Xingyu Li Wenzhe Zhang Linfeng Liu 0001 Ping Wang 0001 Two-Tier Submodel Partition Framework for Enhancing UAV Swarm Robustness in Forest Fire Detection. 1169-1183 2026 January 25 IEEE Trans. Mob. Comput. 1 https://doi.org/10.1109/TMC.2025.3599384 db/journals/tmc/tmc25.html#LiZLW26 streams/journals/tmc