":"yan liao","year":"2019","journal-title":"J Geo Inf Sci"},{"key":"ref105","first-page":"216","article-title":"Four-rotor route planning based on the ant colony algorithm","volume":"11","author":"mo","year":"2016","journal-title":"CAAI Trans Intell Syst"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1109\/IHMSC.2017.131"},{"key":"ref104","article-title":"Study on flight separation of ADS-B control in the parallel routes","author":"zhang","year":"2011"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.5194\/isprs-archives-XLII-2-W7-297-2017"},{"key":"ref103","article-title":"Batch scheduling based on ant colony optimization algorithm","author":"xu","year":"2011"},{"key":"ref102","article-title":"Research on improving strategies and algorithm of ant colony optimization","author":"liu","year":"2012"},{"key":"ref111","doi-asserted-by":"publisher","DOI":"10.1016\/j.fss.2008.01.029"},{"key":"ref112","doi-asserted-by":"publisher","DOI":"10.1016\/S1000-9361(09)60225-9"},{"key":"ref110","first-page":"6.1","article-title":"Fish swarm ant colony algorithm for the vehicle routing problem","volume":"13","author":"fei","year":"2016","journal-title":"Int J Simul &#x2013;Syst Sci Technol"},{"key":"ref98","article-title":"The ant system: An autocatalytic optimizing process","author":"dorigo","year":"1991"},{"key":"ref99","first-page":"53","article-title":"UAV route planning in dynamic environment based on modified ant colony optimization","volume":"24","author":"lin","year":"2016","journal-title":"Comput Meas Control"},{"key":"ref96","article-title":"Optimization, learning and natural algorithms","author":"dorigo","year":"1992"},{"key":"ref97","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4419-1665-5"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-68987-6_13"},{"key":"ref11","year":"2018","journal-title":"Test Report of Safety Flights at Low-Altitude Airspace for Networked UAVs"},{"key":"ref12","year":"2008","journal-title":"Unmanned Aircraft System (UAS) Traffic Management (UTM) NextGen Concept of Operations V1 0 2018"},{"key":"ref13","year":"2017","journal-title":"U-Space Blueprint"},{"key":"ref14","article-title":"Preliminary concept of adaptive urban airspace management for unmanned aircraft operations","author":"salleh","year":"2018","journal-title":"Proc AIAA Inf Syst -AIAA Infotech"},{"key":"ref15","year":"2019","journal-title":"The Personnel Qualification Management System for UAVs Will Be Established"},{"key":"ref118","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2015.02.033"},{"key":"ref16","year":"2018","journal-title":"National Aeronautics and Space Administration"},{"key":"ref82","first-page":"339","article-title":"UAV path planning based on weighted-Voronoi diagram","volume":"33","author":"nie","year":"2015","journal-title":"Dynamic of Flights"},{"key":"ref117","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.960"},{"key":"ref17","article-title":"UAV cloud system","author":"liao","year":"2019","journal-title":"UAV Operational Regulation Technology Development and Application"},{"key":"ref81","first-page":"156","article-title":"UAV path planning based on improved Voronoi diagram and dynamic weights A* algorithm","volume":"40","author":"zhang","year":"2015","journal-title":"Fire Control Command Control"},{"key":"ref18","year":"2019","journal-title":"Drones and Networks Mobility Support"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/ETCM.2017.8247533"},{"key":"ref119","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2604240"},{"key":"ref19","year":"2019","journal-title":"China Mobile and Xunyi Jointly Establish the &#x2018;5G UAV Logistics Application Innovation Laboratory&#x2019;"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1109\/ICCA.2014.6870956"},{"key":"ref114","doi-asserted-by":"publisher","DOI":"10.1109\/APPEEC.2010.5449450"},{"key":"ref113","doi-asserted-by":"publisher","DOI":"10.1109\/ISTEL.2014.7000661"},{"key":"ref116","doi-asserted-by":"publisher","DOI":"10.1016\/j.oceaneng.2015.01.008"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.3390\/electronics7120375"},{"key":"ref115","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.01.003"},{"key":"ref120","first-page":"278","article-title":"An improved route planning algorithm for unmanned aerial vehicles based on artificial potential field","volume":"38","author":"zhen","year":"2017","journal-title":"J Hebei Univ Technol"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2935551"},{"key":"ref121","first-page":"451","article-title":"UAV path planning based on improved artificial potential field in dynamic environment","volume":"40","author":"tian","year":"2017","journal-title":"J Wuhan Univ Technol"},{"key":"ref122","doi-asserted-by":"publisher","DOI":"10.1109\/SAMI.2016.7423032"},{"key":"ref123","author":"handler","year":"2018","journal-title":"New York State Creates Nation&#x2019;s First Air Corridor for Unmanned Aerial Vehicles"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-011-9568-2"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087051"},{"key":"ref87","first-page":"793","article-title":"Spatiotemporal point Process: A new data model, analysis methodology and viewpoint for geoscientific problem","volume":"15","author":"pei","year":"2013","journal-title":"J Geo Inf Sci"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.3390\/rs9080824"}],"container-title":["IEEE Access"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6287639\/8948470\/09080597.pdf?arnumber=9080597","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,12]],"date-time":"2022-01-12T15:56:32Z","timestamp":1642002992000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9080597\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020]]},"references-count":136,"URL":"https:\/\/doi.org\/10.1109\/access.2020.2987622","relation":{},"ISSN":["2169-3536"],"issn-type":[{"value":"2169-3536","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020]]}}}