{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,18]],"date-time":"2026-07-18T09:09:54Z","timestamp":1784365794883,"version":"3.55.0"},"publisher-location":"Singapore","reference-count":30,"publisher":"Springer Nature Singapore","isbn-type":[{"value":"9789819234226","type":"print"},{"value":"9789819234233","type":"electronic"}],"license":[{"start":{"date-parts":[[2026,7,19]],"date-time":"2026-07-19T00:00:00Z","timestamp":1784419200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2026,7,19]],"date-time":"2026-07-19T00:00:00Z","timestamp":1784419200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2027]]},"DOI":"10.1007\/978-981-92-3423-3_1","type":"book-chapter","created":{"date-parts":[[2026,7,18]],"date-time":"2026-07-18T08:49:11Z","timestamp":1784364551000},"page":"3-12","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["A Conflict-Free Flight Method for UAV Formation Based on 4D Route Points"],"prefix":"10.1007","author":[{"given":"Shirui","family":"Gu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zheng","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiacheng","family":"Lu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qinshang","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhongyuan","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Minghui","family":"Sun","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2026,7,19]]},"reference":[{"key":"1_CR1","unstructured":"Yang,J., Chen, Y. J., Geng, F. J.: UAV combat application in the Ukraine crisis and its implications. In: Proceedings of the 13th China Conference on Command and Control (Volume II) 2025, pp. 205\u2013208 (2025)"},{"key":"1_CR2","unstructured":"Qin, Y., Meng, F. T., Zhang, Z. C.: Framework of autonomous UAV intelligent inspection system for rail transit infrastructure and review on its technological development. J. Beijing Jiaotong Univ. (2025)"},{"key":"1_CR3","first-page":"104","volume":"15","author":"SY Chen","year":"2025","unstructured":"Chen, S.Y.: Research on the application of UAV Technology in emergency material distribution. China Strateg. Emerg. Ind. 15, 104\u2013106 (2025)","journal-title":"China Strateg. Emerg. Ind."},{"issue":"4","key":"1_CR4","first-page":"1","volume":"45","author":"PF Zhang","year":"2024","unstructured":"Zhang, P.F., He, Y., Ma, Z.H.: Review on UAV swarm cooperative control technology. J. Ordnance Equipment Eng. 45(4), 1\u20139 (2024)","journal-title":"J. Ordnance Equipment Eng."},{"key":"1_CR5","unstructured":"Ma, B. Q., Feng, D. E., Hu, B.: Current status and prospects of UAV swarm cooperative control methods. Navig. Control 23(2): 30\u201340+107 (2024)"},{"key":"1_CR6","doi-asserted-by":"crossref","unstructured":"Zu, Z., Song, B., Fan, Y.: Design and verification of UAV formation controller based on leader-follower method. In: Proceedings of the 7th International Conference on Automation, Control and Robotics Engineering (CACRE) 2022, pp. 38\u201344 (2022)","DOI":"10.1109\/CACRE54574.2022.9834161"},{"key":"1_CR7","doi-asserted-by":"publisher","first-page":"577","DOI":"10.1016\/j.apm.2022.12.032","volume":"117","author":"J Chen","year":"2023","unstructured":"Chen, J., Li, J.M., Han, S.Q.: Leader-follower formation of light-weight UAVs with novel active disturbance rejection control. Appl. Math. Model. 117, 577\u2013591 (2023)","journal-title":"Appl. Math. Model."},{"key":"1_CR8","doi-asserted-by":"crossref","unstructured":"Yuan, W., Chen, Q., Hou, Z.: Multi-UAVs formation flight control based on leader-follower pattern. In: 36th Chinese Control Conference (CCC) 2017 (2017)","DOI":"10.23919\/ChiCC.2017.8027526"},{"key":"1_CR9","doi-asserted-by":"publisher","first-page":"126027","DOI":"10.1109\/ACCESS.2023.3330149","volume":"11","author":"J Guo","year":"2023","unstructured":"Guo, J., Liu, Z., Song, Y.: Research on Multi-UAV formation and semi-physical simulation with virtual structure. IEEE Access. 11, 126027\u2013126039 (2023)","journal-title":"IEEE Access."},{"issue":"11","key":"1_CR10","first-page":"2423","volume":"37","author":"ZP Li","year":"2020","unstructured":"Li, Z.P., Xian, B.: Distributed robust formation control of Multi-UAV based on virtual structure method. Control Theory Appl. 37(11), 2423\u20132431 (2020)","journal-title":"Control Theory Appl."},{"key":"1_CR11","doi-asserted-by":"crossref","unstructured":"Zhang, Z., Xie, S., Dong, J.: Optimal policy learning for distributed formation control of behaviour-based UAVs. In: 2024 7th International Conference on Robotics, Control and Automation Engineering (RCAE) (2024)","DOI":"10.1109\/RCAE62637.2024.10834201"},{"issue":"1","key":"1_CR12","first-page":"1","volume":"39","author":"SY Fei","year":"2022","unstructured":"Fei, S.Y., Xian, B., Wang, L.: Distributed dynamic obstacle avoidance control for Multi-UAV formation based on swarm behaviour. Control Theory Appl. 39(1), 1\u201311 (2022)","journal-title":"Control Theory Appl."},{"key":"1_CR13","doi-asserted-by":"crossref","unstructured":"Xu, B., Jiao, M., Zhang, D.: Design of close formation controller for UAVs based on fuzzy PID rule. In: Proceedings of the 2020 Chinese Automation Congress (CAC), pp. 444\u2013449 (2020)","DOI":"10.1109\/CAC51589.2020.9326533"},{"key":"1_CR14","doi-asserted-by":"crossref","unstructured":"Babu, V.M., Das, K., Kumar, S.: Designing of a self-tuning PID controller for AR drone quadrotor. In: 18th International Conference on Advanced Robotics (ICAR) 2017 (2017)","DOI":"10.1109\/ICAR.2017.8023513"},{"key":"1_CR15","doi-asserted-by":"crossref","unstructured":"Hu, S., Tang, J., Chen, C.: UAV formation obstacle avoidance based on an improved consistency algorithm. In: IEEE 4th International Conference on Civil Aviation Safety and Information Technology (ICCASIT) 2022 (2022)","DOI":"10.1109\/ICCASIT55263.2022.9986809"},{"issue":"9","key":"1_CR16","first-page":"172","volume":"41","author":"Y Wu","year":"2020","unstructured":"Wu, Y., Liang, T.: UAV formation control based on improved consistency algorithm. Acta Aeronautica et Astronautica Sinica 41(9), 172\u2013190 (2020)","journal-title":"Acta Aeronautica et Astronautica Sinica"},{"key":"1_CR17","doi-asserted-by":"crossref","unstructured":"Zhang, J., Yan, J., Yuan, D.: The UAV cooperative formation control design with collision avoidance based on an improved artificial potential field. In: Chinese Control And Decision Conference (CCDC) 2018 (2018)","DOI":"10.1109\/CCDC.2018.8408198"},{"issue":"5","key":"1_CR18","first-page":"527","volume":"31","author":"YP Liu","year":"2021","unstructured":"Liu, Y.P., Xu, Z., Zhao, Z.Y.: Multi-UAV formation obstacle avoidance algorithm based on improved artificial potential field method. High Technol. Lett. 31(5), 527\u2013533 (2021)","journal-title":"High Technol. Lett."},{"key":"1_CR19","doi-asserted-by":"crossref","unstructured":"Liu, S. S., Ge, M. F., Liu, Z. W.: Multi-UAV formation control based on distributed model predictive control. In: Proceedings of the 2022 IEEE International Conference on Cyborg and Bionic Systems (CBS) 2023 (2023)","DOI":"10.1109\/CBS55922.2023.10115368"},{"key":"1_CR20","doi-asserted-by":"crossref","unstructured":"Qiu, J. C., Yang, Q. J., Tang, L. Y.: UAV formation control under communication constraints based on distributed model predictive control. Math. Prob. Eng., 126494\u2013126507 (2022)","DOI":"10.1109\/ACCESS.2022.3225434"},{"key":"1_CR21","doi-asserted-by":"crossref","unstructured":"Xiao, J., Li, B., Zhou, D.: Speed control system based on improved Fuzzy-PID hybrid control for direct current motor. In: Proceedings of the International Conference on Digital Manufacturing & Automation, pp. 391\u2013394 (2010)","DOI":"10.1109\/ICDMA.2010.28"},{"key":"1_CR22","doi-asserted-by":"crossref","unstructured":"Liu, Z., Xiang, Q., Ye, X.: Unmanned surface vehicle heading and speed control method based on model predictive control. In: Proceedings of the 5th IEEE International Conference on Electronics Technology (ICET) 2022 (2022)","DOI":"10.1109\/ICET55676.2022.9824228"},{"key":"1_CR23","unstructured":"Li, W. H., Zhang, H.: Research status and prospect of UAV formation flight technology. Flight Dyn. (1), 9\u201311+18 (2007)"},{"key":"1_CR24","unstructured":"Lu, S.K.: Research on cooperative control method of quadrotor UAV formation under multiple constraints. Nanjing Univ. Inf. Sci. Technol. (2023)"},{"issue":"4","key":"1_CR25","first-page":"20","volume":"41","author":"XK Wang","year":"2020","unstructured":"Wang, X.K., Liu, Z.H., Cong, Y.R.: Review and future development of small fixed-wing UAV swarm. Acta Aeronautica et Astronautica Sinica 41(4), 20\u201345 (2020)","journal-title":"Acta Aeronautica et Astronautica Sinica"},{"issue":"1","key":"1_CR26","first-page":"6","volume":"2","author":"SJ Tang","year":"2019","unstructured":"Tang, S.J., Shi, S.W., Zhang, Y.: Review on the development of an intelligent distributed cooperative combat system. Air Space Defence 2(1), 6\u201313 (2019)","journal-title":"Air Space Defence"},{"issue":"1","key":"1_CR27","first-page":"41","volume":"43","author":"Z Yang","year":"2024","unstructured":"Yang, Z., Li, N., Mao, Y.: Review on operational safety guarantee technology of UAV in low-altitude airspace. J. Xihua Univ. (Natural Science Edition) 43(1), 41\u201347 (2024)","journal-title":"J. Xihua Univ. (Natural Science Edition)"},{"key":"1_CR28","doi-asserted-by":"crossref","unstructured":"Feng, D., Cai, K., Zhu, Y.: China initial 4D flight trial evaluation. In: Proceedings of the 38th IEEE\/AIAA Digital Avionics Systems Conference (DASC) 2019, [Supplementary pages] (2019)","DOI":"10.1109\/DASC43569.2019.9081650"},{"key":"1_CR29","doi-asserted-by":"publisher","first-page":"350","DOI":"10.1016\/j.ast.2019.03.035","volume":"88","author":"M Sun","year":"2019","unstructured":"Sun, M., Rand, K., Fleming, C.: 4-Dimensional waypoint generation for conflict-free trajectory-based operation. Aerosp. Sci. Technol. 88, 350\u2013361 (2019)","journal-title":"Aerosp. Sci. Technol."},{"key":"1_CR30","unstructured":"Yan, C.: Random trajectory generation and cooperative control method of fixed-wing UAV for penetration mission. Harbin Inst. Technol. (2022)"}],"container-title":["Lecture Notes in Computer Science","Advanced Intelligent Computing Technology and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-981-92-3423-3_1","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,7,18]],"date-time":"2026-07-18T08:49:15Z","timestamp":1784364555000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-981-92-3423-3_1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,7,19]]},"ISBN":["9789819234226","9789819234233"],"references-count":30,"URL":"https:\/\/doi.org\/10.1007\/978-981-92-3423-3_1","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"value":"0302-9743","type":"print"},{"value":"1611-3349","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,7,19]]},"assertion":[{"value":"19 July 2026","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ICIC","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Intelligent Computing","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Toronto","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Canada","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2026","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"22 July 2026","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"26 July 2026","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"22","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"icic2026a","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"http:\/\/www.ic-icc.cn\/2026\/index.htm","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}