{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,21]],"date-time":"2025-06-21T10:40:02Z","timestamp":1750502402037,"version":"3.41.0"},"publisher-location":"Cham","reference-count":46,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783319623948"},{"type":"electronic","value":"9783319623955"}],"license":[{"start":{"date-parts":[[2017,1,1]],"date-time":"2017-01-01T00:00:00Z","timestamp":1483228800000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2017]]},"DOI":"10.1007\/978-3-319-62395-5_32","type":"book-chapter","created":{"date-parts":[[2017,7,6]],"date-time":"2017-07-06T00:52:59Z","timestamp":1499302379000},"page":"465-479","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["A Clustering Approach to Path Planning for\u00a0Groups"],"prefix":"10.1007","author":[{"given":"Jakub","family":"Szkandera","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ond\u0159ej","family":"Kaas","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ivana","family":"Kolingerov\u00e1","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2017,7,7]]},"reference":[{"key":"32_CR1","volume-title":"Algorithms for Clustering Data","author":"AK Jain","year":"1988","unstructured":"Jain, A.K., Dubes, R.C.: Algorithms for Clustering Data. Prentice-Hall Inc., Upper Saddle River (1988)"},{"key":"32_CR2","unstructured":"Ball, G.H., Hall, D.J.: Isodata, a novel method of data analysis and pattern classification. Technical report, DTIC Document (1965)"},{"issue":"6","key":"32_CR3","doi-asserted-by":"publisher","first-page":"778","DOI":"10.1109\/3477.809032","volume":"29","author":"A Baraldi","year":"1999","unstructured":"Baraldi, A., Blonda, P.: A survey of fuzzy clustering algorithms for pattern recognition. I. IEEE Trans. Syst. Man Cybern. Part B (Cybern.) 29(6), 778\u2013785 (1999)","journal-title":"IEEE Trans. Syst. Man Cybern. Part B (Cybern.)"},{"issue":"suppl 3","key":"32_CR4","doi-asserted-by":"publisher","first-page":"7280","DOI":"10.1073\/pnas.082080899","volume":"99","author":"E Bonabeau","year":"2002","unstructured":"Bonabeau, E.: Agent-based modeling: methods and techniques for simulating human systems. Proc. Nat. Acad. Sci. 99(suppl 3), 7280\u20137287 (2002)","journal-title":"Proc. Nat. Acad. Sci."},{"issue":"2","key":"32_CR5","doi-asserted-by":"publisher","first-page":"139","DOI":"10.1007\/s11831-007-9004-8","volume":"14","author":"G Bretti","year":"2007","unstructured":"Bretti, G., Natalini, R., Piccoli, B.: A fluid-dynamic traffic model on road networks. Arch. Comput. Methods Eng. 14(2), 139\u2013172 (2007)","journal-title":"Arch. Comput. Methods Eng."},{"key":"32_CR6","unstructured":"Charikar, M., Guha, S.: Improved combinatorial algorithms for the facility location and k-median problems. In: 40th Annual Symposium on Foundations of Computer Science, 1999, pp. 378\u2013388. IEEE (1999)"},{"issue":"4","key":"32_CR7","doi-asserted-by":"publisher","first-page":"1599","DOI":"10.1109\/TITS.2012.2198214","volume":"13","author":"K Chu","year":"2012","unstructured":"Chu, K., Lee, M., Sunwoo, M.: Local path planning for off-road autonomous driving with avoidance of static obstacles. IEEE Trans. Intell. Transp. Syst. 13(4), 1599\u20131616 (2012)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"32_CR8","unstructured":"Darken, C.J., Burgess, R.G.: Realistic human path planning using fluid simulation (2004)"},{"key":"32_CR9","doi-asserted-by":"publisher","first-page":"113","DOI":"10.1016\/S0065-2458(08)60034-0","volume":"19","author":"R Dubes","year":"1980","unstructured":"Dubes, R., Jain, A.K.: Clustering methodologies in exploratory data analysis. Adv. Comput. 19, 113\u2013228 (1980)","journal-title":"Adv. Comput."},{"issue":"3","key":"32_CR10","doi-asserted-by":"publisher","first-page":"443","DOI":"10.1016\/j.jtrangeo.2010.10.001","volume":"19","author":"Z Fang","year":"2011","unstructured":"Fang, Z., Zong, X., Li, Q., Li, Q., Xiong, S.: Hierarchical multi-objective evacuation routing in stadium using ant colony optimization approach. J. Transport Geogr. 19(3), 443\u2013451 (2011)","journal-title":"J. Transport Geogr."},{"issue":"3","key":"32_CR11","first-page":"37","volume":"17","author":"U Fayyad","year":"1996","unstructured":"Fayyad, U., Piatetsky-Shapiro, G., Smyth, P.: From data mining to knowledge discovery in databases. AI Mag. 17(3), 37 (1996)","journal-title":"AI Mag."},{"issue":"6","key":"32_CR12","doi-asserted-by":"publisher","first-page":"345","DOI":"10.1145\/367766.368168","volume":"5","author":"RW Floyd","year":"1962","unstructured":"Floyd, R.W.: Algorithm 97: shortest path. Commun. ACM 5(6), 345 (1962)","journal-title":"Commun. ACM"},{"key":"32_CR13","unstructured":"Glowinski, R., Ciarlet, P., Lions, J.: Handbook of numerical analysis: Numerical methods for fluids (2003)"},{"key":"32_CR14","doi-asserted-by":"crossref","unstructured":"Guy, S.J., Chhugani, J., Kim, C., Satish, N., Lin, M., Manocha, D., Dubey, P.: Clearpath: highly parallel collision avoidance for multi-agent simulation. In: Proceedings of the 2009 ACM SIGGRAPH\/Eurographics Symposium on Computer Animation, pp. 177\u2013187. ACM (2009)","DOI":"10.1145\/1599470.1599494"},{"key":"32_CR15","doi-asserted-by":"crossref","unstructured":"Guy, S.J., Kim, S., Lin, M.C., Manocha, D.: Simulating heterogeneous crowd behaviors using personality trait theory. In: Proceedings of the 2011 ACM SIGGRAPH\/Eurographics Symposium on Computer Animation, pp. 43\u201352. ACM (2011)","DOI":"10.1145\/2019406.2019413"},{"key":"32_CR16","doi-asserted-by":"crossref","unstructured":"Harabor, D., Botea, A.: Hierarchical path planning for multi-size agents in heterogeneous environments. In: 2008 IEEE Symposium On Computational Intelligence and Games, pp. 258\u2013265. IEEE (2008)","DOI":"10.1109\/CIG.2008.5035648"},{"issue":"2","key":"32_CR17","doi-asserted-by":"publisher","first-page":"100","DOI":"10.1109\/TSSC.1968.300136","volume":"4","author":"PE Hart","year":"1968","unstructured":"Hart, P.E., Nilsson, N.J., Raphael, B.: A formal basis for the heuristic determination of minimum cost paths. IEEE Trans. Syst. Sci. Cybern. 4(2), 100\u2013107 (1968)","journal-title":"IEEE Trans. Syst. Sci. Cybern."},{"issue":"6","key":"32_CR18","doi-asserted-by":"publisher","first-page":"507","DOI":"10.1016\/S0191-2615(01)00015-7","volume":"36","author":"RL Hughes","year":"2002","unstructured":"Hughes, R.L.: A continuum theory for the flow of pedestrians. Transp. Res. Part B Methodological 36(6), 507\u2013535 (2002)","journal-title":"Transp. Res. Part B Methodological"},{"issue":"3","key":"32_CR19","doi-asserted-by":"publisher","first-page":"264","DOI":"10.1145\/331499.331504","volume":"31","author":"AK Jain","year":"1999","unstructured":"Jain, A.K., Murty, M.N., Flynn, P.J.: Data clustering: a review. ACM Comput. Surv. (CSUR) 31(3), 264\u2013323 (1999)","journal-title":"ACM Comput. Surv. (CSUR)"},{"issue":"5","key":"32_CR20","doi-asserted-by":"publisher","first-page":"537","DOI":"10.1016\/j.cag.2010.05.013","volume":"34","author":"H Jiang","year":"2010","unstructured":"Jiang, H., Xu, W., Mao, T., Li, C., Xia, S., Wang, Z.: Continuum crowd simulation in complex environments. Comput. Graph. 34(5), 537\u2013544 (2010)","journal-title":"Comput. Graph."},{"issue":"317","key":"32_CR21","doi-asserted-by":"publisher","first-page":"86","DOI":"10.1080\/01621459.1967.10482890","volume":"62","author":"B King","year":"1967","unstructured":"King, B.: Step-wise clustering procedures. J. Am. Stat. Assoc. 62(317), 86\u2013101 (1967)","journal-title":"J. Am. Stat. Assoc."},{"key":"32_CR22","unstructured":"Koenig, S., Likhachev, M.: D* lite. In: AAAI\/IAAI, pp. 476\u2013483 (2002)"},{"issue":"1","key":"32_CR23","doi-asserted-by":"publisher","first-page":"93","DOI":"10.1016\/j.artint.2003.12.001","volume":"155","author":"S Koenig","year":"2004","unstructured":"Koenig, S., Likhachev, M., Furcy, D.: Lifelong planning A*. Artif. Intell. 155(1), 93\u2013146 (2004)","journal-title":"Artif. Intell."},{"key":"32_CR24","unstructured":"Likhachev, M., Ferguson, D.I., Gordon, G.J., Stentz, A., Thrun, S.: Anytime dynamic A*: an anytime, replanning algorithm. In: ICAPS, pp. 262\u2013271 (2005)"},{"key":"32_CR25","unstructured":"Loscos, C., Marchal, D., Meyer, A.: Intuitive crowd behavior in dense urban environments using local laws. In: Theory and Practice of Computer Graphics, 2003 Proceedings, pp. 122\u2013129. IEEE (2003)"},{"key":"32_CR26","unstructured":"MacQueen, J., et\u00a0al.: Some methods for classification and analysis of multivariate observations. In: Proceedings of the Fifth Berkeley Symposium on Mathematical Statistics and Probability, Oakland, CA, USA, vol. 1, pp. 281\u2013297 (1967)"},{"key":"32_CR27","doi-asserted-by":"crossref","unstructured":"Mao, T., Jiang, H., Li, J., Zhang, Y., Xia, S., Wang, Z.: Parallelizing continuum crowds. In: Proceedings of the 17th ACM Symposium on Virtual Reality Software and Technology, pp. 231\u2013234. ACM (2010)","DOI":"10.1145\/1889863.1889914"},{"issue":"10","key":"32_CR28","doi-asserted-by":"publisher","first-page":"635","DOI":"10.1007\/s00371-004-0265-z","volume":"20","author":"RA Metoyer","year":"2004","unstructured":"Metoyer, R.A., Hodgins, J.K.: Reactive pedestrian path following from examples. Vis. Comput. 20(10), 635\u2013649 (2004)","journal-title":"Vis. Comput."},{"key":"32_CR29","doi-asserted-by":"crossref","unstructured":"Meyerson, A.: Online facility location. In: 42nd IEEE Symposium on Foundations of Computer Science, 2001 Proceedings, pp. 426\u2013431. IEEE (2001)","DOI":"10.1109\/SFCS.2001.959917"},{"key":"32_CR30","unstructured":"Okazaki, S., Matsushita, S.: A study of simulation model for pedestrian movement with evacuation and queuing. In: International Conference on Engineering for Crowd Safety, vol. 271 (1993)"},{"key":"32_CR31","doi-asserted-by":"crossref","unstructured":"Pellegrini, S., Ess, A., Schindler, K., Van Gool, L.: You\u2019ll never walk alone: modeling social behavior for multi-target tracking. In: 2009 IEEE 12th International Conference on Computer Vision, pp. 261\u2013268. IEEE (2009)","DOI":"10.1109\/ICCV.2009.5459260"},{"key":"32_CR32","first-page":"442","volume":"419","author":"EM Rasmussen","year":"1992","unstructured":"Rasmussen, E.M.: Clustering algorithms. Inf. Retrieval Data Struct. Algorithms 419, 442 (1992)","journal-title":"Inf. Retrieval Data Struct. Algorithms"},{"key":"32_CR33","first-page":"267","volume-title":"Handbook of Statistics","author":"FJ Rohlf","year":"1982","unstructured":"Rohlf, F.J.: 12 Single-link clustering algorithms. In: Krishnaiah, P.R., Kanal, L.N. (eds.) Handbook of Statistics, vol. 2, pp. 267\u2013284. Amsterdam, North-Holland (1982)"},{"key":"32_CR34","doi-asserted-by":"crossref","unstructured":"Singh, S., Kapadia, M., Hewlett, B., Reinman, G., Faloutsos, P.: A modular framework for adaptive agent-based steering. In: Symposium on Interactive 3D Graphics and Games, pp. 141\u2013150. ACM (2011)","DOI":"10.1145\/1944745.1944769"},{"key":"32_CR35","unstructured":"Sk\u00e1la, J.: Algorithms for manipulation with large geometric and graphic data. Technical report, Technical Report DCSE\/TR-2009-02, Department of Computer Science and Engineering, University of West Bohemia (2009)"},{"key":"32_CR36","unstructured":"Sk\u00e1la, J., Kolingerov\u00e1, I.: Accelerating the local search algorithm for the facility location. In: Proceedings of the 12th WSEAS International Conference on Mathematical and Computational Methods in Science and Engineering, pp. 98\u2013103. World Scientific and Engineering Academy and Society (WSEAS) (2010)"},{"key":"32_CR37","first-page":"1","volume-title":"Computer-Assisted Bacterial Systematics","author":"R Sokal","year":"1985","unstructured":"Sokal, R.: The principles of numerical taxonomy: twenty-five years later. In: Goodfellow, M., Jones, D., Priest, F.G. (eds.) Computer-Assisted Bacterial Systematics, vol. 15, p. 1. Academic Press, New York (1985)"},{"key":"32_CR38","doi-asserted-by":"crossref","unstructured":"Stentz, A.: Optimal and efficient path planning for partially-known environments. In: 1994 IEEE International Conference on Robotics and Automation, 1994 Proceedings, pp. 3310\u20133317. IEEE (1994)","DOI":"10.1109\/ROBOT.1994.351061"},{"key":"32_CR39","unstructured":"Stentz, A., et al.: The focussed D* algorithm for real-time replanning. In: IJCAI, vol. 95, pp. 1652\u20131659 (1995)"},{"key":"32_CR40","unstructured":"Sun, X., Yeoh, W., Koenig, S.: Generalized fringe-retrieving A*: faster moving target search on state lattices. In: Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: Volume 1-Volume 1, pp. 1081\u20131088. International Foundation for Autonomous Agents and Multiagent Systems (2010)"},{"key":"32_CR41","unstructured":"Sun, X., Yeoh, W., Koenig, S.: Moving target D* lite. In: Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: Volume 1-Volume 1, pp. 67\u201374. International Foundation for Autonomous Agents and Multiagent Systems (2010)"},{"key":"32_CR42","doi-asserted-by":"publisher","first-page":"2338","DOI":"10.1016\/j.procs.2017.05.040","volume":"108","author":"J Szkandera","year":"2017","unstructured":"Szkandera, J., Kolingerov\u00e1, I., Ma\u0148\u00e1k, M.: Path planning for groups on graphs. Procedia Comput. Sci. 108, 2338\u20132342 (2017)","journal-title":"Procedia Comput. Sci."},{"key":"32_CR43","doi-asserted-by":"publisher","first-page":"1160","DOI":"10.1145\/1141911.1142008","volume":"25","author":"A Treuille","year":"2006","unstructured":"Treuille, A., Cooper, S., Popovi\u0107, Z.: Continuum crowds. ACMTrans. Graph. (TOG) 25, 1160\u20131168 (2006). ACM","journal-title":"ACMTrans. Graph. (TOG)"},{"key":"32_CR44","doi-asserted-by":"crossref","unstructured":"Vadakkepat, P., Tan, K.C., Ming-Liang, W.: Evolutionary artificial potential fields and their application in real time robot path planning. In: Proceedings of the 2000 Congress on Evolutionary Computation, vol. 1, pp. 256\u2013263. IEEE (2000)","DOI":"10.1109\/CEC.2000.870304"},{"issue":"1","key":"32_CR45","doi-asserted-by":"publisher","first-page":"11","DOI":"10.1145\/321105.321107","volume":"9","author":"S Warshall","year":"1962","unstructured":"Warshall, S.: A theorem on boolean matrices. J. ACM 9(1), 11\u201312 (1962)","journal-title":"J. ACM"},{"issue":"6","key":"32_CR46","doi-asserted-by":"publisher","first-page":"445","DOI":"10.1016\/j.advengsoft.2008.06.003","volume":"40","author":"KR \u017dalik","year":"2009","unstructured":"\u017dalik, K.R., \u017dalik, B.: A sweep-line algorithm for spatial clustering. Adv. Eng. Softw. 40(6), 445\u2013451 (2009)","journal-title":"Adv. Eng. Softw."}],"container-title":["Lecture Notes in Computer Science","Computational Science and Its Applications \u2013 ICCSA 2017"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-62395-5_32","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,21]],"date-time":"2025-06-21T09:58:37Z","timestamp":1750499917000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-319-62395-5_32"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017]]},"ISBN":["9783319623948","9783319623955"],"references-count":46,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-62395-5_32","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"type":"print","value":"0302-9743"},{"type":"electronic","value":"1611-3349"}],"subject":[],"published":{"date-parts":[[2017]]},"assertion":[{"value":"7 July 2017","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ICCSA","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Computational Science and Its Applications","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Trieste","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Italy","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2017","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"3 July 2017","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"6 July 2017","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"17","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"iccsa2017","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"http:\/\/www.iccsa.org\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}