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Volume 25
Issue 9
10.3390/s25092857
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Efficient Multi-Target Localization Using Dynamic UAV Clusters

by
Wei Gong
1,2,
Shuhan Lou
1,
Liyuan Deng
1,
Peng Yi
1,2 and
Yiguang Hong
1,2,*
1
Department of Control Science and Engineering, Tongji University, Shanghai 201804, China
2
Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai 201210, China
*
Author to whom correspondence should be addressed.
Sensors 2025, 25(9), 2857; https://doi.org/10.3390/s25092857
Submission received: 27 March 2025 / Revised: 28 April 2025 / Accepted: 29 April 2025 / Published: 30 April 2025
(This article belongs to the Section Sensor Networks)
Versions Notes

Abstract

This paper proposes a dynamic unmanned aerial vehicle (UAV) clustering model for multi-target localization in complex 3D environments, where mobility-aware cluster formation is integrated to enhance collaborative localization accuracy. We derive the Cramér–Rao lower bound (CRLB) for localization performance analysis under measurement and motion-induced uncertainties. To solve the NP-hard clustering problem, we develop the MDQPSO-ASA algorithm, which combines multi-swarm discrete quantum-inspired particle swarm optimization with adaptive simulated annealing, incorporating a repair mechanism to satisfy spatial and cardinality constraints. Simulation results demonstrate the algorithm’s superiority in localization accuracy, computational efficiency, and adaptability to varying UAV/target scales compared to baseline methods. The developed algorithm provides an effective solution for resource-constrained collaborative localization tasks in practical scenarios.
Keywords: multi-target localization; clustered UAV systems; combinatorial optimization; dynamic clustering; quantum-inspired optimization multi-target localization; clustered UAV systems; combinatorial optimization; dynamic clustering; quantum-inspired optimization

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MDPI and ACS Style

Gong, W.; Lou, S.; Deng, L.; Yi, P.; Hong, Y. Efficient Multi-Target Localization Using Dynamic UAV Clusters. Sensors 2025, 25, 2857. https://doi.org/10.3390/s25092857

AMA Style

Gong W, Lou S, Deng L, Yi P, Hong Y. Efficient Multi-Target Localization Using Dynamic UAV Clusters. Sensors. 2025; 25(9):2857. https://doi.org/10.3390/s25092857

Chicago/Turabian Style

Gong, Wei, Shuhan Lou, Liyuan Deng, Peng Yi, and Yiguang Hong. 2025. "Efficient Multi-Target Localization Using Dynamic UAV Clusters" Sensors 25, no. 9: 2857. https://doi.org/10.3390/s25092857

APA Style

Gong, W., Lou, S., Deng, L., Yi, P., & Hong, Y. (2025). Efficient Multi-Target Localization Using Dynamic UAV Clusters. Sensors, 25(9), 2857. https://doi.org/10.3390/s25092857

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