{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,5]],"date-time":"2026-05-05T02:34:20Z","timestamp":1777948460135,"version":"3.51.4"},"reference-count":324,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","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:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2020,1,1]],"date-time":"2020-01-01T00:00:00Z","timestamp":1577836800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2020,1,1]],"date-time":"2020-01-01T00:00:00Z","timestamp":1577836800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61931020"],"award-info":[{"award-number":["61931020"]}],"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":["61601480"],"award-info":[{"award-number":["61601480"]}],"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":["61372099"],"award-info":[{"award-number":["61372099"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Commun. Surv. Tutorials"],"published-print":{"date-parts":[[2020]]},"DOI":"10.1109\/comst.2019.2962207","type":"journal-article","created":{"date-parts":[[2019,12,25]],"date-time":"2019-12-25T20:51:50Z","timestamp":1577307110000},"page":"1027-1070","source":"Crossref","is-referenced-by-count":216,"title":["Survey on Unmanned Aerial Vehicle Networks: A Cyber Physical System Perspective"],"prefix":"10.1109","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0739-0761","authenticated-orcid":false,"given":"Haijun","family":"Wang","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4728-0180","authenticated-orcid":false,"given":"Haitao","family":"Zhao","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0277-9145","authenticated-orcid":false,"given":"Jiao","family":"Zhang","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6860-9312","authenticated-orcid":false,"given":"Dongtang","family":"Ma","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0583-4915","authenticated-orcid":false,"given":"Jiaxun","family":"Li","sequence":"additional","affiliation":[]},{"given":"Jibo","family":"Wei","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref275","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2018.8430773"},{"key":"ref274","doi-asserted-by":"publisher","DOI":"10.1109\/MED.2016.7536056"},{"key":"ref277","doi-asserted-by":"publisher","DOI":"10.1109\/ICMLC.2004.1382096"},{"key":"ref276","first-page":"1043","article-title":"Formation control using GQ(\n$\\lambda$\n) reinforcement learning","author":"knopp","year":"2017","journal-title":"Proc IEEE Int Symp Robot and Human Interactive Communication (RO-MAN)"},{"key":"ref271","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2009.5160591"},{"key":"ref270","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2017.2787561"},{"key":"ref273","first-page":"184","article-title":"Adaptive consensus-based formation control of fixed-wing MUAV&#x2019;s","author":"guzey","year":"2017","journal-title":"Proc IEEE 4th Int Conf Actual Prob Unmanned Aerial Veh Develop (APUAVD)"},{"key":"ref170","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2019.2911542"},{"key":"ref272","doi-asserted-by":"publisher","DOI":"10.1109\/MED.2006.328861"},{"key":"ref172","doi-asserted-by":"publisher","DOI":"10.1109\/TR.2018.2864683"},{"key":"ref171","doi-asserted-by":"publisher","DOI":"10.1109\/TMC.2017.2703166"},{"key":"ref174","doi-asserted-by":"publisher","DOI":"10.1109\/GLOCOMW.2011.6162401"},{"key":"ref173","doi-asserted-by":"publisher","DOI":"10.1109\/TCOMM.2017.2746105"},{"key":"ref176","doi-asserted-by":"publisher","DOI":"10.1109\/ETCM.2017.8247496"},{"key":"ref175","doi-asserted-by":"publisher","DOI":"10.1016\/j.adhoc.2014.03.005"},{"key":"ref178","doi-asserted-by":"publisher","DOI":"10.1109\/CGNCC.2014.7007289"},{"key":"ref177","doi-asserted-by":"publisher","DOI":"10.1109\/ISIC.2014.6967623"},{"key":"ref168","doi-asserted-by":"publisher","DOI":"10.1145\/1322263.1322275"},{"key":"ref169","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094454"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2015.2410831"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2016.2521727"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/SURV.2013.111313.00138"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2013.6564798"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/URAI.2017.7992717"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICACI.2012.6463187"},{"key":"ref267","doi-asserted-by":"publisher","DOI":"10.1109\/ChiCC.2016.7553758"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cps.2016.0019"},{"key":"ref268","doi-asserted-by":"publisher","DOI":"10.1109\/BWCCA.2010.128"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2015.2478381"},{"key":"ref269","first-page":"5238","article-title":"A dynamic genetic algorithm based on particle filter for UCAV formation control","author":"peng","year":"2010","journal-title":"Proc 29th Chin Control Conf"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/SURV.2014.052914.00130"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.5772\/54600"},{"key":"ref288","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2010.2072570"},{"key":"ref287","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2011.2178883"},{"key":"ref286","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2009.2033750"},{"key":"ref285","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2002313"},{"key":"ref284","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.900642"},{"key":"ref181","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-012-9740-3"},{"key":"ref283","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2005.861710"},{"key":"ref180","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509713"},{"key":"ref282","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2011.08.042"},{"key":"ref281","doi-asserted-by":"publisher","DOI":"10.1177\/0954410016646599"},{"key":"ref280","doi-asserted-by":"publisher","DOI":"10.1109\/WCNCW.2018.8368996"},{"key":"ref185","doi-asserted-by":"publisher","DOI":"10.1109\/MSP.2005.1458289"},{"key":"ref184","doi-asserted-by":"publisher","DOI":"10.23919\/ChiCC.2018.8483081"},{"key":"ref183","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2011.6034661"},{"key":"ref182","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2016.7798507"},{"key":"ref189","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2010.2042355"},{"key":"ref188","first-page":"237","article-title":"Low cost vision-based 3D localization system for indoor unmanned aerial vehicles","author":"andrean","year":"2013","journal-title":"Proc Int Conf Robot Biomimetrics Intell Comput Syst"},{"key":"ref187","doi-asserted-by":"publisher","DOI":"10.1109\/LES.2013.2279594"},{"key":"ref186","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2017.2684817"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/MAES.2018.160246"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/APUAVD.2015.7346622"},{"key":"ref179","doi-asserted-by":"publisher","DOI":"10.2514\/1.38510"},{"key":"ref29","first-page":"107","article-title":"Survey of advances in control algorithms of quadrotor unmanned aerial vehicle","author":"li","year":"2015","journal-title":"Proc IEEE 16th Int Conf Commun Technol (ICCT)"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/MVT.2016.2645481"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.jnca.2014.12.002"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2015.2495297"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2016.7470933"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.adhoc.2012.12.004"},{"key":"ref278","doi-asserted-by":"publisher","DOI":"10.1109\/WCNC.2016.7565125"},{"key":"ref26","first-page":"6122","article-title":"Survey of autopilot for multi-rotor unmanned aerial vehicles","author":"yang","year":"2016","journal-title":"Proc IEEE Ind Electron Soc Annu Conf (IECON)"},{"key":"ref279","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2006.884615"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/DSD.2017.30"},{"key":"ref293","doi-asserted-by":"publisher","DOI":"10.1109\/SII.2014.7028065"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/ETFA.2015.7301518"},{"key":"ref292","doi-asserted-by":"publisher","DOI":"10.1109\/ICTC.2017.8190963"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1142\/S2424862217500142"},{"key":"ref295","doi-asserted-by":"publisher","DOI":"10.1109\/JSAC.2010.100904"},{"key":"ref294","doi-asserted-by":"publisher","DOI":"10.1109\/TMC.2015.2467381"},{"key":"ref297","doi-asserted-by":"publisher","DOI":"10.1145\/1366283.1366284"},{"key":"ref296","doi-asserted-by":"publisher","DOI":"10.1109\/ICComm.2018.8484837"},{"key":"ref299","doi-asserted-by":"publisher","DOI":"10.1109\/GreenCom-CPSCom.2010.75"},{"key":"ref298","doi-asserted-by":"publisher","DOI":"10.1109\/SSIRI-C.2011.24"},{"key":"ref154","doi-asserted-by":"publisher","DOI":"10.1109\/GLOCOMW.2010.5700251"},{"key":"ref153","doi-asserted-by":"publisher","DOI":"10.1109\/LCOMM.2018.2828110"},{"key":"ref156","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2017.1700323"},{"key":"ref155","doi-asserted-by":"publisher","DOI":"10.23919\/EuCAP.2017.7928300"},{"key":"ref150","doi-asserted-by":"publisher","DOI":"10.1109\/PIMRC.2016.7794595"},{"key":"ref291","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224857"},{"key":"ref152","doi-asserted-by":"publisher","DOI":"10.1002\/dac.1212"},{"key":"ref290","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2009.11.012"},{"key":"ref151","doi-asserted-by":"publisher","DOI":"10.1145\/2942358.2942396"},{"key":"ref146","doi-asserted-by":"publisher","DOI":"10.1109\/ICIEA.2017.8282943"},{"key":"ref147","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2013.10.021"},{"key":"ref148","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2017.2765498"},{"key":"ref149","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2007.906314"},{"key":"ref289","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2012.6315110"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2018.2856587"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2016.7470937"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/MVT.2015.2411191"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/PIMRC.2017.8292602"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/LCOMM.2017.2671861"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/JSAC.2012.120602"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2014.6815903"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/THMS.2018.2830647"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2017.2703172"},{"key":"ref167","doi-asserted-by":"publisher","DOI":"10.1109\/GLOCOMW.2012.6477825"},{"key":"ref166","first-page":"1","article-title":"Airborne surveillance networks with directional antennas","author":"huba","year":"2012","journal-title":"Proc 8th Int Conf Netw Services (ICNS)"},{"key":"ref165","doi-asserted-by":"publisher","DOI":"10.1109\/ICNSC.2010.5461502"},{"key":"ref164","author":"scott","year":"2005","journal-title":"CCSDS Concept Paper Extended Signaling for SCPS-TP"},{"key":"ref163","doi-asserted-by":"publisher","DOI":"10.1145\/2578901"},{"key":"ref162","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2015.2414819"},{"key":"ref161","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2017.2647817"},{"key":"ref160","doi-asserted-by":"publisher","DOI":"10.1109\/LCOMM.2016.2626293"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2009.932527"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989347"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2011.5705663"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-010-9439-2"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2016.2560343"},{"key":"ref159","doi-asserted-by":"publisher","DOI":"10.1109\/ICTC.2017.8191008"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-011-9560-x"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2016.2627399"},{"key":"ref157","doi-asserted-by":"publisher","DOI":"10.1109\/WCNC.2016.7565148"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/MILCOM.2005.1605902"},{"key":"ref158","doi-asserted-by":"publisher","DOI":"10.1016\/j.comnet.2015.03.001"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/SUTC.2008.85"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2019.2924143"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2008.2006127"},{"key":"ref47","doi-asserted-by":"crossref","first-page":"1287","DOI":"10.1109\/JPROC.2012.2189792","article-title":"Cyber-physical systems: A perspective at the centennial","volume":"100","author":"kim","year":"2012","journal-title":"Proc IEEE"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/MDAT.2017.2709310"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/NTMS.2016.7792424"},{"key":"ref44","article-title":"Cyber-physical systems with multi-unmanned aerial vehicle-based cooperative source seeking and contour mapping","author":"han","year":"2014"},{"key":"ref43","first-page":"2835","author":"coopmans","year":"2015","journal-title":"Cyber-Physical Systems Enabled by Small Unmanned Aerial Vehicles"},{"key":"ref320","doi-asserted-by":"publisher","DOI":"10.1109\/MTS.2016.2554418"},{"key":"ref321","author":"thompson","year":"2012","journal-title":"Drones in Domestic Surveillance Operations Fourth Amendment Implications and Legislative Responses"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2016.7502655"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/TWC.2013.101613.121746"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/INFCOM.2013.6566747"},{"key":"ref70","first-page":"57","article-title":"A comparison study of omnidirectional and directional MAC protocols for ad hoc networks","volume":"1","author":"huang","year":"2002","journal-title":"Proc Global Telecommun Conf (Globecom)"},{"key":"ref318","doi-asserted-by":"publisher","DOI":"10.1145\/1795194.1795201"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/INFCOMW.2018.8406910"},{"key":"ref317","doi-asserted-by":"publisher","DOI":"10.1145\/3001836"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/GLOCOM.2017.8254715"},{"key":"ref316","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2017.1700390"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/VTCFall.2013.6692190"},{"key":"ref315","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2015.2490099"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/ICCW.2017.7962642"},{"key":"ref314","doi-asserted-by":"publisher","DOI":"10.1049\/iet-com.2011.0543"},{"key":"ref313","doi-asserted-by":"publisher","DOI":"10.1109\/ICCIC.2010.5705750"},{"key":"ref312","first-page":"112","article-title":"An energy efficient multichannel MAC protocol for cognitive radio ad hoc networks","volume":"2","author":"kamruzzaman","year":"2010","journal-title":"Int J Security Commun Netw"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/ICC.2018.8422376"},{"key":"ref311","doi-asserted-by":"publisher","DOI":"10.1109\/TNET.2007.896173"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/JSAC.2018.2874145"},{"key":"ref319","doi-asserted-by":"publisher","DOI":"10.1145\/1460412.1460435"},{"key":"ref310","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2790933"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2019.2915069"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/LWC.2014.2342736"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/GLOCOM.2014.7037248"},{"key":"ref305","doi-asserted-by":"publisher","DOI":"10.1109\/SPAWC.2018.8445936"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/TAP.2008.919209"},{"key":"ref304","doi-asserted-by":"publisher","DOI":"10.1109\/JSAC.2018.2864426"},{"key":"ref64","first-page":"1","article-title":"Propagation model for high altitude platform systems based on ray tracing simulation","author":"hsieh","year":"2019","journal-title":"Proc of the European Conf on Antennas and Propag (EuCAP)"},{"key":"ref307","doi-asserted-by":"publisher","DOI":"10.1155\/2011\/321709"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1109\/IWSSC.2009.5286379"},{"key":"ref306","doi-asserted-by":"publisher","DOI":"10.1109\/ICC.2017.7996483"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/49.995523"},{"key":"ref301","doi-asserted-by":"publisher","DOI":"10.1145\/1837274.1837462"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/ICCNC.2012.6167508"},{"key":"ref300","doi-asserted-by":"publisher","DOI":"10.1145\/2486092.2486127"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/ICOSP.2006.345766"},{"key":"ref303","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2018.2890133"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/TWC.2015.2463276"},{"key":"ref302","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2017.2706308"},{"key":"ref309","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2872753"},{"key":"ref308","first-page":"413","article-title":"An energy management strategy for energy-sustainable cyber-physical system","author":"ge","year":"2014","journal-title":"Proc 9th Int Conf Comput Sci Educ"},{"key":"ref197","doi-asserted-by":"publisher","DOI":"10.1016\/j.comnet.2018.02.004"},{"key":"ref198","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-014-0077-y"},{"key":"ref199","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2018.2840828"},{"key":"ref193","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2009.5160222"},{"key":"ref194","doi-asserted-by":"publisher","DOI":"10.1109\/MCI.2013.2264577"},{"key":"ref195","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2017.2714898"},{"key":"ref196","doi-asserted-by":"publisher","DOI":"10.1109\/TMC.2018.2873015"},{"key":"ref95","doi-asserted-by":"publisher","DOI":"10.1109\/SMC.2016.7844232"},{"key":"ref94","doi-asserted-by":"publisher","DOI":"10.1109\/CC.2013.6488841"},{"key":"ref190","author":"lewis","year":"1992","journal-title":"Applied Optimal Control and Estimation"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2017.7991527"},{"key":"ref191","doi-asserted-by":"publisher","DOI":"10.2514\/1.C031606"},{"key":"ref92","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2012.2198665"},{"key":"ref192","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1991.131810"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1109\/ICCA.2017.8003203"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.23919\/ChiCC.2018.8484099"},{"key":"ref98","doi-asserted-by":"publisher","DOI":"10.1109\/IHMSC.2016.182"},{"key":"ref99","doi-asserted-by":"publisher","DOI":"10.1109\/ICCIS.2013.41"},{"key":"ref96","first-page":"256","article-title":"Multi-robot task allocation based on robotic utility value and genetic algorithm","volume":"2","author":"chen","year":"2009","journal-title":"Proc IEEE Int Conf Intell Comput Intell Syst"},{"key":"ref97","doi-asserted-by":"publisher","DOI":"10.1109\/ISCID.2017.29"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1109\/INFCOMW.2010.5466620"},{"key":"ref81","doi-asserted-by":"crossref","first-page":"436","DOI":"10.1038\/nature14539","article-title":"Deep learning","volume":"521","author":"lecun","year":"2015","journal-title":"Nature"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2011.5990845"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2206473"},{"key":"ref80","author":"roy","year":"2010","journal-title":"Handbook of Mobile Ad Hoc Networks for Mobility Models"},{"key":"ref323","doi-asserted-by":"publisher","DOI":"10.1109\/MTS.2012.2185275"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1109\/TCSET.2018.8336181"},{"key":"ref322","doi-asserted-by":"publisher","DOI":"10.1109\/MTS.2009.931865"},{"key":"ref324","year":"2012","journal-title":"Living under drones"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/SAHCNW.2009.5172925"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1109\/ICUS.2017.8278405"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.1109\/TCBB.2015.2443789"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1109\/TE.2015.2402196"},{"key":"ref200","doi-asserted-by":"publisher","DOI":"10.1038\/nature03236"},{"key":"ref101","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2016.7502660"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1109\/ICRAE.2016.7738780"},{"key":"ref209","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913499085"},{"key":"ref203","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2012.2190184"},{"key":"ref204","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6943105"},{"key":"ref201","doi-asserted-by":"publisher","DOI":"10.1007\/s11047-013-9390-9"},{"key":"ref202","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2015.2403253"},{"key":"ref207","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487742"},{"key":"ref208","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2016.2537307"},{"key":"ref205","doi-asserted-by":"publisher","DOI":"10.1126\/science.1254295"},{"key":"ref206","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2014.2328659"},{"key":"ref211","doi-asserted-by":"publisher","DOI":"10.1109\/MVT.2015.2481560"},{"key":"ref210","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2016.7470934"},{"key":"ref212","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2019.2902862"},{"key":"ref213","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2452777"},{"key":"ref214","doi-asserted-by":"publisher","DOI":"10.1007\/s12518-015-0165-0"},{"key":"ref215","doi-asserted-by":"publisher","DOI":"10.1109\/MWC.2018.1800023"},{"key":"ref216","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2018.2887086"},{"key":"ref217","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2811762"},{"key":"ref218","doi-asserted-by":"publisher","DOI":"10.1109\/DASC.2016.7778007"},{"key":"ref219","doi-asserted-by":"publisher","DOI":"10.1109\/ICARSC.2017.7964096"},{"key":"ref220","doi-asserted-by":"publisher","DOI":"10.1016\/j.future.2016.01.002"},{"key":"ref222","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2017.2728722"},{"key":"ref221","doi-asserted-by":"publisher","DOI":"10.1109\/CLOUD.2017.23"},{"key":"ref229","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2017.2761139"},{"key":"ref228","doi-asserted-by":"publisher","DOI":"10.1109\/NCCA.2015.14"},{"key":"ref227","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2017.2786343"},{"key":"ref226","doi-asserted-by":"publisher","DOI":"10.1109\/SMARTCOMP.2018.00080"},{"key":"ref225","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2017.2745201"},{"key":"ref224","doi-asserted-by":"publisher","DOI":"10.1109\/UIC-ATC.2017.8397657"},{"key":"ref223","doi-asserted-by":"publisher","DOI":"10.1109\/COMST.2017.2771153"},{"key":"ref127","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282433"},{"key":"ref126","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2014.2326820"},{"key":"ref125","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2011.06.031"},{"key":"ref124","first-page":"1860","article-title":"PID based sliding mode controller design for the micro quadrotor","author":"tuan","year":"2013","journal-title":"Proc 13th Int Conf Control Autom Syst (ICCAS)"},{"key":"ref129","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-009-0311-8"},{"key":"ref128","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2007.4282548"},{"key":"ref130","first-page":"1198","article-title":"Robust feedback linearization and GH\n$_{\\infty}$\n controller for a quadrotor unmanned aerial vehicle","author":"mokhtari","year":"2005","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref133","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2012.2208968"},{"key":"ref134","first-page":"223","article-title":"A nonlinear adaptive control approach for quadrotor UAVs","author":"diao","year":"2011","journal-title":"Proc 8th Asian Control Conf (ASCC)"},{"key":"ref131","doi-asserted-by":"publisher","DOI":"10.1109\/ICMECH.2009.4957154"},{"key":"ref132","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2014.2377711"},{"key":"ref232","first-page":"2544","article-title":"ConTaCT: Deciding to communicate during time-critical collaborative tasks in unknown, deterministic domains","author":"unhelkar","year":"2016","journal-title":"Proc AAAI Conf Artif Intell (AAAI)"},{"key":"ref233","first-page":"3092","article-title":"To share or not to share? The single agent in a team decision problem","author":"amir","year":"2014","journal-title":"Proc AAAI Conf Artif Intell (AAAI)"},{"key":"ref230","doi-asserted-by":"publisher","DOI":"10.1287\/moor.27.4.819.297"},{"key":"ref231","doi-asserted-by":"publisher","DOI":"10.1109\/GLOCOMW.2015.7414180"},{"key":"ref239","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2825463"},{"key":"ref238","doi-asserted-by":"publisher","DOI":"10.1109\/LWC.2017.2757490"},{"key":"ref235","doi-asserted-by":"publisher","DOI":"10.1007\/4-431-35881-1_18"},{"key":"ref234","first-page":"786","article-title":"Reasoning about joint beliefs for execution-time communication decisions","author":"roth","year":"2005","journal-title":"Proc Int'l Joint Conf Autonomous Agents and Multiagent Systems (AAMAS)"},{"key":"ref237","doi-asserted-by":"publisher","DOI":"10.1109\/TEMC.2017.2784833"},{"key":"ref236","first-page":"1101","article-title":"Coordinating multi-agent reinforcement learning with limited communication","author":"zhang","year":"2013","journal-title":"Proc Int'l Joint Conf Autonomous Agents and Multiagent Systems (AAMAS)"},{"key":"ref136","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2014.10.003"},{"key":"ref135","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-013-9813-y"},{"key":"ref138","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2010.5717869"},{"key":"ref137","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2012.6426266"},{"key":"ref139","doi-asserted-by":"publisher","DOI":"10.1109\/DASC.2016.7778016"},{"key":"ref140","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9281-4"},{"key":"ref141","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152561"},{"key":"ref142","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2014.2364982"},{"key":"ref143","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2015.02.020"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/LCOMM.2016.2524405"},{"key":"ref144","first-page":"1","article-title":"A comparative study of the WaveNet PID controllers for applications in non-linear systems","author":"salda\u00f1a-o","year":"2015","journal-title":"Proc 12th Int Conf Elect Eng Comput Sci Autom Control (CCE)"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2018.2807558"},{"key":"ref145","doi-asserted-by":"publisher","DOI":"10.1155\/2014\/637034"},{"key":"ref241","doi-asserted-by":"publisher","DOI":"10.1109\/TVT.2015.2491932"},{"key":"ref242","doi-asserted-by":"publisher","DOI":"10.1002\/dac.3307"},{"key":"ref243","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2015.08.004"},{"key":"ref244","article-title":"Learning-based route management in wireless ad hoc networks","author":"russell","year":"2008"},{"key":"ref240","doi-asserted-by":"publisher","DOI":"10.1109\/GLOCOM.2011.6133619"},{"key":"ref248","first-page":"231","article-title":"Dual reinforcement Q-routing: An on-line adaptive routing algorithm","author":"kumar","year":"1997","journal-title":"Proc Artif Neural Netw Eng Conf"},{"key":"ref247","doi-asserted-by":"publisher","DOI":"10.1109\/EIConRusNW.2016.7448188"},{"key":"ref246","first-page":"945","article-title":"Predictive Q-routing: A memory-based reinforcement learning approach to adaptive traffic control","author":"choi","year":"1996","journal-title":"Advances in Neural Information Processing Systems 8"},{"key":"ref245","first-page":"671","article-title":"Packet routing in dynamically changing networks: A reinforcement learning approach","author":"boyan","year":"1993","journal-title":"Proc 6th Int Conf Neural Inf Process Syst (NIPS)"},{"key":"ref249","first-page":"832","article-title":"Ants and reinforcement learning: A case study in routing in dynamic networks","volume":"2","author":"subramanian","year":"1997","journal-title":"Proc Intern Joint Conf Artificial Intel (IJCAI)"},{"key":"ref109","doi-asserted-by":"publisher","DOI":"10.1109\/TNN.1998.712192"},{"key":"ref108","doi-asserted-by":"publisher","DOI":"10.1162\/neco.1989.1.3.295"},{"key":"ref107","doi-asserted-by":"publisher","DOI":"10.2200\/S00196ED1V01Y200906AIM006"},{"key":"ref106","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-13365-7_14"},{"key":"ref105","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-2834-9"},{"key":"ref104","doi-asserted-by":"publisher","DOI":"10.1109\/SMC.2014.6974464"},{"key":"ref103","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2009.2020789"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.1109\/FUZZ-IEEE.2014.6891787"},{"key":"ref111","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2014.6842364"},{"key":"ref112","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2017.2711602"},{"key":"ref110","doi-asserted-by":"publisher","DOI":"10.1109\/TKDE.2009.191"},{"key":"ref250","doi-asserted-by":"publisher","DOI":"10.1109\/IJCNN.2002.1007796"},{"key":"ref251","doi-asserted-by":"publisher","DOI":"10.1109\/ISSNIP.2007.4496810"},{"key":"ref254","first-page":"641","article-title":"Reward shaping for valuing communications during multi-agent coordination","volume":"1","author":"williamson","year":"2009","journal-title":"Proc 4th Int Conf Auton Agents Multiagent Syst (AAMAS)"},{"key":"ref255","doi-asserted-by":"publisher","DOI":"10.1109\/TNN.2009.2034145"},{"key":"ref252","doi-asserted-by":"publisher","DOI":"10.1109\/ITNG.2011.138"},{"key":"ref253","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2010.09.008"},{"key":"ref257","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-012-0107-0"},{"key":"ref256","doi-asserted-by":"publisher","DOI":"10.1109\/CCA.2010.5611206"},{"key":"ref259","doi-asserted-by":"publisher","DOI":"10.1109\/ASCC.2017.8287305"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-008-9104-9"},{"key":"ref258","first-page":"1265","article-title":"Path tracking of UAV using self-tuning PID controller based on fuzzy logic","author":"sangyam","year":"2010","journal-title":"Proc SICE Annu Conf"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/JSAC.2018.2864376"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/JIOT.2019.2935105"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/LWC.2017.2700840"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICC.2016.7510820"},{"key":"ref15","first-page":"177","author":"durrant-whyte","year":"2011","journal-title":"Construction of Cubic Structures with Quadrotor Teams"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICICCT.2018.8473204"},{"key":"ref118","doi-asserted-by":"publisher","DOI":"10.1109\/HNICEM.2015.7393247"},{"key":"ref17","doi-asserted-by":"crossref","first-page":"449","DOI":"10.1007\/978-3-319-08422-0_66","article-title":"Distributed processing applications for UAV\/drones: A survey","author":"chmaj","year":"2015","journal-title":"Progress in Systems Engineering"},{"key":"ref117","first-page":"13","article-title":"Open-source project (OSPS) platform for outdoor quadcopter","volume":"24","author":"baru","year":"2016","journal-title":"Advanced Design Research"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2006.888384"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/MCOM.2017.1700326"},{"key":"ref119","doi-asserted-by":"publisher","DOI":"10.1109\/ICACCI.2014.6968383"},{"key":"ref114","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20414"},{"key":"ref113","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6943035"},{"key":"ref116","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2205629"},{"key":"ref115","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-010-0105-z"},{"key":"ref120","doi-asserted-by":"publisher","DOI":"10.23919\/ECC.2007.7068316"},{"key":"ref121","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2005.1550152"},{"key":"ref122","first-page":"1189","article-title":"Design and implementation of an \n$\\text{H}_{\\infty}$\n controller for a quadrotor helicopter","author":"rich","year":"2013","journal-title":"Proc 1st Mediterr Conf Control Autom"},{"key":"ref123","first-page":"337","article-title":"Robust \n$\\text{H}_{\\infty}$\n control for path tracking of a quadrotor through estimation of system parameters","author":"monfared","year":"2016","journal-title":"Proc 4th Int Conf Robot Mechatronics (ICROM)"},{"key":"ref260","doi-asserted-by":"publisher","DOI":"10.1109\/ChiCC.2016.7553921"},{"key":"ref261","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545025"},{"key":"ref262","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631276"},{"key":"ref263","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2017.8016091"},{"key":"ref264","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2009.0256"},{"key":"ref265","doi-asserted-by":"publisher","DOI":"10.1109\/IHMSC.2013.88"},{"key":"ref266","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS.2017.7991407"}],"container-title":["IEEE Communications Surveys &amp; Tutorials"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9739\/9102343\/08943319.pdf?arnumber=8943319","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,4,27]],"date-time":"2022-04-27T16:58:57Z","timestamp":1651078737000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8943319\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020]]},"references-count":324,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/comst.2019.2962207","relation":{},"ISSN":["1553-877X","2373-745X"],"issn-type":[{"value":"1553-877X","type":"electronic"},{"value":"2373-745X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020]]}}}