{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,8]],"date-time":"2026-05-08T07:05:14Z","timestamp":1778223914217,"version":"3.51.4"},"reference-count":50,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2022,7,19]],"date-time":"2022-07-19T00:00:00Z","timestamp":1658188800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Princess Nourah bint Abdulrahman University","award":["PNURSP2022R193"],"award-info":[{"award-number":["PNURSP2022R193"]}]},{"name":"Princess Nourah bint Abdulrahman University","award":["A77472"],"award-info":[{"award-number":["A77472"]}]},{"name":"European Regional Development Project Green Smart Services in Developing Circular Economy SMEs","award":["PNURSP2022R193"],"award-info":[{"award-number":["PNURSP2022R193"]}]},{"name":"European Regional Development Project Green Smart Services in Developing Circular Economy SMEs","award":["A77472"],"award-info":[{"award-number":["A77472"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Unmanned Aerial Vehicles (UAVs) seem to be the most efficient way of achieving the intended aerial tasks, according to recent improvements. Various researchers from across the world have studied a variety of UAV formations and path planning methodologies. However, when unexpected obstacles arise during a collective flight, path planning might get complicated. The study needs to employ hybrid algorithms of bio-inspired computations to address path planning issues with more stability and speed. In this article, two hybrid models of Ant Colony Optimization were compared with respect to convergence time, i.e., the Max-Min Ant Colony Optimization approach in conjunction with the Differential Evolution and Cauchy mutation operators. Each algorithm was run on a UAV and traveled a predetermined path to evaluate its approach. In terms of the route taken and convergence time, the simulation results suggest that the MMACO-DE technique outperforms the MMACO-CM approach.<\/jats:p>","DOI":"10.3390\/s22145395","type":"journal-article","created":{"date-parts":[[2022,7,19]],"date-time":"2022-07-19T23:10:22Z","timestamp":1658272222000},"page":"5395","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":28,"title":["Convergence Analysis of Path Planning of Multi-UAVs Using Max-Min Ant Colony Optimization Approach"],"prefix":"10.3390","volume":"22","author":[{"given":"Muhammad","family":"Shafiq","sequence":"first","affiliation":[{"name":"Electronic Engineering Department, Sir Syed University of Engineering & Technology, Karachi 75300, Pakistan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2143-2879","authenticated-orcid":false,"given":"Zain Anwar","family":"Ali","sequence":"additional","affiliation":[{"name":"Electronic Engineering Department, Sir Syed University of Engineering & Technology, Karachi 75300, Pakistan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Amber","family":"Israr","sequence":"additional","affiliation":[{"name":"Electronic Engineering Department, Sir Syed University of Engineering & Technology, Karachi 75300, Pakistan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Eman H.","family":"Alkhammash","sequence":"additional","affiliation":[{"name":"Department of Computer Science, College of Computers and Information Technology, Taif University, P.O. Box 11099, Taif 21944, Saudi Arabia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9070-6821","authenticated-orcid":false,"given":"Myriam","family":"Hadjouni","sequence":"additional","affiliation":[{"name":"Department of Computer Sciences, College of Computer and Information Science, Princess Nourah Bint Abdulrahman University, P.O. Box 84428, Riyadh 11671, Saudi Arabia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7337-1211","authenticated-orcid":false,"given":"Jari Juhani","family":"Jussila","sequence":"additional","affiliation":[{"name":"HAMK Design Factory, H\u00e4me University of Applied Sciences, 13100 H\u00e4meenlinna, Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,7,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"411","DOI":"10.1002\/net.21818","article-title":"Optimization approaches for civil applications of unmanned aerial vehicles (UAVs) or aerial drones: A survey","volume":"72","author":"Otto","year":"2018","journal-title":"Networks"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Shima, T., and Rasmussen, S. (2009). 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