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However, ignoring these inherent interdependencies while making current deployment decisions is shortsighted, and the resulting naive deployment strategy can significantly worsen the overall incident delay impact on the network. The interdependencies on incident evolution in the environment, including those between incident occurrences and those between resource availability in near\u2010future requests and the anticipated duration of the immediate incident request, should be considered through a look\u2010ahead model when making current\u2010stage deployment decisions. This study develops a new proactive framework based on the distributed constraint optimization problem (DCOP) to address the above limitations, overcoming conventional TIM models that cannot accommodate the dependencies in the TIM problem. Furthermore, the optimization objective is formulated to incorporate unmanned aerial vehicles (UAVs). The UAVs\u2019 role in TIM includes exploring uncertain traffic conditions, detecting unexpected events, and augmenting information from roadway traffic sensors. Robustness analysis of our model for multiple TIM scenarios shows satisfactory performance using local search exploration heuristics. Overall, our model reports a significant reduction in total incident delay compared to conventional TIM models. With UAV support, we demonstrate a further decrease in the total incident delay ranging between 5% and 45% for the different number of incidents. UAVs\u2019 active sensing can shorten response time of emergency vehicles and reduce uncertainties associated with the estimated incident delay impact.<\/jats:p>","DOI":"10.1155\/dsn\/5552310","type":"journal-article","created":{"date-parts":[[2025,1,30]],"date-time":"2025-01-30T15:49:17Z","timestamp":1738252157000},"source":"Crossref","is-referenced-by-count":1,"title":["Proactive Distributed Emergency Response With Heterogeneous Tasks Allocation"],"prefix":"10.1155","volume":"2025","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0322-8647","authenticated-orcid":false,"given":"Justice","family":"Darko","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1490-5404","authenticated-orcid":false,"given":"Hyoshin","family":"Park","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2025,1,30]]},"reference":[{"key":"e_1_2_14_1_2","unstructured":"FHWA FSP Handbook: Chapter 4. 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