{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T17:03:28Z","timestamp":1774976608340,"version":"3.50.1"},"reference-count":23,"publisher":"Springer Science and Business Media LLC","issue":"8","license":[{"start":{"date-parts":[[2015,11,5]],"date-time":"2015-11-05T00:00:00Z","timestamp":1446681600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2015,11,5]],"date-time":"2015-11-05T00:00:00Z","timestamp":1446681600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["CNS-1035588"],"award-info":[{"award-number":["CNS-1035588"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000006","name":"Office of Naval Research","doi-asserted-by":"publisher","award":["N00014-12-1-1000"],"award-info":[{"award-number":["N00014-12-1-1000"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000006","name":"Office of Naval Research","doi-asserted-by":"publisher","award":["MURI N00014-10-10952"],"award-info":[{"award-number":["MURI N00014-10-10952"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000006","name":"Office of Naval Research","doi-asserted-by":"publisher","award":["MURI N00014-09-1051"],"award-info":[{"award-number":["MURI N00014-09-1051"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["NRI-1426907"],"award-info":[{"award-number":["NRI-1426907"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["CMMI-1400167"],"award-info":[{"award-number":["CMMI-1400167"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2016,12]]},"DOI":"10.1007\/s10514-015-9519-z","type":"journal-article","created":{"date-parts":[[2015,11,5]],"date-time":"2015-11-05T07:49:37Z","timestamp":1446709777000},"page":"1363-1378","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":53,"title":["Persistent surveillance for unmanned aerial vehicles subject to charging and temporal logic constraints"],"prefix":"10.1007","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5894-7190","authenticated-orcid":false,"given":"Kevin","family":"Leahy","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dingjiang","family":"Zhou","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Cristian-Ioan","family":"Vasile","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Konstantinos","family":"Oikonomopoulos","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mac","family":"Schwager","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Calin","family":"Belta","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2015,11,5]]},"reference":[{"key":"9519_CR1","first-page":"21","volume":"10","author":"E Aydin Gol","year":"2013","unstructured":"Aydin Gol, E., & Belta, C. (2013). Time-constrained temporal logic control of multi-affine systems. Nonlinear Analysis: Hybrid Systems, 10, 21\u201333.","journal-title":"Nonlinear Analysis: Hybrid Systems"},{"key":"9519_CR2","volume-title":"Principles of model checking","author":"C Baier","year":"2008","unstructured":"Baier, C., & Katoen, J. (2008). Principles of model checking. Cambridge: MIT Press."},{"issue":"11","key":"9519_CR3","doi-asserted-by":"publisher","first-page":"1749","DOI":"10.1109\/TAC.2006.884957","volume":"51","author":"C Belta","year":"2006","unstructured":"Belta, C., & Habets, L. C. G. J. M. (2006). Controlling a class of nonlinear systems on rectangles. IEEE Transactions on Automatic Control, 51(11), 1749\u20131759.","journal-title":"IEEE Transactions on Automatic Control"},{"issue":"1","key":"9519_CR4","doi-asserted-by":"publisher","first-page":"80","DOI":"10.1287\/mnsc.6.1.80","volume":"6","author":"GB Dantzig","year":"1959","unstructured":"Dantzig, G. B., & Ramser, J. H. (1959). The truck dispatching problem. Management Science, 6(1), 80\u201391.","journal-title":"Management Science"},{"key":"9519_CR5","unstructured":"Jha, S., Clarke, E., Langmead, C., Legay, A., Platzer, A., & Zuliani, P. (2009). A Bayesian approach to model checking biological systems. In Proceedings of the 7th International Conference on Computational Methods in Systems Biology, CMSB \u201909 (pp. 218\u2013234). Berlin: Springer."},{"key":"9519_CR6","doi-asserted-by":"crossref","unstructured":"Karaman, S., & Frazzoli, E. (2008). Vehicle routing problem with metric temporal logic specifications. In IEEE conference on decision and control (pp. 3953\u20133958).","DOI":"10.1109\/CDC.2008.4739366"},{"issue":"3","key":"9519_CR7","doi-asserted-by":"publisher","first-page":"291","DOI":"10.1023\/A:1011254632723","volume":"19","author":"O Kupferman","year":"2001","unstructured":"Kupferman, O., & Vardi, M. (2001). Model checking of safety properties. Formal Methods in System Design, 19(3), 291\u2013314.","journal-title":"Formal Methods in System Design"},{"key":"9519_CR8","doi-asserted-by":"crossref","unstructured":"Latvala, T. (2003). Effcient model checking of safety properties. In 10th international SPIN workshop, model checking software (pp. 74\u201388). Springer.","DOI":"10.1007\/3-540-44829-2_5"},{"key":"9519_CR9","unstructured":"Leahy, K., Zhou, D., Vasile, C., Oikonomopoulos, K., Schwager, M., & Belta, C. (2014). Provably correct persistent surveillance for unmanned aerial vehicles subject to charging constraints. In Proceedings of the international symposium on experimental robotics (ISER)."},{"key":"9519_CR10","doi-asserted-by":"crossref","unstructured":"Lee, T., Leoky, M., & McClamroch, N. (2010). Geometric tracking control of a quadrotor UAV on SE(3). In 49th IEEE conference on decision and control (CDC), 2010 (pp. 5420\u20135425). IEEE.","DOI":"10.1109\/CDC.2010.5717652"},{"key":"9519_CR11","doi-asserted-by":"crossref","unstructured":"Mellinger, D. & Kumar, V. (2011). Minimum snap trajectory generation and control for quadrotors. In IEEE international conference on robotics and automation (ICRA), 2011 (pp. 2520\u20132525). IEEE.","DOI":"10.1109\/ICRA.2011.5980409"},{"key":"9519_CR12","doi-asserted-by":"crossref","unstructured":"Michael, N., Stump, E., & Mohta, K. (2011). Persistent surveillance with a team of MAVs. In Proceedings of the international conference on intelligent robots and systems (IROS 11) (pp. 2708\u20132714). IEEE.","DOI":"10.1109\/IROS.2011.6095174"},{"key":"9519_CR13","unstructured":"Mulgaonkar, Y. & Kumar, V. (2014). Autonomous charging to enable long-endurance missions for small aerial robots. In Proceedings of SPIE-DSS (p. 90831S)."},{"key":"9519_CR14","doi-asserted-by":"crossref","unstructured":"Ozay, N., Topcu, U., & Murray, R. M. (2011). Distributed power allocation for vehicle management systems. In 50th IEEE conference on decision and control and European control conference (CDC-ECC), 2011 (pp. 4841\u20134848). IEEE.","DOI":"10.1109\/CDC.2011.6161470"},{"issue":"14","key":"9519_CR15","doi-asserted-by":"publisher","first-page":"1695","DOI":"10.1177\/0278364911417911","volume":"30","author":"S Smith","year":"2011","unstructured":"Smith, S., Tumova, J., Belta, C., & Rus, D. (2011). Optimal path planning for surveillance with temporal logic constraints. International Journal of Robotics Research, 30(14), 1695\u20131708.","journal-title":"International Journal of Robotics Research"},{"key":"9519_CR16","doi-asserted-by":"crossref","unstructured":"Stump, E. & Michael, N. (2011). Multi-robot persistent surveillance planning as a vehicle routing problem. In Proceedings of the IEEE conference on automation science and engineering (CASE) (pp. 569\u2013575). IEEE.","DOI":"10.1109\/CASE.2011.6042503"},{"issue":"1","key":"9519_CR17","doi-asserted-by":"publisher","first-page":"287","DOI":"10.1109\/TASE.2013.2279544","volume":"11","author":"K Sundar","year":"2014","unstructured":"Sundar, K., & Rathinam, S. (2014). Algorithms for routing an unmanned aerial vehicle in the presence of refueling depots. IEEE Transactions on Automation Science and Engineering, 11(1), 287\u2013294.","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"key":"9519_CR18","unstructured":"Tkachev, I. & Abate, A. (2013). Formula-free finite abstractions for linear temporal verification of stochastic hybrid systems. In Proceedings of the 16th international conference on hybrid systems: Computation and control (pp. 283\u2013292). Philadelphia, PA."},{"key":"9519_CR19","volume-title":"The vehicle routing problem","author":"P Toth","year":"2001","unstructured":"Toth, P., & Vigo, D. (2001). The vehicle routing problem. Philadelphia: SIAM."},{"issue":"8","key":"9519_CR20","doi-asserted-by":"publisher","first-page":"889","DOI":"10.1177\/0278364913487931","volume":"32","author":"A Ulusoy","year":"2013","unstructured":"Ulusoy, A., Smith, S. L., Ding, X. C., Belta, C., & Rus, D. (2013). Optimality and robustness in multi-robot path planning with temporal logic constraints. International Journal of Robotics Research, 32(8), 889\u2013911.","journal-title":"International Journal of Robotics Research"},{"key":"9519_CR21","unstructured":"Vasile, C. & Belta, C. (2014). An automata-theoretic approach to the vehicle routing problem. In Robotics: science and systems conference (RSS). Berkeley, CA, USA."},{"key":"9519_CR22","first-page":"5997","volume":"2009","author":"T Wongpiromsarn","year":"2009","unstructured":"Wongpiromsarn, T., Topcu, U., & Murray, R. M. (2009). Receding horizon temporal logic planning for dynamical systems. Conference on Decision and Control (CDC), 2009, 5997\u20136004.","journal-title":"Conference on Decision and Control (CDC)"},{"key":"9519_CR23","doi-asserted-by":"crossref","unstructured":"Zhou, D. & Schwager, M. (2014). Vector field following for quadrotors using differential flatness. In Proceedings of the international conference on robotics and automation (ICRA) (pp. 6567\u20136572).","DOI":"10.1109\/ICRA.2014.6907828"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-015-9519-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-015-9519-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-015-9519-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-015-9519-z","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,5,17]],"date-time":"2020-05-17T08:42:23Z","timestamp":1589704943000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-015-9519-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,11,5]]},"references-count":23,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2016,12]]}},"alternative-id":["9519"],"URL":"https:\/\/doi.org\/10.1007\/s10514-015-9519-z","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,11,5]]},"assertion":[{"value":"11 April 2015","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"22 October 2015","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 November 2015","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}