{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,12]],"date-time":"2025-12-12T13:41:47Z","timestamp":1765546907459,"version":"build-2065373602"},"reference-count":20,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2022,4,15]],"date-time":"2022-04-15T00:00:00Z","timestamp":1649980800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this work, we focus on a drone-fleet-enabled package delivery scenario, in which multiple drones fly from a start point and cooperatively deliver packages to the ground users in the presence of a number of no-fly zones (NFZs). We first mathematically model the package delivery scenario in a rigorous manner. Then, a package value maximization problem is established to optimize the flight trajectory and package delivery under the constraints of drone load and collision as well as NFZs. The formulated problem is a highly challenging mixed-integer non-convex problem. To facilitate solving it, we transform the formulated problem into an equivalent problem with special structure by using some appropriate transformations, based on which a low-complexity algorithm with favorable performance is developed using the penalty convex\u2013concave procedure method. Finally, numerical results demonstrate the superiority of the proposed solution.<\/jats:p>","DOI":"10.3390\/s22083056","type":"journal-article","created":{"date-parts":[[2022,4,19]],"date-time":"2022-04-19T02:39:31Z","timestamp":1650335971000},"page":"3056","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Drone-Fleet-Enabled Logistics: A Joint Design of Flight Trajectory and Package Delivery"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6404-0947","authenticated-orcid":false,"given":"Yunjian","family":"Jia","sequence":"first","affiliation":[{"name":"School of Microelectronics and Communication Engineering, Chongqing University, Chongqing 400044, China"}]},{"given":"Yi","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Microelectronics and Communication Engineering, Chongqing University, Chongqing 400044, China"}]},{"given":"Kun","family":"Luo","sequence":"additional","affiliation":[{"name":"School of Microelectronics and Communication Engineering, Chongqing University, Chongqing 400044, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3810-8466","authenticated-orcid":false,"given":"Wanli","family":"Wen","sequence":"additional","affiliation":[{"name":"School of Microelectronics and Communication Engineering, Chongqing University, Chongqing 400044, China"},{"name":"National Mobile Communications Research Laboratory, Southeast University, Nanjing 210096, China"}]}],"member":"1968","published-online":{"date-parts":[[2022,4,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"2329","DOI":"10.1109\/TWC.2019.2902559","article-title":"Energy Minimization for Wireless Communication With Rotary-Wing UAV","volume":"18","author":"Zeng","year":"2019","journal-title":"IEEE Trans. Wirel. Commun."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1479","DOI":"10.1017\/aer.2017.87","article-title":"Guidance law for intercepting target with multiple no-fly zone constraints","volume":"121","author":"Zhao","year":"2017","journal-title":"Aeronaut. J."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Li, R., Wei, Z., Yang, L., Kwan Ng, D.W., Yang, N., Yuan, J., and An, J. (2018, January 9\u201313). Joint Trajectory and Resource Allocation Design for UAV Communication Systems. Proceedings of the 2018 IEEE Globecom Workshops, Abu Dhabi, United Arab Emirates.","DOI":"10.1109\/GLOCOMW.2018.8644071"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"3153","DOI":"10.1109\/TCOMM.2020.2970043","article-title":"Multiuser MISO UAV Communications in Uncertain Environments With No-Fly Zones: Robust Trajectory and Resource Allocation Design","volume":"68","author":"Xu","year":"2020","journal-title":"IEEE Trans. Commun."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Liu, Z., Zeng, Y., Zhang, W., and Gong, Y. (2021, January 14\u201323). Trajectory Design for UAV Communications with No-Fly Zones by Deep Reinforcement Learning. Proceedings of the 2021 IEEE International Conference on Communications Workshops, Montreal, QC, Canada.","DOI":"10.1109\/ICCWorkshops50388.2021.9473572"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"4490","DOI":"10.1109\/TCOMM.2020.2983040","article-title":"Resource Allocation for Secure Multi-UAV Communication Systems With Multi-Eavesdropper","volume":"68","author":"Li","year":"2020","journal-title":"IEEE Trans. Commun."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"44459","DOI":"10.1109\/ACCESS.2019.2908407","article-title":"Joint Trajectory and Power Design for UAV-Enabled Secure Communications With No-Fly Zone Constraints","volume":"7","author":"Gao","year":"2019","journal-title":"IEEE Access"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"114","DOI":"10.1016\/j.comcom.2021.01.003","article-title":"Addressing disasters in smart cities through UAVs path planning and 5G communications: A systematic review","volume":"168","author":"Qadir","year":"2021","journal-title":"Comput. Commun."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Cherif, N., Jaafar, W., Yanikomeroglu, H., and Yongacoglu, A. (2021, January 14\u201323). Disconnectivity-Aware Energy-Efficient Cargo-UAV Trajectory Planning with Minimum Handoffs. Proceedings of the IEEE International Conference on Communications, Montreal, QC, Canada.","DOI":"10.1109\/ICC42927.2021.9500982"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"306","DOI":"10.1109\/TMC.2020.3003639","article-title":"Reinforcement Learning-Based Collision Avoidance and Optimal Trajectory Planning in UAV Communication Networks","volume":"21","author":"Hsu","year":"2022","journal-title":"IEEE Trans. Mob. Comput."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"2109","DOI":"10.1109\/TWC.2017.2789293","article-title":"Joint Trajectory and Communication Design for Multi-UAV Enabled Wireless Networks","volume":"17","author":"Wu","year":"2018","journal-title":"IEEE Trans. Wirel. Commun."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"1811","DOI":"10.1109\/LCOMM.2019.2927557","article-title":"Joint Uplink\/Downlink Sub-Channel, Bit and Time Allocation for Multi-Access Edge Computing","volume":"23","author":"Wen","year":"2019","journal-title":"IEEE Commun. Lett."},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Vu, Q.D., Nguyen, K.G., and Juntti, M. (2016, January 4\u20138). Max-Min Fairness for Multicast Multigroup Multicell Transmission under Backhaul Constraints. Proceedings of the 2016 IEEE Global Communications Conference, Washington, DC, USA.","DOI":"10.1109\/GLOCOM.2016.7841981"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"1397","DOI":"10.1109\/TWC.2016.2633522","article-title":"Energy-Efficient Resource Allocation for Mobile-Edge Computation Offloading","volume":"16","author":"You","year":"2017","journal-title":"IEEE Trans. Wirel. Commun."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/s00291-020-00607-8","article-title":"Last-Mile Delivery Concepts: A Survey from An Operational Research Perspective","volume":"43","author":"Boysen","year":"2021","journal-title":"OR Spectrum."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"471","DOI":"10.1007\/s10846-019-01034-w","article-title":"Drone Delivery Scheduling Optimization Considering Payload-induced Battery Consumption Rates","volume":"97","author":"Torabbeigi","year":"2020","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"972","DOI":"10.1049\/iet-com.2018.5441","article-title":"Energy-Efficient Optimisation for UAV-Aided Wireless Sensor Networks","volume":"13","author":"Hua","year":"2019","journal-title":"IET Commun."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"5089","DOI":"10.1007\/s10586-017-1432-0","article-title":"3D Real-Time Path Planning Based on Cognitive Behavior Optimization Algorithm for UAV with TLP Model","volume":"22","author":"Cai","year":"2019","journal-title":"Cluster Comput."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"7833","DOI":"10.1109\/JIOT.2020.3041303","article-title":"Joint 3-D Trajectory and Resource Optimization in Multi-UAV-Enabled IoT Networks with Wireless Power Transfer","volume":"8","author":"Luo","year":"2021","journal-title":"IEEE Internet Things J."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"2346","DOI":"10.1109\/TCOMM.2020.3044599","article-title":"Joint 3D Trajectory and Power Optimization for UAV-Aided mmWave MIMO-NOMA Networks","volume":"69","author":"Feng","year":"2021","journal-title":"IEEE Trans. Commun."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/8\/3056\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T22:54:59Z","timestamp":1760136899000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/8\/3056"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,4,15]]},"references-count":20,"journal-issue":{"issue":"8","published-online":{"date-parts":[[2022,4]]}},"alternative-id":["s22083056"],"URL":"https:\/\/doi.org\/10.3390\/s22083056","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2022,4,15]]}}}