Author

Yu-Jia Li

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Open access Aug 2026

Certificate-Guided Safe Tracking Control for Allocation-Guided Multi-UAV Missions

Hierarchical multi-UAV planning can produce scheduled paths that become unsafe during execution because tracking dynamics, actuator limits, sampling, and communication are not fully represented upstream. We introduce a certificate-guided safe-tracking framework that treats each planned path as a versioned execution con...

Yu-Hua Cong, Xian Zhu, Zhisheng Wang et al. · Drones · 0 citations

Open access Sep 2026

Risk-Bounded Certificate Feedback for Allocation-Guided Cooperative Path Planning of Dynamic Multi-UAV Missions

Fixed-bundle simulations show that the proposed planner can preserve scheduled executability while reducing threat exposure relative to a spatiotemporal-priority baseline and quantitative feedback lowers risk per completed task in both suites after correction for multiple comparisons.

Yu-Hua Cong, Yu-Jia Li, Hui-Juan Zhu et al. · Drones · 0 citations

Open access Sep 2026

An Event-Triggered Path-Based Bid Assignment Method for Energy-Aware Dynamic Multi-UAV Task Allocation

This study addresses dynamic multi-UAV task allocation under online task release, static obstacles, deadlines, limited energy, and vehicle failures. We propose an event-triggered path-based bid assignment method (ET-PBBA). At each mission event, an A-star module estimates the static-obstacle travel cost of feasible UAV...

Yu-Hua Cong, Yu-Jia Li, Xian Zhu et al. · Drones · 1 citation