{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T13:36:42Z","timestamp":1777901802656,"version":"3.51.4"},"reference-count":44,"publisher":"American Institute of Aeronautics and Astronautics (AIAA)","issue":"5","content-domain":{"domain":["arc.aiaa.org"],"crossmark-restriction":true},"short-container-title":["Journal of Aerospace Information Systems"],"published-print":{"date-parts":[[2026,5]]},"abstract":"<jats:p>The aim was to evaluate the efficiency of cooperative route planning for autonomous drones operating in densely built-up urban environments, with a particular focus on system resilience and positioning accuracy. Experiments were conducted between April and June 2025 at the Intelligent Unmanned Systems Laboratory of the School of Aeronautics at Beihang University (Shunyi District, Beijing, China). The methodology included 60 flights involving multidrone groups using Da Jiang Innovations Matrice 300 Real-Time Kinematics and Yuneec H520 platforms, both operating on multi-agent route cooperative planning (MARCP) and rapidly exploring random tree star (RRT*) algorithms. Data analysis was performed using Python. The results indicated that the MARCP algorithm significantly outperformed RRT* across all navigation metrics: the mean positional error was 0.83\u00a0m compared to 1.41\u00a0m, and maximum deviations were 2.03\u00a0m versus 3.56\u00a0m, respectively. MARCP showed superior route adherence at altitudes up to 60 m and in narrow corridors. It achieved 96.6% collision avoidance versus RRT*\u2019s 82.8% through early conflict prediction and dynamic trajectory reallocation. Drone coordination was more reliable with consistent interdrone distances of 6.7\u20138.9 m, while RRT* showed significant inconsistencies. MARCP recorded only 19 failures (3 critical) compared to RRT*\u2019s 47 failures (20 involving synchronization loss). Buffering and predictive models provided resilience under communication disruptions.<\/jats:p>","DOI":"10.2514\/1.i011744","type":"journal-article","created":{"date-parts":[[2026,3,9]],"date-time":"2026-03-09T08:11:36Z","timestamp":1773043896000},"page":"446-452","update-policy":"https:\/\/doi.org\/10.2514\/aiaa_crossmarkpolicy","source":"Crossref","is-referenced-by-count":0,"title":["Multi-Agent Path Planning for Autonomous Drone Fleets in Urban Environments"],"prefix":"10.2514","volume":"23","author":[{"given":"Haoyang","family":"Li","sequence":"first","affiliation":[{"name":"National Aviation University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-1645-9260","authenticated-orcid":false,"given":"Volodymyr","family":"Kharchenko","sequence":"additional","affiliation":[{"name":"National Aviation University"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1387","reference":[{"key":"r1","unstructured":"GintersE.AizstrautsA.DreijaG.AblazevicaM.StepucevS.SakneI.BaltruksM.ErolesM. A. P.BuilR.GusevM.et\u00a0al. \u201cSkopje Bicycle Inter-Modality Simulator\u2014E-Involvement Through Simulation and Ticketing,\u201d 26th European Modeling and Simulation Symposium, EMSS, Bordeaux, France, Sept.\u00a02014, pp.\u00a0557\u2013562."},{"key":"r2","doi-asserted-by":"publisher","DOI":"10.1016\/j.buildenv.2019.106458"},{"key":"r3","doi-asserted-by":"publisher","DOI":"10.12911\/22998993\/153458"},{"key":"r4","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2024.3483943"},{"key":"r5","doi-asserted-by":"publisher","DOI":"10.3390\/s120606764"},{"key":"r6","doi-asserted-by":"publisher","DOI":"10.47197\/retos.v63.110869"},{"key":"r7","doi-asserted-by":"crossref","unstructured":"SalmanovV. I. \u201cOptimal Control Problem and Integral Quality Criteria with a Special Gradient Term,\u201d Eurasia Proceedings of Science, Technology, Engineering and Mathematics, Vol.\u00a034, 2025, pp.\u00a0310\u2013319. 10.55549\/epstem.1754735","DOI":"10.55549\/epstem.1754735"},{"key":"r8","doi-asserted-by":"publisher","DOI":"10.17576\/apjitm-2013-0202-04"},{"key":"r9","doi-asserted-by":"crossref","unstructured":"GintersE.MezitisM.AizstrautaD. \u201cSustainability Simulation and Assessment of Bicycle Network Design and Maintenance Environment,\u201d 2018 International Conference on Intelligent and Innovative Computing Applications, ICONIC 2018, Inst. of Electrical and Electronics Engineers, New York, 2018, Paper 8601225. 10.1109\/ICONIC.2018.8601225","DOI":"10.1109\/ICONIC.2018.8601225"},{"key":"r10","doi-asserted-by":"publisher","DOI":"10.30857\/2786-5371.2022.2.1"},{"key":"r11","doi-asserted-by":"publisher","DOI":"10.3390\/s21217365"},{"key":"r12","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2025.3554546"},{"key":"r13","doi-asserted-by":"crossref","unstructured":"OsadchukA. V.OsadchukV. S. \u201cRadiomeasuring Microelectronic Transducers of Physical Quantities,\u201d 2015 International Siberian Conference on Control and Communications, SIBCON 2015\u2014Proceedings, Inst. of Electrical and Electronics Engineers, New York, 2015, Paper 7147167. 10.1109\/SIBCON.2015.7147167","DOI":"10.1109\/SIBCON.2015.7147167"},{"key":"r14","doi-asserted-by":"crossref","unstructured":"BondarenkoI. N.VasilievYu S.ZhizhiriyA. S.IshenkoA. L. \u201cArrangement Device for Monitoring of Parameters of Microwave Resonators,\u201d KpbiMuKo 2010 CriMiCo\u20142010 20th International Crimean Conference Microwave and Telecommunication Technology, Conference Proceedings, IEEE Computer Soc., Washington, D.C., 2010, pp.\u00a0969\u2013970. 10.1109\/crmico.2010.5632420","DOI":"10.1109\/CRMICO.2010.5632420"},{"key":"r15","doi-asserted-by":"publisher","DOI":"10.1063\/5.0106471"},{"key":"r16","doi-asserted-by":"publisher","DOI":"10.1109\/OJCOMS.2021.3081996"},{"key":"r17","doi-asserted-by":"publisher","DOI":"10.3390\/drones8010018"},{"key":"r18","doi-asserted-by":"publisher","DOI":"10.35784\/iapgos.7200"},{"key":"r19","doi-asserted-by":"publisher","DOI":"10.3390\/su13158580"},{"key":"r20","doi-asserted-by":"publisher","DOI":"10.1016\/j.jmapro.2024.01.079"},{"key":"r21","doi-asserted-by":"crossref","unstructured":"RubinoG.TomassiG.CipriniL.AliS.MarignettiF. \u201cSpeed Sensorless Control Based on Luenberger Observer for DC Motors,\u201d 2022 2nd International Conference on Sustainable Mobility Applications, Renewables and Technology, SMART, Inst. of Electrical and Electronics Engineers, New York, Nov.\u00a02022. 10.1109\/SMART55236.2022.9990558","DOI":"10.1109\/SMART55236.2022.9990558"},{"key":"r22","doi-asserted-by":"publisher","DOI":"10.30857\/2786-5371.2022.2.1"},{"key":"r23","doi-asserted-by":"publisher","DOI":"10.1007\/s13042-024-02393-z"},{"key":"r24","doi-asserted-by":"publisher","DOI":"10.1007\/s40747-021-00300-5"},{"issue":"9","key":"r25","first-page":"119","volume":"6","author":"Yahiaoui S.","year":"2021","journal-title":"International Journal of Intelligent Robotics and Applications"},{"key":"r26","doi-asserted-by":"crossref","unstructured":"CausaF.FasanoG. \u201cNavigation-Aware Path Planning for Multiple UAVs in Urban Environment,\u201d 2020 AIAA\/IEEE. 39th Digital Avionics Systems Conference (DASC), Inst. of Electrical and Electronics Engineers, New York, 2020, pp.\u00a0737\u2013746. 10.1109\/DASC50938.2020.9256724","DOI":"10.1109\/DASC50938.2020.9256724"},{"key":"r27","doi-asserted-by":"publisher","DOI":"10.3390\/su142114473"},{"key":"r28","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-024-51349-4"},{"key":"r29","doi-asserted-by":"crossref","unstructured":"KhatiwadaS.Murray-TuiteP.SchmidM. \u201cMulti-Criteria Multi-Agent Path Planning in Unstructured Off-Road Environments,\u201d SAE Technical Paper Series, 2024. 10.4271\/2024-01-4062","DOI":"10.4271\/2024-01-4062"},{"key":"r30","doi-asserted-by":"publisher","DOI":"10.3390\/aerospace8110343"},{"key":"r31","doi-asserted-by":"publisher","DOI":"10.1007\/s00521-022-06998-9"},{"key":"r32","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2022.116604"},{"key":"r33","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3280995"},{"key":"r34","doi-asserted-by":"publisher","DOI":"10.3390\/biomimetics10030180"},{"key":"r35","doi-asserted-by":"crossref","unstructured":"BattoclettiG.UrbanR.GodioS.GuglieriG. \u201cRL-Based Path Planning for Autonomous Aerial Vehicles in Unknown Environments,\u201d AIAA AVIATION 2021 Forum, AIAA Paper 2021-3016, 2021. 10.2514\/6.2021-3016","DOI":"10.2514\/6.2021-3016"},{"key":"r36","doi-asserted-by":"crossref","unstructured":"RathiA. M.RohithR.VadaliM. \u201cPrioritized Path Planning of Multiple Autonomous Vehicles in Urban Environments,\u201d Proceedings of the 2021 5th International Conference on Advances in Robotics, Assoc. for Computing Machinery, New York, 2021. 10.1145\/3478586.3480640","DOI":"10.1145\/3478586.3480640"},{"key":"r37","doi-asserted-by":"publisher","DOI":"10.1145\/3570723"},{"key":"r38","first-page":"595","volume-title":"Artificial Intelligence and Online Engineering: Proceedings of the 19th International Conference on Remote Engineering and Virtual Instrumentation","author":"Ganeshalingam L.","year":"2022"},{"key":"r39","doi-asserted-by":"publisher","DOI":"10.2514\/1.G006129"},{"key":"r40","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3336008"},{"key":"r41","volume":"235","author":"Puente-Castro A.","year":"2023","journal-title":"Expert Systems with Applications"},{"key":"r42","doi-asserted-by":"publisher","DOI":"10.3390\/s22197551"},{"key":"r43","doi-asserted-by":"crossref","unstructured":"CarneyR.ChybaM.GrayC.TrimbleA. \u201cMulti-Agents Path Planning for a Swarm of Unmanned Aerial Vehicles,\u201d IGARSS. 2020\u20132020 IEEE International Geoscience and Remote Sensing Symposium, Inst. of Electrical and Electronics Engineers, New York, 2020, pp.\u00a06495\u20136498. 10.1109\/IGARSS39084.2020.9324503","DOI":"10.1109\/IGARSS39084.2020.9324503"},{"key":"r44","doi-asserted-by":"publisher","DOI":"10.1016\/j.adhoc.2018.02.008"}],"container-title":["Journal of Aerospace Information Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/arc.aiaa.org\/doi\/pdf\/10.2514\/1.I011744","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T11:10:16Z","timestamp":1777633816000},"score":1,"resource":{"primary":{"URL":"https:\/\/arc.aiaa.org\/doi\/10.2514\/1.I011744"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,5]]},"references-count":44,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2026,5]]}},"alternative-id":["10.2514\/1.I011744"],"URL":"https:\/\/doi.org\/10.2514\/1.i011744","relation":{},"ISSN":["1940-3151","2327-3097"],"issn-type":[{"value":"1940-3151","type":"print"},{"value":"2327-3097","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,5]]},"assertion":[{"value":"2025-07-31","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-02-02","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-03-09","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}