Integrated PTS fire evacuation path planning algorithm Article Swipe
Zhijun Gao
,
Meng Zhang
,
Xin Wang
,
Hongyan Zhang
,
Chengcheng Zhang
·
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.1080/00051144.2025.2541982
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.1080/00051144.2025.2541982
Fire evacuation in large-scale buildings presents significant challenges, including prolonged evacuation times, exit congestion, and frequent communication breakdowns. To address these issues, this study proposes a novel hybrid fire evacuation path-planning algorithm that integrates the Pathfinder Algorithm (PFA) with the Tunicate Swarm Algorithm (TSA). This approach transforms the evacuation task into a sequence optimization problem, leveraging bio-inspired heuristics to enhance both safety and efficiency. The research introduces an innovative solution by integrating an IoT-enabled, cloud-based architecture supported by UAV relays, ensuring robust communication and minimizing on-site computational latency. Additionally, the development of an optimized environmental heuristic function allows the algorithm to dynamically adapt to hazardous conditions, reducing potential casualties and mitigating congestion. Experimental results across various grid configurations demonstrate significant advantages, achieving a 7.7% reduction in evacuation time and improving robustness in dynamic fire scenarios. These findings underscore the effectiveness and scalability of the PFA-TSA algorithm, positioning it as a superior solution for addressing the complexities of fire evacuation planning and advancing intelligent emergency response systems.
Related Topics
Concepts
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1080/00051144.2025.2541982
- https://www.tandfonline.com/doi/pdf/10.1080/00051144.2025.2541982?needAccess=true
- OA Status
- gold
- References
- 34
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4413037694
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4413037694Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.1080/00051144.2025.2541982Digital Object Identifier
- Title
-
Integrated PTS fire evacuation path planning algorithmWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2025Year of publication
- Publication date
-
2025-08-07Full publication date if available
- Authors
-
Zhijun Gao, Meng Zhang, Xin Wang, Hongyan Zhang, Chengcheng ZhangList of authors in order
- Landing page
-
https://doi.org/10.1080/00051144.2025.2541982Publisher landing page
- PDF URL
-
https://www.tandfonline.com/doi/pdf/10.1080/00051144.2025.2541982?needAccess=trueDirect link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://www.tandfonline.com/doi/pdf/10.1080/00051144.2025.2541982?needAccess=trueDirect OA link when available
- Concepts
-
Path (computing), Motion planning, Computer science, Algorithm, Real-time computing, Operations research, Engineering, Artificial intelligence, Computer network, RobotTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- References (count)
-
34Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
Full payload
| id | https://openalex.org/W4413037694 |
|---|---|
| doi | https://doi.org/10.1080/00051144.2025.2541982 |
| ids.doi | https://doi.org/10.1080/00051144.2025.2541982 |
| ids.openalex | https://openalex.org/W4413037694 |
| fwci | 0.0 |
| type | article |
| title | Integrated PTS fire evacuation path planning algorithm |
| biblio.issue | 4 |
| biblio.volume | 66 |
| biblio.last_page | 713 |
| biblio.first_page | 697 |
| topics[0].id | https://openalex.org/T10586 |
| topics[0].field.id | https://openalex.org/fields/17 |
| topics[0].field.display_name | Computer Science |
| topics[0].score | 0.9854000210762024 |
| topics[0].domain.id | https://openalex.org/domains/3 |
| topics[0].domain.display_name | Physical Sciences |
| topics[0].subfield.id | https://openalex.org/subfields/1707 |
| topics[0].subfield.display_name | Computer Vision and Pattern Recognition |
| topics[0].display_name | Robotic Path Planning Algorithms |
| topics[1].id | https://openalex.org/T12288 |
| topics[1].field.id | https://openalex.org/fields/17 |
| topics[1].field.display_name | Computer Science |
| topics[1].score | 0.9812999963760376 |
| topics[1].domain.id | https://openalex.org/domains/3 |
| topics[1].domain.display_name | Physical Sciences |
| topics[1].subfield.id | https://openalex.org/subfields/1705 |
| topics[1].subfield.display_name | Computer Networks and Communications |
| topics[1].display_name | Optimization and Search Problems |
| topics[2].id | https://openalex.org/T11500 |
| topics[2].field.id | https://openalex.org/fields/22 |
| topics[2].field.display_name | Engineering |
| topics[2].score | 0.9656999707221985 |
| topics[2].domain.id | https://openalex.org/domains/3 |
| topics[2].domain.display_name | Physical Sciences |
| topics[2].subfield.id | https://openalex.org/subfields/2212 |
| topics[2].subfield.display_name | Ocean Engineering |
| topics[2].display_name | Evacuation and Crowd Dynamics |
| is_xpac | False |
| apc_list.value | 850 |
| apc_list.currency | USD |
| apc_list.value_usd | 850 |
| apc_paid.value | 850 |
| apc_paid.currency | USD |
| apc_paid.value_usd | 850 |
| concepts[0].id | https://openalex.org/C2777735758 |
| concepts[0].level | 2 |
| concepts[0].score | 0.6308532953262329 |
| concepts[0].wikidata | https://www.wikidata.org/wiki/Q817765 |
| concepts[0].display_name | Path (computing) |
| concepts[1].id | https://openalex.org/C81074085 |
| concepts[1].level | 3 |
| concepts[1].score | 0.5470484495162964 |
| concepts[1].wikidata | https://www.wikidata.org/wiki/Q366872 |
| concepts[1].display_name | Motion planning |
| concepts[2].id | https://openalex.org/C41008148 |
| concepts[2].level | 0 |
| concepts[2].score | 0.5151721239089966 |
| concepts[2].wikidata | https://www.wikidata.org/wiki/Q21198 |
| concepts[2].display_name | Computer science |
| concepts[3].id | https://openalex.org/C11413529 |
| concepts[3].level | 1 |
| concepts[3].score | 0.4844686985015869 |
| concepts[3].wikidata | https://www.wikidata.org/wiki/Q8366 |
| concepts[3].display_name | Algorithm |
| concepts[4].id | https://openalex.org/C79403827 |
| concepts[4].level | 1 |
| concepts[4].score | 0.3784608840942383 |
| concepts[4].wikidata | https://www.wikidata.org/wiki/Q3988 |
| concepts[4].display_name | Real-time computing |
| concepts[5].id | https://openalex.org/C42475967 |
| concepts[5].level | 1 |
| concepts[5].score | 0.3363504409790039 |
| concepts[5].wikidata | https://www.wikidata.org/wiki/Q194292 |
| concepts[5].display_name | Operations research |
| concepts[6].id | https://openalex.org/C127413603 |
| concepts[6].level | 0 |
| concepts[6].score | 0.3178575038909912 |
| concepts[6].wikidata | https://www.wikidata.org/wiki/Q11023 |
| concepts[6].display_name | Engineering |
| concepts[7].id | https://openalex.org/C154945302 |
| concepts[7].level | 1 |
| concepts[7].score | 0.19772177934646606 |
| concepts[7].wikidata | https://www.wikidata.org/wiki/Q11660 |
| concepts[7].display_name | Artificial intelligence |
| concepts[8].id | https://openalex.org/C31258907 |
| concepts[8].level | 1 |
| concepts[8].score | 0.16745880246162415 |
| concepts[8].wikidata | https://www.wikidata.org/wiki/Q1301371 |
| concepts[8].display_name | Computer network |
| concepts[9].id | https://openalex.org/C90509273 |
| concepts[9].level | 2 |
| concepts[9].score | 0.0 |
| concepts[9].wikidata | https://www.wikidata.org/wiki/Q11012 |
| concepts[9].display_name | Robot |
| keywords[0].id | https://openalex.org/keywords/path |
| keywords[0].score | 0.6308532953262329 |
| keywords[0].display_name | Path (computing) |
| keywords[1].id | https://openalex.org/keywords/motion-planning |
| keywords[1].score | 0.5470484495162964 |
| keywords[1].display_name | Motion planning |
| keywords[2].id | https://openalex.org/keywords/computer-science |
| keywords[2].score | 0.5151721239089966 |
| keywords[2].display_name | Computer science |
| keywords[3].id | https://openalex.org/keywords/algorithm |
| keywords[3].score | 0.4844686985015869 |
| keywords[3].display_name | Algorithm |
| keywords[4].id | https://openalex.org/keywords/real-time-computing |
| keywords[4].score | 0.3784608840942383 |
| keywords[4].display_name | Real-time computing |
| keywords[5].id | https://openalex.org/keywords/operations-research |
| keywords[5].score | 0.3363504409790039 |
| keywords[5].display_name | Operations research |
| keywords[6].id | https://openalex.org/keywords/engineering |
| keywords[6].score | 0.3178575038909912 |
| keywords[6].display_name | Engineering |
| keywords[7].id | https://openalex.org/keywords/artificial-intelligence |
| keywords[7].score | 0.19772177934646606 |
| keywords[7].display_name | Artificial intelligence |
| keywords[8].id | https://openalex.org/keywords/computer-network |
| keywords[8].score | 0.16745880246162415 |
| keywords[8].display_name | Computer network |
| language | en |
| locations[0].id | doi:10.1080/00051144.2025.2541982 |
| locations[0].is_oa | True |
| locations[0].source.id | https://openalex.org/S62387513 |
| locations[0].source.issn | 0005-1144, 1848-3380 |
| locations[0].source.type | journal |
| locations[0].source.is_oa | True |
| locations[0].source.issn_l | 0005-1144 |
| locations[0].source.is_core | True |
| locations[0].source.is_in_doaj | True |
| locations[0].source.display_name | Automatika |
| locations[0].source.host_organization | https://openalex.org/P4310320547 |
| locations[0].source.host_organization_name | Taylor & Francis |
| locations[0].source.host_organization_lineage | https://openalex.org/P4310320547 |
| locations[0].license | cc-by |
| locations[0].pdf_url | https://www.tandfonline.com/doi/pdf/10.1080/00051144.2025.2541982?needAccess=true |
| locations[0].version | publishedVersion |
| locations[0].raw_type | journal-article |
| locations[0].license_id | https://openalex.org/licenses/cc-by |
| locations[0].is_accepted | True |
| locations[0].is_published | True |
| locations[0].raw_source_name | Automatika |
| locations[0].landing_page_url | https://doi.org/10.1080/00051144.2025.2541982 |
| locations[1].id | pmh:oai:doaj.org/article:f093a9cdf163481cbc92e13347cb77cd |
| locations[1].is_oa | True |
| locations[1].source.id | https://openalex.org/S4306401280 |
| locations[1].source.issn | |
| locations[1].source.type | repository |
| locations[1].source.is_oa | False |
| locations[1].source.issn_l | |
| locations[1].source.is_core | False |
| locations[1].source.is_in_doaj | False |
| locations[1].source.display_name | DOAJ (DOAJ: Directory of Open Access Journals) |
| locations[1].source.host_organization | |
| locations[1].source.host_organization_name | |
| locations[1].source.host_organization_lineage | |
| locations[1].license | cc-by-sa |
| locations[1].pdf_url | |
| locations[1].version | submittedVersion |
| locations[1].raw_type | article |
| locations[1].license_id | https://openalex.org/licenses/cc-by-sa |
| locations[1].is_accepted | False |
| locations[1].is_published | False |
| locations[1].raw_source_name | Automatika, Vol 66, Iss 4, Pp 697-713 (2025) |
| locations[1].landing_page_url | https://doaj.org/article/f093a9cdf163481cbc92e13347cb77cd |
| indexed_in | crossref, doaj |
| authorships[0].author.id | https://openalex.org/A5101872275 |
| authorships[0].author.orcid | https://orcid.org/0000-0003-3280-7741 |
| authorships[0].author.display_name | Zhijun Gao |
| authorships[0].countries | CN |
| authorships[0].affiliations[0].institution_ids | https://openalex.org/I83714178 |
| authorships[0].affiliations[0].raw_affiliation_string | School of Electrical and Control Engineering, Shenyang Jianzhu University, Shenyang, People's Republic of China |
| authorships[0].affiliations[1].institution_ids | https://openalex.org/I83714178 |
| authorships[0].affiliations[1].raw_affiliation_string | Shenyang Jianzhu University |
| authorships[0].institutions[0].id | https://openalex.org/I83714178 |
| authorships[0].institutions[0].ror | https://ror.org/01zr73v18 |
| authorships[0].institutions[0].type | education |
| authorships[0].institutions[0].lineage | https://openalex.org/I83714178 |
| authorships[0].institutions[0].country_code | CN |
| authorships[0].institutions[0].display_name | Shenyang Jianzhu University |
| authorships[0].author_position | first |
| authorships[0].raw_author_name | Zhijun Gao |
| authorships[0].is_corresponding | False |
| authorships[0].raw_affiliation_strings | School of Electrical and Control Engineering, Shenyang Jianzhu University, Shenyang, People's Republic of China, Shenyang Jianzhu University |
| authorships[1].author.id | https://openalex.org/A5100437807 |
| authorships[1].author.orcid | https://orcid.org/0000-0003-1883-0443 |
| authorships[1].author.display_name | Meng Zhang |
| authorships[1].countries | CN |
| authorships[1].affiliations[0].institution_ids | https://openalex.org/I83714178 |
| authorships[1].affiliations[0].raw_affiliation_string | Shenyang Jianzhu University |
| authorships[1].affiliations[1].institution_ids | https://openalex.org/I83714178 |
| authorships[1].affiliations[1].raw_affiliation_string | School of Electrical and Control Engineering, Shenyang Jianzhu University, Shenyang, People's Republic of China |
| authorships[1].institutions[0].id | https://openalex.org/I83714178 |
| authorships[1].institutions[0].ror | https://ror.org/01zr73v18 |
| authorships[1].institutions[0].type | education |
| authorships[1].institutions[0].lineage | https://openalex.org/I83714178 |
| authorships[1].institutions[0].country_code | CN |
| authorships[1].institutions[0].display_name | Shenyang Jianzhu University |
| authorships[1].author_position | middle |
| authorships[1].raw_author_name | Meng Zhang |
| authorships[1].is_corresponding | False |
| authorships[1].raw_affiliation_strings | School of Electrical and Control Engineering, Shenyang Jianzhu University, Shenyang, People's Republic of China, Shenyang Jianzhu University |
| authorships[2].author.id | https://openalex.org/A5100327957 |
| authorships[2].author.orcid | https://orcid.org/0000-0002-5122-2418 |
| authorships[2].author.display_name | Xin Wang |
| authorships[2].countries | CN |
| authorships[2].affiliations[0].institution_ids | https://openalex.org/I83714178 |
| authorships[2].affiliations[0].raw_affiliation_string | School of Electrical and Control Engineering, Shenyang Jianzhu University, Shenyang, People's Republic of China |
| authorships[2].affiliations[1].institution_ids | https://openalex.org/I83714178 |
| authorships[2].affiliations[1].raw_affiliation_string | Shenyang Jianzhu University |
| authorships[2].institutions[0].id | https://openalex.org/I83714178 |
| authorships[2].institutions[0].ror | https://ror.org/01zr73v18 |
| authorships[2].institutions[0].type | education |
| authorships[2].institutions[0].lineage | https://openalex.org/I83714178 |
| authorships[2].institutions[0].country_code | CN |
| authorships[2].institutions[0].display_name | Shenyang Jianzhu University |
| authorships[2].author_position | middle |
| authorships[2].raw_author_name | Xin Wang |
| authorships[2].is_corresponding | True |
| authorships[2].raw_affiliation_strings | School of Electrical and Control Engineering, Shenyang Jianzhu University, Shenyang, People's Republic of China, Shenyang Jianzhu University |
| authorships[3].author.id | https://openalex.org/A5100385579 |
| authorships[3].author.orcid | https://orcid.org/0000-0002-7894-5755 |
| authorships[3].author.display_name | Hongyan Zhang |
| authorships[3].countries | CN |
| authorships[3].affiliations[0].institution_ids | https://openalex.org/I83714178 |
| authorships[3].affiliations[0].raw_affiliation_string | School of Electrical and Control Engineering, Shenyang Jianzhu University, Shenyang, People's Republic of China |
| authorships[3].affiliations[1].institution_ids | https://openalex.org/I83714178 |
| authorships[3].affiliations[1].raw_affiliation_string | Shenyang Jianzhu University |
| authorships[3].institutions[0].id | https://openalex.org/I83714178 |
| authorships[3].institutions[0].ror | https://ror.org/01zr73v18 |
| authorships[3].institutions[0].type | education |
| authorships[3].institutions[0].lineage | https://openalex.org/I83714178 |
| authorships[3].institutions[0].country_code | CN |
| authorships[3].institutions[0].display_name | Shenyang Jianzhu University |
| authorships[3].author_position | middle |
| authorships[3].raw_author_name | Hongyan Zhang |
| authorships[3].is_corresponding | False |
| authorships[3].raw_affiliation_strings | School of Electrical and Control Engineering, Shenyang Jianzhu University, Shenyang, People's Republic of China, Shenyang Jianzhu University |
| authorships[4].author.id | https://openalex.org/A5100613578 |
| authorships[4].author.orcid | https://orcid.org/0000-0002-0550-107X |
| authorships[4].author.display_name | Chengcheng Zhang |
| authorships[4].countries | CN |
| authorships[4].affiliations[0].institution_ids | https://openalex.org/I83714178 |
| authorships[4].affiliations[0].raw_affiliation_string | School of Electrical and Control Engineering, Shenyang Jianzhu University, Shenyang, People's Republic of China |
| authorships[4].affiliations[1].institution_ids | https://openalex.org/I83714178 |
| authorships[4].affiliations[1].raw_affiliation_string | Shenyang Jianzhu University |
| authorships[4].institutions[0].id | https://openalex.org/I83714178 |
| authorships[4].institutions[0].ror | https://ror.org/01zr73v18 |
| authorships[4].institutions[0].type | education |
| authorships[4].institutions[0].lineage | https://openalex.org/I83714178 |
| authorships[4].institutions[0].country_code | CN |
| authorships[4].institutions[0].display_name | Shenyang Jianzhu University |
| authorships[4].author_position | last |
| authorships[4].raw_author_name | Chengcheng Zhang |
| authorships[4].is_corresponding | False |
| authorships[4].raw_affiliation_strings | School of Electrical and Control Engineering, Shenyang Jianzhu University, Shenyang, People's Republic of China, Shenyang Jianzhu University |
| has_content.pdf | True |
| has_content.grobid_xml | False |
| is_paratext | False |
| open_access.is_oa | True |
| open_access.oa_url | https://www.tandfonline.com/doi/pdf/10.1080/00051144.2025.2541982?needAccess=true |
| open_access.oa_status | gold |
| open_access.any_repository_has_fulltext | False |
| created_date | 2025-10-10T00:00:00 |
| display_name | Integrated PTS fire evacuation path planning algorithm |
| has_fulltext | False |
| is_retracted | False |
| updated_date | 2025-11-06T06:51:31.235846 |
| primary_topic.id | https://openalex.org/T10586 |
| primary_topic.field.id | https://openalex.org/fields/17 |
| primary_topic.field.display_name | Computer Science |
| primary_topic.score | 0.9854000210762024 |
| primary_topic.domain.id | https://openalex.org/domains/3 |
| primary_topic.domain.display_name | Physical Sciences |
| primary_topic.subfield.id | https://openalex.org/subfields/1707 |
| primary_topic.subfield.display_name | Computer Vision and Pattern Recognition |
| primary_topic.display_name | Robotic Path Planning Algorithms |
| related_works | https://openalex.org/W2051487156, https://openalex.org/W2073681303, https://openalex.org/W4289260319, https://openalex.org/W2359600231, https://openalex.org/W2380019117, https://openalex.org/W3138952546, https://openalex.org/W1987886368, https://openalex.org/W1660309994, https://openalex.org/W2369187583, https://openalex.org/W3197207153 |
| cited_by_count | 0 |
| locations_count | 2 |
| best_oa_location.id | doi:10.1080/00051144.2025.2541982 |
| best_oa_location.is_oa | True |
| best_oa_location.source.id | https://openalex.org/S62387513 |
| best_oa_location.source.issn | 0005-1144, 1848-3380 |
| best_oa_location.source.type | journal |
| best_oa_location.source.is_oa | True |
| best_oa_location.source.issn_l | 0005-1144 |
| best_oa_location.source.is_core | True |
| best_oa_location.source.is_in_doaj | True |
| best_oa_location.source.display_name | Automatika |
| best_oa_location.source.host_organization | https://openalex.org/P4310320547 |
| best_oa_location.source.host_organization_name | Taylor & Francis |
| best_oa_location.source.host_organization_lineage | https://openalex.org/P4310320547 |
| best_oa_location.license | cc-by |
| best_oa_location.pdf_url | https://www.tandfonline.com/doi/pdf/10.1080/00051144.2025.2541982?needAccess=true |
| best_oa_location.version | publishedVersion |
| best_oa_location.raw_type | journal-article |
| best_oa_location.license_id | https://openalex.org/licenses/cc-by |
| best_oa_location.is_accepted | True |
| best_oa_location.is_published | True |
| best_oa_location.raw_source_name | Automatika |
| best_oa_location.landing_page_url | https://doi.org/10.1080/00051144.2025.2541982 |
| primary_location.id | doi:10.1080/00051144.2025.2541982 |
| primary_location.is_oa | True |
| primary_location.source.id | https://openalex.org/S62387513 |
| primary_location.source.issn | 0005-1144, 1848-3380 |
| primary_location.source.type | journal |
| primary_location.source.is_oa | True |
| primary_location.source.issn_l | 0005-1144 |
| primary_location.source.is_core | True |
| primary_location.source.is_in_doaj | True |
| primary_location.source.display_name | Automatika |
| primary_location.source.host_organization | https://openalex.org/P4310320547 |
| primary_location.source.host_organization_name | Taylor & Francis |
| primary_location.source.host_organization_lineage | https://openalex.org/P4310320547 |
| primary_location.license | cc-by |
| primary_location.pdf_url | https://www.tandfonline.com/doi/pdf/10.1080/00051144.2025.2541982?needAccess=true |
| primary_location.version | publishedVersion |
| primary_location.raw_type | journal-article |
| primary_location.license_id | https://openalex.org/licenses/cc-by |
| primary_location.is_accepted | True |
| primary_location.is_published | True |
| primary_location.raw_source_name | Automatika |
| primary_location.landing_page_url | https://doi.org/10.1080/00051144.2025.2541982 |
| publication_date | 2025-08-07 |
| publication_year | 2025 |
| referenced_works | https://openalex.org/W3162729144, https://openalex.org/W4293704426, https://openalex.org/W3200826697, https://openalex.org/W4400688376, https://openalex.org/W1969472392, https://openalex.org/W3200562307, https://openalex.org/W4405076872, https://openalex.org/W2963151422, https://openalex.org/W2921893399, https://openalex.org/W3007907254, https://openalex.org/W3120850404, https://openalex.org/W4406285232, https://openalex.org/W4407782703, https://openalex.org/W4406321817, https://openalex.org/W4408251248, https://openalex.org/W4404130238, https://openalex.org/W4293565051, https://openalex.org/W4387986523, https://openalex.org/W4313655778, https://openalex.org/W2594450422, https://openalex.org/W4403066993, https://openalex.org/W4367557724, https://openalex.org/W4238694985, https://openalex.org/W2947263745, https://openalex.org/W3027186203, https://openalex.org/W4283650360, https://openalex.org/W2040622444, https://openalex.org/W3181414820, https://openalex.org/W4322706826, https://openalex.org/W2413527939, https://openalex.org/W2910556840, https://openalex.org/W4311765018, https://openalex.org/W3009630398, https://openalex.org/W4403733751 |
| referenced_works_count | 34 |
| abstract_inverted_index.a | 25, 51, 122, 149 |
| abstract_inverted_index.To | 18 |
| abstract_inverted_index.an | 67, 72, 92 |
| abstract_inverted_index.as | 148 |
| abstract_inverted_index.by | 70, 77 |
| abstract_inverted_index.in | 2, 125, 131 |
| abstract_inverted_index.it | 147 |
| abstract_inverted_index.of | 91, 142, 156 |
| abstract_inverted_index.to | 58, 100, 103 |
| abstract_inverted_index.The | 64 |
| abstract_inverted_index.UAV | 78 |
| abstract_inverted_index.and | 14, 62, 83, 109, 128, 140, 160 |
| abstract_inverted_index.for | 152 |
| abstract_inverted_index.the | 34, 39, 47, 89, 98, 138, 143, 154 |
| abstract_inverted_index.7.7% | 123 |
| abstract_inverted_index.Fire | 0 |
| abstract_inverted_index.This | 44 |
| abstract_inverted_index.both | 60 |
| abstract_inverted_index.exit | 12 |
| abstract_inverted_index.fire | 28, 133, 157 |
| abstract_inverted_index.grid | 116 |
| abstract_inverted_index.into | 50 |
| abstract_inverted_index.task | 49 |
| abstract_inverted_index.that | 32 |
| abstract_inverted_index.this | 22 |
| abstract_inverted_index.time | 127 |
| abstract_inverted_index.with | 38 |
| abstract_inverted_index.(PFA) | 37 |
| abstract_inverted_index.Swarm | 41 |
| abstract_inverted_index.These | 135 |
| abstract_inverted_index.adapt | 102 |
| abstract_inverted_index.novel | 26 |
| abstract_inverted_index.study | 23 |
| abstract_inverted_index.these | 20 |
| abstract_inverted_index.(TSA). | 43 |
| abstract_inverted_index.across | 114 |
| abstract_inverted_index.allows | 97 |
| abstract_inverted_index.hybrid | 27 |
| abstract_inverted_index.robust | 81 |
| abstract_inverted_index.safety | 61 |
| abstract_inverted_index.times, | 11 |
| abstract_inverted_index.PFA-TSA | 144 |
| abstract_inverted_index.address | 19 |
| abstract_inverted_index.dynamic | 132 |
| abstract_inverted_index.enhance | 59 |
| abstract_inverted_index.issues, | 21 |
| abstract_inverted_index.on-site | 85 |
| abstract_inverted_index.relays, | 79 |
| abstract_inverted_index.results | 113 |
| abstract_inverted_index.various | 115 |
| abstract_inverted_index.Tunicate | 40 |
| abstract_inverted_index.approach | 45 |
| abstract_inverted_index.ensuring | 80 |
| abstract_inverted_index.findings | 136 |
| abstract_inverted_index.frequent | 15 |
| abstract_inverted_index.function | 96 |
| abstract_inverted_index.latency. | 87 |
| abstract_inverted_index.planning | 159 |
| abstract_inverted_index.presents | 5 |
| abstract_inverted_index.problem, | 54 |
| abstract_inverted_index.proposes | 24 |
| abstract_inverted_index.reducing | 106 |
| abstract_inverted_index.research | 65 |
| abstract_inverted_index.response | 164 |
| abstract_inverted_index.sequence | 52 |
| abstract_inverted_index.solution | 69, 151 |
| abstract_inverted_index.superior | 150 |
| abstract_inverted_index.systems. | 165 |
| abstract_inverted_index.Algorithm | 36, 42 |
| abstract_inverted_index.achieving | 121 |
| abstract_inverted_index.advancing | 161 |
| abstract_inverted_index.algorithm | 31, 99 |
| abstract_inverted_index.buildings | 4 |
| abstract_inverted_index.emergency | 163 |
| abstract_inverted_index.hazardous | 104 |
| abstract_inverted_index.heuristic | 95 |
| abstract_inverted_index.improving | 129 |
| abstract_inverted_index.including | 8 |
| abstract_inverted_index.optimized | 93 |
| abstract_inverted_index.potential | 107 |
| abstract_inverted_index.prolonged | 9 |
| abstract_inverted_index.reduction | 124 |
| abstract_inverted_index.supported | 76 |
| abstract_inverted_index.Pathfinder | 35 |
| abstract_inverted_index.addressing | 153 |
| abstract_inverted_index.algorithm, | 145 |
| abstract_inverted_index.casualties | 108 |
| abstract_inverted_index.evacuation | 1, 10, 29, 48, 126, 158 |
| abstract_inverted_index.heuristics | 57 |
| abstract_inverted_index.innovative | 68 |
| abstract_inverted_index.integrates | 33 |
| abstract_inverted_index.introduces | 66 |
| abstract_inverted_index.leveraging | 55 |
| abstract_inverted_index.minimizing | 84 |
| abstract_inverted_index.mitigating | 110 |
| abstract_inverted_index.robustness | 130 |
| abstract_inverted_index.scenarios. | 134 |
| abstract_inverted_index.transforms | 46 |
| abstract_inverted_index.underscore | 137 |
| abstract_inverted_index.advantages, | 120 |
| abstract_inverted_index.breakdowns. | 17 |
| abstract_inverted_index.challenges, | 7 |
| abstract_inverted_index.cloud-based | 74 |
| abstract_inverted_index.conditions, | 105 |
| abstract_inverted_index.congestion, | 13 |
| abstract_inverted_index.congestion. | 111 |
| abstract_inverted_index.demonstrate | 118 |
| abstract_inverted_index.development | 90 |
| abstract_inverted_index.dynamically | 101 |
| abstract_inverted_index.efficiency. | 63 |
| abstract_inverted_index.integrating | 71 |
| abstract_inverted_index.intelligent | 162 |
| abstract_inverted_index.large-scale | 3 |
| abstract_inverted_index.positioning | 146 |
| abstract_inverted_index.scalability | 141 |
| abstract_inverted_index.significant | 6, 119 |
| abstract_inverted_index.Experimental | 112 |
| abstract_inverted_index.IoT-enabled, | 73 |
| abstract_inverted_index.architecture | 75 |
| abstract_inverted_index.bio-inspired | 56 |
| abstract_inverted_index.complexities | 155 |
| abstract_inverted_index.optimization | 53 |
| abstract_inverted_index.Additionally, | 88 |
| abstract_inverted_index.communication | 16, 82 |
| abstract_inverted_index.computational | 86 |
| abstract_inverted_index.effectiveness | 139 |
| abstract_inverted_index.environmental | 94 |
| abstract_inverted_index.path-planning | 30 |
| abstract_inverted_index.configurations | 117 |
| cited_by_percentile_year | |
| corresponding_author_ids | https://openalex.org/A5100327957 |
| countries_distinct_count | 1 |
| institutions_distinct_count | 5 |
| corresponding_institution_ids | https://openalex.org/I83714178 |
| citation_normalized_percentile.value | 0.34522549 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |