{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,15]],"date-time":"2026-05-15T22:19:26Z","timestamp":1778883566392,"version":"3.51.4"},"reference-count":51,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2019,5,28]],"date-time":"2019-05-28T00:00:00Z","timestamp":1559001600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,5,28]],"date-time":"2019-05-28T00:00:00Z","timestamp":1559001600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61401385"],"award-info":[{"award-number":["61401385"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["61702146"],"award-info":[{"award-number":["61702146"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Hong Kong Research Grants Council Early Career Scheme","award":["25214015"],"award-info":[{"award-number":["25214015"]}]},{"name":"Departmental General Research Fund of Hong Kong Polytechnic University","award":["G.61.37.UA7L"],"award-info":[{"award-number":["G.61.37.UA7L"]}]},{"name":"PolyU Central Research Grant","award":["G-YBMU"],"award-info":[{"award-number":["G-YBMU"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Soft Comput"],"published-print":{"date-parts":[[2020,2]]},"DOI":"10.1007\/s00500-019-04067-3","type":"journal-article","created":{"date-parts":[[2019,5,28]],"date-time":"2019-05-28T13:28:43Z","timestamp":1559050123000},"page":"2369-2380","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":49,"title":["A new fallback beetle antennae search algorithm for path planning of mobile robots with collision-free capability"],"prefix":"10.1007","volume":"24","author":[{"given":"Qing","family":"Wu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hao","family":"Lin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuanzhe","family":"Jin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zeyu","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuai","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5171-1414","authenticated-orcid":false,"given":"Dechao","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2019,5,28]]},"reference":[{"key":"4067_CR1","doi-asserted-by":"publisher","first-page":"103","DOI":"10.1016\/S0925-7721(99)00046-2","volume":"15","author":"S Bandi","year":"2000","unstructured":"Bandi S, Thalmann D (2000) Path finding for human motion in virtual environments. Comput Geom 15:103\u2013127","journal-title":"Comput Geom"},{"key":"4067_CR2","doi-asserted-by":"publisher","first-page":"167","DOI":"10.1109\/TASE.2009.2015886","volume":"7","author":"T Berglund","year":"2010","unstructured":"Berglund T, Brodnik A, Jonsson H, Staffanson M, Soderkvist I (2010) Planning smooth and obstacle-avoiding B-spline paths for autonomous mining vehicles. IEEE Trans Autom Sci Eng 7:167\u2013172","journal-title":"IEEE Trans Autom Sci Eng"},{"issue":"15","key":"4067_CR3","doi-asserted-by":"publisher","first-page":"1896","DOI":"10.1049\/iet-cta.2016.0220","volume":"10","author":"D Chen","year":"2016","unstructured":"Chen D, Zhang Y (2016) Minimum jerk norm scheme applied to obstacle avoidance of redundant robot arm with jerk bounded and feedback control. IET Control Theory Appl 10(15):1896\u20131903","journal-title":"IET Control Theory Appl"},{"issue":"7","key":"4067_CR4","doi-asserted-by":"publisher","first-page":"1337","DOI":"10.1109\/TASE.2015.2474157","volume":"14","author":"D Chen","year":"2017","unstructured":"Chen D, Zhang Y (2017) A hybrid multi-objective scheme applied to redundant robot manipulators. IEEE Trans Autom Sci Eng 14(7):1337\u20131350","journal-title":"IEEE Trans Autom Sci Eng"},{"issue":"9","key":"4067_CR5","doi-asserted-by":"publisher","first-page":"4385","DOI":"10.1109\/TNNLS.2017.2764529","volume":"29","author":"D Chen","year":"2018","unstructured":"Chen D, Zhang Y (2018) Robust zeroing neural-dynamics and its time-varying disturbances suppression model applied to mobile robot manipulators. IEEE Trans Neural Netw Learn Syst 29(9):4385\u20134397","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"key":"4067_CR6","doi-asserted-by":"publisher","first-page":"763","DOI":"10.1007\/s00500-014-1299-4","volume":"19","author":"Y Chen","year":"2015","unstructured":"Chen Y, Cheng L, Wu H, Zhao X, Han J (2015) Knowledge-driven path planning for mobile robots: relative state tree. Soft Comput 19:763\u2013773","journal-title":"Soft Comput"},{"issue":"17","key":"4067_CR7","doi-asserted-by":"publisher","first-page":"5631","DOI":"10.1007\/s00500-017-2552-4","volume":"22","author":"Y Chen","year":"2018","unstructured":"Chen Y, Gao J, Yang G, Liu Y (2018a) Solving equilibrium standby redundancy optimization problem by hybrid PSO algorithm. Soft Comput 22(17):5631\u20135645","journal-title":"Soft Comput"},{"key":"4067_CR8","doi-asserted-by":"publisher","first-page":"845","DOI":"10.1016\/j.neucom.2017.09.032","volume":"275","author":"D Chen","year":"2018","unstructured":"Chen D, Zhang Y, Li S (2018b) Zeroing neural-dynamics approach and its robust and rapid solution for parallel robot manipulators against superposition of multiple disturbances. Neurocomputing 275:845\u2013858","journal-title":"Neurocomputing"},{"issue":"7","key":"4067_CR9","doi-asserted-by":"publisher","first-page":"3044","DOI":"10.1109\/TII.2017.2766455","volume":"14","author":"D Chen","year":"2018","unstructured":"Chen D, Zhang Y, Li S (2018c) Tracking control of robot manipulators with unknown models: a Jacobian-matrix-adaption method. IEEE Trans Ind Inf 14(7):3044\u20133053","journal-title":"IEEE Trans Ind Inf"},{"issue":"1","key":"4067_CR10","doi-asserted-by":"publisher","first-page":"74","DOI":"10.3390\/s19010074","volume":"19","author":"D Chen","year":"2019","unstructured":"Chen D, Li S, Wu Q (2019) Rejecting chaotic disturbances using a super-exponential-zeroing neurodynamic approach for synchronization of chaotic sensor systems. Sensors 19(1):74","journal-title":"Sensors"},{"key":"4067_CR11","unstructured":"Cong YZ, Ponnambalam S (2009) Mobile robot path planning using ant colony optimization. In: IEEE\/ASME international conference on advanced intelligent mechatronics, 2009. AIM 2009. 2009. IEEE, New York, pp 851\u2013856"},{"key":"4067_CR12","doi-asserted-by":"publisher","first-page":"269","DOI":"10.1007\/BF01386390","volume":"1","author":"EW Dijkstra","year":"1959","unstructured":"Dijkstra EW (1959) A note on two problems in connexion with graphs. Numer Math 1:269\u2013271","journal-title":"Numer Math"},{"key":"4067_CR13","doi-asserted-by":"publisher","first-page":"89","DOI":"10.1214\/ss\/1038425655","volume":"11","author":"PH Eilers","year":"1996","unstructured":"Eilers PH, Marx BD (1996) Flexible smoothing with B-splines and penalties. Stat Sci 11:89\u2013102","journal-title":"Stat Sci"},{"key":"4067_CR14","doi-asserted-by":"publisher","first-page":"23","DOI":"10.1007\/s10846-014-0172-0","volume":"80","author":"M Elbanhawi","year":"2015","unstructured":"Elbanhawi M, Simic M, Jazar RN (2015) Continuous path smoothing for car-like robots using B-spline curves. J Intell Robot Syst 80:23\u201356","journal-title":"J Intell Robot Syst"},{"key":"4067_CR15","doi-asserted-by":"publisher","first-page":"1135","DOI":"10.1109\/TITS.2015.2498841","volume":"17","author":"D Gonz\u00e1lez","year":"2016","unstructured":"Gonz\u00e1lez D, P\u00e9rez J, Milan\u00e9s V, Nashashibi F (2016) A review of motion planning techniques for automated vehicles. IEEE Trans Intell Transp Syst 17:1135\u20131145","journal-title":"IEEE Trans Intell Transp Syst"},{"issue":"6","key":"4067_CR16","doi-asserted-by":"publisher","first-page":"1326","DOI":"10.1109\/TSMCC.2012.2183868","volume":"42","author":"D Guo","year":"2012","unstructured":"Guo D, Zhang Y (2012) A new inequality-based obstacle-avoidance MVN scheme and its application to redundant robot manipulators. IEEE Trans Syst Man Cybern Part C (Appl Rev) 42(6):1326\u20131340","journal-title":"IEEE Trans Syst Man Cybern Part C (Appl Rev)"},{"issue":"12","key":"4067_CR17","doi-asserted-by":"publisher","first-page":"6903","DOI":"10.1109\/TIE.2014.2331036","volume":"61","author":"D Guo","year":"2014","unstructured":"Guo D, Zhang Y (2014) Acceleration-level inequality-based MAN scheme for obstacle avoidance of redundant robot manipulators. IEEE Trans Ind Electron 61(12):6903\u20136914","journal-title":"IEEE Trans Ind Electron"},{"key":"4067_CR18","doi-asserted-by":"publisher","first-page":"1415","DOI":"10.1109\/TSMC.2016.2616343","volume":"47","author":"M Gupta","year":"2017","unstructured":"Gupta M, Kumar S, Behera L, Subramanian VK (2017) A novel vision-based tracking algorithm for a human-following mobile robot. IEEE Trans Syst Man Cybern Syst 47:1415\u20131427","journal-title":"IEEE Trans Syst Man Cybern Syst"},{"key":"4067_CR19","doi-asserted-by":"publisher","first-page":"144","DOI":"10.1016\/j.protcy.2016.03.010","volume":"23","author":"AK Guruji","year":"2016","unstructured":"Guruji AK, Agarwal H, Parsediya D (2016) Time-efficient A* algorithm for robot path planning. Proc Technol 23:144\u2013149","journal-title":"Proc Technol"},{"key":"4067_CR20","doi-asserted-by":"publisher","DOI":"10.5430\/ijrc.v1n1p1","author":"X Jiang","year":"2018","unstructured":"Jiang X, Li S (2018) BAS: beetle antennae search algorithm for optimization problems. Int J Robot Control. \nhttps:\/\/doi.org\/10.5430\/ijrc.v1n1p1","journal-title":"Int J Robot Control"},{"key":"4067_CR21","doi-asserted-by":"crossref","unstructured":"Koren Y, Borenstein J (1991) Potential field methods and their inherent limitations for mobile robot navigation. In: Proceedings, 1991 IEEE international conference on robotics and automation, 1991. IEEE, New York, pp 1398\u20131404","DOI":"10.1109\/ROBOT.1991.131810"},{"key":"4067_CR22","doi-asserted-by":"crossref","unstructured":"Koyuncu E, Inalhan G (2008) A probabilistic B-spline motion planning algorithm for unmanned helicopters flying in dense 3D environments. In: IROS 2008. IEEE\/RSJ international conference on Intelligent Robots and Systems, 2008. IEEE, New York, pp 815\u2013821","DOI":"10.1109\/IROS.2008.4651122"},{"key":"4067_CR23","unstructured":"Lee MC, Park MG (2003) Artificial potential field based path planning for mobile robots using a virtual obstacle concept. In: 2003 IEEE\/ASME international conference on advanced intelligent mechatronics, 2003. AIM 2003. Proceedings. IEEE, New York, pp 735\u2013740"},{"key":"4067_CR24","doi-asserted-by":"publisher","first-page":"415","DOI":"10.1109\/TNNLS.2016.2516565","volume":"28","author":"S Li","year":"2017","unstructured":"Li S, He J, Li Y, Rafique MU (2017) Distributed recurrent neural networks for cooperative control of manipulators: a game-theoretic perspective. IEEE Trans Neural Netw Learn Syst 28:415\u2013426","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"key":"4067_CR25","doi-asserted-by":"publisher","first-page":"5829","DOI":"10.1007\/s00500-016-2161-7","volume":"21","author":"J Liu","year":"2017","unstructured":"Liu J, Yang J, Liu H, Tian X, Gao M (2017) An improved ant colony algorithm for robot path planning. Soft Comput 21:5829\u20135839","journal-title":"Soft Comput"},{"key":"4067_CR26","doi-asserted-by":"publisher","first-page":"1279","DOI":"10.1109\/TNN.2008.2000394","volume":"19","author":"C Luo","year":"2008","unstructured":"Luo C, Yang SX (2008) A bioinspired neural network for real-time concurrent map building and complete coverage robot navigation in unknown environments. IEEE Trans Neural Netw 19:1279\u20131298","journal-title":"IEEE Trans Neural Netw"},{"key":"4067_CR27","doi-asserted-by":"crossref","unstructured":"Masehian E, Sedighizadeh D (2010) A multi-objective PSO-based algorithm for robot path planning. In: 2010 IEEE international conference on industrial technology (ICIT). IEEE, New York, pp 465\u2013470","DOI":"10.1109\/ICIT.2010.5472755"},{"key":"4067_CR28","doi-asserted-by":"publisher","first-page":"1405","DOI":"10.1007\/s00500-010-0680-1","volume":"15","author":"M Mavrovouniotis","year":"2011","unstructured":"Mavrovouniotis M, Yang S (2011) A memetic ant colony optimization algorithm for the dynamic travelling salesman problem. Soft Comput 15:1405\u20131425","journal-title":"Soft Comput"},{"key":"4067_CR29","doi-asserted-by":"publisher","first-page":"237","DOI":"10.1007\/s10846-014-0124-8","volume":"79","author":"O Montiel","year":"2015","unstructured":"Montiel O, Sep\u00falveda R, Orozco-Rosas U (2015) Optimal path planning generation for mobile robots using parallel evolutionary artificial potential field. J Intell Robot Syst 79:237\u2013257","journal-title":"J Intell Robot Syst"},{"key":"4067_CR30","doi-asserted-by":"publisher","first-page":"796","DOI":"10.1109\/LRA.2017.2653359","volume":"2","author":"R Mur-Artal","year":"2017","unstructured":"Mur-Artal R, Tard\u00f3s JD (2017) Visual\u2013inertial monocular SLAM with map reuse. IEEE Robot Autom Lett 2:796\u2013803","journal-title":"IEEE Robot Autom Lett"},{"key":"4067_CR31","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1155\/2016\/3810903","volume":"2016","author":"J Ni","year":"2016","unstructured":"Ni J, Wu L, Fan X, Yang SX (2016) Bioinspired intelligent algorithm and its applications for mobile robot control: a survey. Comput Intell Neurosci 2016:1","journal-title":"Comput Intell Neurosci"},{"key":"4067_CR32","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s00500-016-2442-1","volume":"22","author":"G Pau","year":"2018","unstructured":"Pau G, Collotta M, Maniscalco V, Choo K-KR (2018) A fuzzy-PSO system for indoor localization based on visible light communications. Soft Comput 22:1\u201311","journal-title":"Soft Comput"},{"key":"4067_CR33","unstructured":"Rathbun D, Kragelund S, Pongpunwattana A, Capozzi B (2002) An evolution based path planning algorithm for autonomous motion of a UAV through uncertain environments. In: Digital avionics systems conference, 2002. Proceedings. The 21st. IEEE, New York, pp 8D2\u20138D2"},{"key":"4067_CR34","doi-asserted-by":"publisher","first-page":"347","DOI":"10.1109\/TIE.2013.2245612","volume":"61","author":"H Rezaee","year":"2014","unstructured":"Rezaee H, Abdollahi F (2014) A decentralized cooperative control scheme with obstacle avoidance for a team of mobile robots. IEEE Trans Ind Electron 61:347\u2013354","journal-title":"IEEE Trans Ind Electron"},{"key":"4067_CR35","doi-asserted-by":"crossref","unstructured":"Sariff N, Buniyamin N (2006) An overview of autonomous mobile robot path planning algorithms. In: SCOReD 2006. 4th student conference on research and development, 2006, IEEE, New York, pp 183\u2013188","DOI":"10.1109\/SCORED.2006.4339335"},{"key":"4067_CR36","first-page":"1127","volume":"2003","author":"C Stachniss","year":"2003","unstructured":"Stachniss C, Burgard W (2003) Exploring unknown environments with mobile robots using coverage maps. IJCAI 2003:1127\u20131134","journal-title":"IJCAI"},{"key":"4067_CR37","first-page":"3310","volume":"1994","author":"A Stentz","year":"1994","unstructured":"Stentz A (1994) Optimal and efficient path planning for partially-known environments. ICRA 1994:3310\u20133317","journal-title":"ICRA"},{"key":"4067_CR38","doi-asserted-by":"crossref","unstructured":"Tan X, Chen D (2009) A hybrid approach of path planning for mobile robots based on the combination of ACO and APF algorithms. In: International workshop on intelligent systems and applications, 2009. ISA 2009. IEEE, New York, pp 1\u20134","DOI":"10.1109\/IWISA.2009.5072623"},{"key":"4067_CR39","doi-asserted-by":"publisher","first-page":"4813","DOI":"10.1109\/TIE.2011.2109332","volume":"58","author":"C-C Tsai","year":"2011","unstructured":"Tsai C-C, Huang H-C, Chan C-K (2011) Parallel elite genetic algorithm and its application to global path planning for autonomous robot navigation. IEEE Trans Ind Electron 58:4813\u20134821","journal-title":"IEEE Trans Ind Electron"},{"key":"4067_CR40","doi-asserted-by":"crossref","unstructured":"Van Den Berg J, Ferguson D, Kuffner J (2006) Anytime path planning and replanning in dynamic environments. In: Proceedings 2006 IEEE international conference on robotics and automation, 2006. ICRA 2006. IEEE, New York, pp 2366\u20132371","DOI":"10.1109\/ROBOT.2006.1642056"},{"key":"4067_CR41","doi-asserted-by":"crossref","unstructured":"Velagic J, Lacevic B, Osmic N (2006) Efficient path planning algorithm for mobile robot navigation with a local minima problem solving. In: IEEE international conference on industrial technology, 2006. ICIT 2006. IEEE, New York, pp 2325\u20132330","DOI":"10.1109\/ICIT.2006.372707"},{"key":"4067_CR42","doi-asserted-by":"publisher","first-page":"280","DOI":"10.1109\/TCYB.2013.2253461","volume":"44","author":"L Xiao","year":"2014","unstructured":"Xiao L, Zhang Y (2014) A new performance index for the repetitive motion of mobile manipulators. IEEE Trans Cybern 44:280\u2013292","journal-title":"IEEE Trans Cybern"},{"key":"4067_CR43","doi-asserted-by":"publisher","first-page":"932","DOI":"10.1080\/00207721.2014.909971","volume":"47","author":"L Xiao","year":"2016","unstructured":"Xiao L, Zhang Y (2016) Dynamic design, numerical solution and effective verification of acceleration-level obstacle-avoidance scheme for robot manipulators. Int J Syst Sci 47:932\u2013945","journal-title":"Int J Syst Sci"},{"key":"4067_CR44","doi-asserted-by":"publisher","first-page":"2421","DOI":"10.1007\/s00500-015-1956-2","volume":"21","author":"T Xue","year":"2017","unstructured":"Xue T, Li R, Tokgo M, Ri J, Han G (2017) Trajectory planning for autonomous mobile robot using a hybrid improved QPSO algorithm. Soft Comput 21:2421\u20132437","journal-title":"Soft Comput"},{"issue":"4","key":"4067_CR45","doi-asserted-by":"publisher","first-page":"819","DOI":"10.1109\/TFUZZ.2015.2486809","volume":"24","author":"X Yang","year":"2018","unstructured":"Yang X, Gao J (2018) Linear quadratic uncertain differential game with application to resource extraction problem. IEEE Trans Fuzzy Syst 24(4):819\u2013826","journal-title":"IEEE Trans Fuzzy Syst"},{"key":"4067_CR46","doi-asserted-by":"crossref","first-page":"58","DOI":"10.1016\/j.jesit.2014.03.009","volume":"1","author":"AM Zaki","year":"2014","unstructured":"Zaki AM, Arafa O, Amer SI (2014) Microcontroller-based mobile robot positioning and obstacle avoidance. J Electr Syst Inf Technol 1:58\u201371","journal-title":"J Electr Syst Inf Technol"},{"key":"4067_CR47","doi-asserted-by":"publisher","first-page":"2021","DOI":"10.1007\/s00500-013-1124-5","volume":"17","author":"Y Zhang","year":"2013","unstructured":"Zhang Y, Li Z, Guo D, Li W, Chen P (2013) Z-type and G-type models for time-varying inverse square root (TVISR) solving. Soft Comput 17:2021\u20132032","journal-title":"Soft Comput"},{"key":"4067_CR48","doi-asserted-by":"publisher","first-page":"245","DOI":"10.1007\/s11071-016-2681-9","volume":"85","author":"Y Zhang","year":"2016","unstructured":"Zhang Y, Yan X, Chen D, Guo D, Li W (2016a) QP-based refined manipulability-maximizing scheme for coordinated motion planning and control of physically constrained wheeled mobile redundant manipulators. Nonlinear Dyn 85:245\u2013261","journal-title":"Nonlinear Dyn"},{"key":"4067_CR49","doi-asserted-by":"publisher","first-page":"211","DOI":"10.1007\/s00500-014-1491-6","volume":"20","author":"Y Zhang","year":"2016","unstructured":"Zhang Y, Qu L, Liu J, Guo D, Li M (2016b) Sine neural network (SNN) with double-stage weights and structure determination (DS-WASD). Soft Comput 20:211\u2013221","journal-title":"Soft Comput"},{"key":"4067_CR50","doi-asserted-by":"publisher","first-page":"1897","DOI":"10.1007\/s00500-015-1611-y","volume":"20","author":"X Zhong","year":"2016","unstructured":"Zhong X, Zhong X, Peng X (2016c) VCS-based motion planning for distributed mobile robots: collision avoidance and formation. Soft Comput 20:1897\u20131908","journal-title":"Soft Comput"},{"key":"4067_CR51","first-page":"961","volume":"25","author":"D Zhu","year":"2010","unstructured":"Zhu D, Yan M (2010) Survey on technology of mobile robot path planning. Control Decis 25:961\u2013967","journal-title":"Control Decis"}],"container-title":["Soft Computing"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00500-019-04067-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00500-019-04067-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00500-019-04067-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,5,26]],"date-time":"2020-05-26T23:10:54Z","timestamp":1590534654000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00500-019-04067-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,5,28]]},"references-count":51,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2020,2]]}},"alternative-id":["4067"],"URL":"https:\/\/doi.org\/10.1007\/s00500-019-04067-3","relation":{},"ISSN":["1432-7643","1433-7479"],"issn-type":[{"value":"1432-7643","type":"print"},{"value":"1433-7479","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,5,28]]},"assertion":[{"value":"28 May 2019","order":1,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with ethical standards"}},{"value":"The authors declare that there is no conflict of interest in preparing this article.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}