{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,30]],"date-time":"2025-12-30T08:57:09Z","timestamp":1767085029413,"version":"3.37.3"},"reference-count":51,"publisher":"Springer Science and Business Media LLC","issue":"7","license":[{"start":{"date-parts":[[2023,5,30]],"date-time":"2023-05-30T00:00:00Z","timestamp":1685404800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2023,5,30]],"date-time":"2023-05-30T00:00:00Z","timestamp":1685404800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["IIS-1724399","IIS-1724392","CPS-1837779"],"award-info":[{"award-number":["IIS-1724399","IIS-1724392","CPS-1837779"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001659","name":"Deutsche Forschungsgemeinschaft","doi-asserted-by":"publisher","award":["448549715"],"award-info":[{"award-number":["448549715"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2023,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial Separations, or RLSS: a real-time decentralized trajectory planning algorithm for cooperative multi-robot teams in static environments. The algorithm requires relatively few robot capabilities, namely sensing the positions of robots and obstacles without higher-order derivatives and the ability of distinguishing robots from obstacles. There is no communication requirement and the robots\u2019 dynamic limits are taken into account. RLSS generates and solves convex quadratic optimization problems that are kinematically feasible and guarantees collision avoidance if the resulting problems are feasible. We demonstrate the algorithm\u2019s performance in real-time in simulations and on physical robots. We compare RLSS to two state-of-the-art planners and show empirically that RLSS does avoid deadlocks and collisions in forest-like and maze-like environments, significantly improving prior work, which result in collisions and deadlocks in such environments.<\/jats:p>","DOI":"10.1007\/s10514-023-10104-w","type":"journal-article","created":{"date-parts":[[2023,5,30]],"date-time":"2023-05-30T06:02:27Z","timestamp":1685426547000},"page":"921-946","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["RLSS: real-time, decentralized, cooperative, networkless multi-robot trajectory planning using linear spatial separations"],"prefix":"10.1007","volume":"47","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6424-0503","authenticated-orcid":false,"given":"Bask\u0131n","family":"\u015eenba\u015flar","sequence":"first","affiliation":[]},{"given":"Wolfgang","family":"H\u00f6nig","sequence":"additional","affiliation":[]},{"given":"Nora","family":"Ayanian","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,5,30]]},"reference":[{"key":"10104_CR1","doi-asserted-by":"publisher","unstructured":"Alonso-Mora, J., Breitenmoser, A., Rufli, M., Beardsley, P., Siegwart, R. (2013). Optimal reciprocal collision avoidance for multiple non-holonomic robots. In Distributed autonomous robotic systems: The 10th international symposium (pp. 203\u2013216). https:\/\/doi.org\/10.1007\/978-3-642-32723-0.","DOI":"10.1007\/978-3-642-32723-0"},{"key":"10104_CR2","doi-asserted-by":"publisher","first-page":"961","DOI":"10.3233\/978-1-61499-419-0-961","volume":"263","author":"M Barer","year":"2014","unstructured":"Barer, M., Sharon, G., Stern, R., & Felner, A. (2014). Suboptimal variants of the conflict based search algorithm for the multi-agent pathfinding problem. Frontiers in Artificial Intelligence and Applications, 263, 961\u2013962. https:\/\/doi.org\/10.3233\/978-1-61499-419-0-961","journal-title":"Frontiers in Artificial Intelligence and Applications"},{"key":"10104_CR3","unstructured":"Batra, S., Huang, Z., Petrenko, A., Kumar, T., Molchanov, A., Sukhatme, G. S. (2021). Decentralized control of quadrotor swarms with end-to-end deep reinforcement learning. In 5th Conference on robot learning. CoRL 2021."},{"key":"10104_CR4","doi-asserted-by":"crossref","unstructured":"Bhattacharya, S., Kumar, V., Likhachev, M. (2010). Search-based path planning with homotopy class constraints. In Proceedings of the twenty-fourth AAAI conference on artificial intelligence, pp. 1230\u20131237.","DOI":"10.1609\/aaai.v24i1.7735"},{"issue":"1","key":"10104_CR5","doi-asserted-by":"publisher","first-page":"47","DOI":"10.1109\/70.481750","volume":"12","author":"G Campion","year":"1996","unstructured":"Campion, G., Bastin, G., & Dandrea-Novel, B. (1996). Structural properties and classification of kinematic and dynamic models of wheeled mobile robots. IEEE Transactions on Robotics and Automation, 12(1), 47\u201362. https:\/\/doi.org\/10.1109\/70.481750","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"10104_CR6","doi-asserted-by":"publisher","unstructured":"Chen, J., Liu, T., Shen, S. (2016). Online generation of collision-free trajectories for quadrotor flight in unknown cluttered environments. In 2016 IEEE international conference on robotics and automation (ICRA) (pp. 1476\u20131483). https:\/\/doi.org\/10.1109\/ICRA.2016.7487283.","DOI":"10.1109\/ICRA.2016.7487283"},{"issue":"3","key":"10104_CR7","doi-asserted-by":"publisher","first-page":"273","DOI":"10.1007\/BF00994018","volume":"20","author":"C Cortes","year":"1995","unstructured":"Cortes, C., & Vapnik, V. (1995). Support-vector networks. Machine Learning, 20(3), 273\u2013297. https:\/\/doi.org\/10.1007\/BF00994018","journal-title":"Machine Learning"},{"key":"10104_CR8","doi-asserted-by":"publisher","unstructured":"Desai, A., & Michael, N. (2020). Online planning for quadrotor teams in 3-d workspaces via reachability analysis on invariant geometric trees. In IEEE international conference on robotics and automation (ICRA) (pp. 8769\u20138775). https:\/\/doi.org\/10.1109\/ICRA40945.2020.9197195.","DOI":"10.1109\/ICRA40945.2020.9197195"},{"key":"10104_CR9","doi-asserted-by":"publisher","unstructured":"Dresner, K., & Stone, P. (2008). A multiagent approach to autonomous intersection management. Journal of Artificial Intelligence Research, 31, 591\u2013656. https:\/\/doi.org\/10.1613\/jair.2502.","DOI":"10.1613\/jair.2502"},{"issue":"6","key":"10104_CR10","doi-asserted-by":"publisher","first-page":"379","DOI":"10.1016\/j.cagd.2012.03.001","volume":"29","author":"RT Farouki","year":"2012","unstructured":"Farouki, R. T. (2012). The Bernstein polynomial basis: A centennial retrospective. Computer Aided Geometric Design, 29(6), 379\u2013419. https:\/\/doi.org\/10.1016\/j.cagd.2012.03.001","journal-title":"Computer Aided Geometric Design"},{"issue":"1","key":"10104_CR11","doi-asserted-by":"publisher","first-page":"4","DOI":"10.1109\/MITS.2011.940472","volume":"3","author":"A Furda","year":"2011","unstructured":"Furda, A., & Vlacic, L. (2011). Enabling safe autonomous driving in real-world city traffic using multiple criteria decision making. IEEE Intelligent Transportation Systems Magazine, 3(1), 4\u201317. https:\/\/doi.org\/10.1109\/MITS.2011.940472","journal-title":"IEEE Intelligent Transportation Systems Magazine"},{"issue":"2","key":"10104_CR12","doi-asserted-by":"publisher","first-page":"135","DOI":"10.1007\/s10287-008-0090-3","volume":"6","author":"J Gondzio","year":"2009","unstructured":"Gondzio, J., & Grothey, A. (2009). Exploiting structure in parallel implementation of interior point methods for optimization. Computational Management Science, 6(2), 135\u2013160. https:\/\/doi.org\/10.1007\/s10287-008-0090-3","journal-title":"Computational Management Science"},{"key":"10104_CR13","doi-asserted-by":"crossref","unstructured":"Harabor, D., & Grastien, A. (2011). Online graph pruning for pathfinding on grid maps. In Proceedings of the AAAI conference on artificial intelligence, vol. 25, pp. 1114\u20131119.","DOI":"10.1609\/aaai.v25i1.7994"},{"issue":"4","key":"10104_CR14","doi-asserted-by":"publisher","first-page":"856","DOI":"10.1109\/TRO.2018.2853613","volume":"34","author":"W H\u00f6nig","year":"2018","unstructured":"H\u00f6nig, W., Preiss, J. A., Kumar, T. K. S., Sukhatme, G. S., & Ayanian, N. (2018). Trajectory planning for quadrotor swarms. IEEE Transactions on Robotics, 34(4), 856\u2013869. https:\/\/doi.org\/10.1109\/TRO.2018.2853613","journal-title":"IEEE Transactions on Robotics"},{"key":"10104_CR15","doi-asserted-by":"publisher","unstructured":"Homm, F., Kaempchen, N., Ota, J., Burschka, D. (2010). Efficient occupancy grid computation on the gpu with lidar and radar for road boundary detection. In IEEE intelligent vehicles symposium (IV) (pp. 1006\u20131013). https:\/\/doi.org\/10.1109\/IVS.2010.5548091.","DOI":"10.1109\/IVS.2010.5548091"},{"issue":"4","key":"10104_CR16","doi-asserted-by":"publisher","first-page":"76","DOI":"10.1177\/027836498400300405","volume":"3","author":"J Hopcroft","year":"1984","unstructured":"Hopcroft, J., Schwartz, J., & Sharir, M. (1984). On the complexity of motion planning for multiple independent objects; pspace- hardness of the\u201cwarehouseman\u2019s problem\u2019\u2019. The International Journal of Robotics Research, 3(4), 76\u201388. https:\/\/doi.org\/10.1177\/027836498400300405","journal-title":"The International Journal of Robotics Research"},{"issue":"3","key":"10104_CR17","doi-asserted-by":"publisher","first-page":"189","DOI":"10.1007\/s10514-012-9321-0","volume":"34","author":"A Hornung","year":"2013","unstructured":"Hornung, A., Wurm, K. M., Bennewitz, M., Stachniss, C., & Burgard, W. (2013). Octomap: An efficient probabilistic 3d mapping framework based on octrees. Autonomous Robots, 34(3), 189\u2013206. https:\/\/doi.org\/10.1007\/s10514-012-9321-0","journal-title":"Autonomous Robots"},{"key":"10104_CR18","doi-asserted-by":"publisher","unstructured":"Jiang, S., & Song, K. (2013). Differential flatness-based motion control of a steerand-drive omnidirectional mobile robot. In IEEE international conference on mechatronics and automation (ICMA) (pp. 1167\u20131172). https:\/\/doi.org\/10.1109\/ICMA.2013.6618079.","DOI":"10.1109\/ICMA.2013.6618079"},{"key":"10104_CR19","doi-asserted-by":"publisher","unstructured":"Karaman, S., & Frazzoli, E. (2010). Incremental sampling-based algorithms for optimal motion planning. Robotics Science and Systems VI, 104(2). https:\/\/doi.org\/10.15607\/RSS.2010.VI.034.","DOI":"10.15607\/RSS.2010.VI.034"},{"key":"10104_CR20","doi-asserted-by":"publisher","unstructured":"Lam, E., Le Bodic, P., Harabor, D.D., Stuckey, P.J. (2019). Branch-and-cut-and-price for multi-agent pathfinding. In Proceedings of the twenty-eighth international joint conference on artificial intelligence, IJCAI-19 (pp. 1289\u20131296). https:\/\/doi.org\/10.24963\/ijcai.2019\/179.","DOI":"10.24963\/ijcai.2019\/179"},{"key":"10104_CR21","doi-asserted-by":"publisher","unstructured":"Li, Q., Gama, F., Ribeiro, A., Prorok, A. (2020). Graph neural networks for decentralized multi-robot path planning. IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 11785\u201311792). https:\/\/doi.org\/10.1109\/iros45743.2020.9341668.","DOI":"10.1109\/iros45743.2020.9341668"},{"issue":"3","key":"10104_CR22","doi-asserted-by":"publisher","first-page":"1688","DOI":"10.1109\/LRA.2017.2663526","volume":"2","author":"S Liu","year":"2017","unstructured":"Liu, S., Watterson, M., Mohta, K., Sun, K., Bhattacharya, S., Taylor, C. J., & Kumar, V. (2017). Planning dynamically feasible trajectories for quadrotors using safe flight corridors in 3-D complex environments. IEEE Robotics and Automation Letters, 2(3), 1688\u20131695. https:\/\/doi.org\/10.1109\/LRA.2017.2663526","journal-title":"IEEE Robotics and Automation Letters"},{"key":"10104_CR23","doi-asserted-by":"publisher","unstructured":"Luis, C., Vukosavljev, M., & Schoellig, A. (2020). Online trajectory generation with distributed model predictive control for multirobot motion planning. IEEE Robotics and Automation Letters, pp. 1\u20131. https:\/\/doi.org\/10.1109\/LRA.2020.2964159.","DOI":"10.1109\/LRA.2020.2964159"},{"key":"10104_CR24","doi-asserted-by":"publisher","unstructured":"Ma, H., Harabor, D., Stuckey, P.J., Li, J., Koenig, S. (2019). Searching with consistent prioritization for multi-agent path finding. In Proceedings of the AAAI conference on artificial intelligence, 33(01), 7643\u20137650. https:\/\/doi.org\/10.1609\/AAAI.V33I01.33017643.","DOI":"10.1609\/AAAI.V33I01.33017643"},{"key":"10104_CR25","doi-asserted-by":"publisher","unstructured":"Mellinger, D., & Kumar, V. (2011). Minimum snap trajectory generation and control for quadrotors. In IEEE international conference on robotics and automation (ICRA) (pp. 2520\u20132525). https:\/\/doi.org\/10.1109\/ICRA.2011.5980409.","DOI":"10.1109\/ICRA.2011.5980409"},{"key":"10104_CR26","unstructured":"Murray, R. M., Rathinam, M., Sluis, W. (1995). Differential flatness of mechanical control systems: A catalog of prototype systems. In ASME international mechanical engineering congress and exposition."},{"key":"10104_CR27","doi-asserted-by":"publisher","unstructured":"Murray, R. M., & Sastry, S. S. (1993). Nonholonomic motion planning: steering using sinusoids. IEEE Transactions on Automatic Control, 38(5), 700\u2013716. https:\/\/doi.org\/10.1109\/9.277235.","DOI":"10.1109\/9.277235"},{"key":"10104_CR28","doi-asserted-by":"publisher","unstructured":"Oleynikova, H., Taylor, Z., Fehr, M., Siegwart, R., & Nieto, J. (2017). Voxblox: Incremental 3D euclidean signed distance fields for on-board mav planning. In IEEE\/RSJ international conference on intelligent robots and systems (IROS). https:\/\/doi.org\/10.1109\/IROS.2017.8202315.","DOI":"10.1109\/IROS.2017.8202315"},{"issue":"2","key":"10104_CR29","doi-asserted-by":"publisher","first-page":"2015","DOI":"10.1109\/LRA.2018.2889348","volume":"4","author":"C O\u2019Meadhra","year":"2019","unstructured":"O\u2019Meadhra, C., Tabib, W., & Michael, N. (2019). Variable resolution occupancy mapping using gaussian mixture models. IEEE Robotics and Automation Letters, 4(2), 2015\u20132022. https:\/\/doi.org\/10.1109\/LRA.2018.2889348","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"2","key":"10104_CR30","doi-asserted-by":"publisher","first-page":"659","DOI":"10.1109\/LRA.2020.3047786","volume":"6","author":"J Park","year":"2021","unstructured":"Park, J., & Kim, H. J. (2021). Online trajectory planning for multiple quadrotors in dynamic environments using relative safe flight corridor. IEEE Robotics and Automation Letters, 6(2), 659\u2013666. https:\/\/doi.org\/10.1109\/LRA.2020.3047786","journal-title":"IEEE Robotics and Automation Letters"},{"key":"10104_CR31","doi-asserted-by":"publisher","unstructured":"Park, J., Kim, J., Jang, I., Kim, H. J. (2020). Efficient multi-agent trajectory planning with feasibility guarantee using relative Bernstein polynomial. In IEEE international conference on robotics and automation (ICRA) (pp. 434\u2013440). https:\/\/doi.org\/10.1109\/ICRA40945.2020.9197162.","DOI":"10.1109\/ICRA40945.2020.9197162"},{"key":"10104_CR32","doi-asserted-by":"publisher","unstructured":"Peterson, R., Buyukkocak, A. T., Aksaray, D., & Yazicio\u01e7lu, Y. (2021). Distributed safe planning for satisfying minimal temporal relaxations of twtl specifications. Robotics and Autonomous Systems, 142, 103801. https:\/\/doi.org\/10.1016\/j.robot.2021.103801.","DOI":"10.1016\/j.robot.2021.103801"},{"key":"10104_CR33","doi-asserted-by":"publisher","unstructured":"Piegl, L., & Tiller, W. (1995). The NURBS book. Springer. https:\/\/doi.org\/10.1007\/978-3-642-97385-7.","DOI":"10.1007\/978-3-642-97385-7"},{"key":"10104_CR34","doi-asserted-by":"publisher","unstructured":"Richter, C., Bry, A., Roy, N. (2013). Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments. In International symposium of robotic research (ISRR) (vol. 114, pp. 649\u2013666). https:\/\/doi.org\/10.1007\/978-3-319-28872-7_37.","DOI":"10.1007\/978-3-319-28872-7_37"},{"key":"10104_CR35","doi-asserted-by":"publisher","unstructured":"Riviere, B., H\u00f6nig, W., Yue, Y., Chung, S.-J. (2020). Glas: Global-to-local safe autonomy synthesis for multi-robot motion planning with end-to-end learning. IEEE Robotics and Automation Letters, pp. 1\u20131. https:\/\/doi.org\/10.1109\/LRA.2020.2994035.","DOI":"10.1109\/LRA.2020.2994035"},{"key":"10104_CR36","doi-asserted-by":"publisher","first-page":"2378","DOI":"10.1109\/LRA.2019.2903261","volume":"4","author":"G Sartoretti","year":"2019","unstructured":"Sartoretti, G., Kerr, J., Shi, Y., Wagner, G., Kumar, T. K., Koenig, S., & Choset, H. (2019). Primal: Pathfinding via reinforcement and imitation multi-agent learning. IEEE Robotics and Automation Letters, 4, 2378\u20132385. https:\/\/doi.org\/10.1109\/LRA.2019.2903261","journal-title":"IEEE Robotics and Automation Letters"},{"key":"10104_CR37","doi-asserted-by":"publisher","unstructured":"\u015eenba\u015flar, B., H\u00f6nig, W., Ayanian, N. (2019). Robust trajectory execution for multi-robot teams using distributed real-time replanning. In Distributed Autonomous Robotic Systems (DARS) (pp. 167\u2013181). https:\/\/doi.org\/10.1007\/978-3-030-05816-6_12.","DOI":"10.1007\/978-3-030-05816-6_12"},{"key":"10104_CR38","unstructured":"\u015eenba\u015flar, B., H\u00f6nig, W., Ayanian, N. (2021). RLSS: Real-time multi-robot trajectory replanning using linear spatial separations. Retrieved from arXiv:2103.07588."},{"key":"10104_CR39","doi-asserted-by":"crossref","unstructured":"\u015eenba\u015flar, B., & Sukhatme, G. (2022). Asynchronous real-time decentralized multirobot trajectory planning. In IEEE\/RSJ international conference on intelligent robots and systems (IROS 2022).","DOI":"10.1109\/IROS47612.2022.9981760"},{"key":"10104_CR40","doi-asserted-by":"publisher","first-page":"40","DOI":"10.1016\/j.artint.2014.11.006","volume":"219","author":"G Sharon","year":"2015","unstructured":"Sharon, G., Stern, R., Felner, A., & Sturtevant, N. R. (2015). Conflict-based search for optimal multi-agent pathfinding. Artificial Intelligence, 219, 40\u201366. https:\/\/doi.org\/10.1016\/j.artint.2014.11.006","journal-title":"Artificial Intelligence"},{"key":"10104_CR41","doi-asserted-by":"publisher","unstructured":"Solovey, K., Salzman, O., & Halperin, D. (2013). Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning. In The International Journal of Robotics Research, 107. https:\/\/doi.org\/10.1007\/978-3-319-16595-0_34.","DOI":"10.1007\/978-3-319-16595-0_34"},{"key":"10104_CR42","doi-asserted-by":"publisher","unstructured":"Tang, S., & Kumar, V. (2016). Safe and complete trajectory generation for robot teams with higher-order dynamics. In IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 1894\u20131901). https:\/\/doi.org\/10.1109\/IROS.2016.7759300.","DOI":"10.1109\/IROS.2016.7759300"},{"key":"10104_CR43","unstructured":"Tordesillas, J., & How, J. P. (2020). MINVO basis: Finding simplexes with minimum volume enclosing polynomial curves. arXiv preprint arXiv:2010.10726."},{"key":"10104_CR44","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3080235","author":"J Tordesillas","year":"2021","unstructured":"Tordesillas, J., & How, J. P. (2021). MADER: Trajectory planner in multi-agent and dynamic environments. IEEE Transactions on Robotics. https:\/\/doi.org\/10.1109\/TRO.2021.3080235","journal-title":"IEEE Transactions on Robotics"},{"key":"10104_CR45","doi-asserted-by":"publisher","unstructured":"Usenko, V., Von Stumberg, L., Pangercic, A., Cremers, D. (2017). Real-time trajectory replanning for mavs using uniform b-splines and a 3d circular buffer. In IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 215\u2013222). https:\/\/doi.org\/10.1109\/IROS.2017.8202160.","DOI":"10.1109\/IROS.2017.8202160"},{"key":"10104_CR46","doi-asserted-by":"publisher","unstructured":"Wang, L., Ames, A.D., Egerstedt, M. (2017). Safety barrier certificates for collisions-free multirobot systems. IEEE Transactions on Robotics, 33(3), 661\u2013674. https:\/\/doi.org\/10.1109\/TRO.2017.2659727.","DOI":"10.1109\/TRO.2017.2659727"},{"key":"10104_CR47","doi-asserted-by":"publisher","unstructured":"Wang, X., Xi, L., Chen, Y., Lai, S., Lin, F., Chen, B.M. (2021). Decentralized mpc-based trajectory generation for multiple quadrotors in cluttered environments. Guidance, Navigation and Control, 01(02), 2150007. https:\/\/doi.org\/10.1142\/S2737480721500072.","DOI":"10.1142\/S2737480721500072"},{"key":"10104_CR48","doi-asserted-by":"crossref","first-page":"9","DOI":"10.1609\/aimag.v29i4.2180","volume":"29","author":"P Wurman","year":"2008","unstructured":"Wurman, P., D\u2019Andrea, R., & Mountz, M. (2008). Coordinating hundreds of cooperative, autonomous vehicles in warehouses. AI Magazine, 29, 9\u201320.","journal-title":"AI Magazine"},{"key":"10104_CR49","doi-asserted-by":"publisher","unstructured":"Yu, J., & LaValle, S. M. (2013). Structure and intractability of optimal multi-robot path planning on graphs. In Proceedings of the twenty-seventh AAAI conference on artificial intelligence (pp. 1443\u20131449). https:\/\/doi.org\/10.1609\/aaai.v27i1.8541.","DOI":"10.1609\/aaai.v27i1.8541"},{"issue":"2","key":"10104_CR50","doi-asserted-by":"publisher","first-page":"1047","DOI":"10.1109\/LRA.2017.2656241","volume":"2","author":"D Zhou","year":"2017","unstructured":"Zhou, D., Wang, Z., Bandyopadhyay, S., & Schwager, M. (2017). Fast, on-line collision avoidance for dynamic vehicles using buffered Voronoi cells. IEEE Robotics and Automation Letters, 2(2), 1047\u20131054. https:\/\/doi.org\/10.1109\/LRA.2017.2656241","journal-title":"IEEE Robotics and Automation Letters"},{"key":"10104_CR51","doi-asserted-by":"publisher","unstructured":"Zhou, Y., & Zeng, J. (2015). Massively parallel A* search on a GPU. In Proceedings of the AAAI conference on artificial intelligence (vol. 29). https:\/\/doi.org\/10.1609\/aaai.v29i1.9367.","DOI":"10.1609\/aaai.v29i1.9367"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-023-10104-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10514-023-10104-w\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-023-10104-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,11,28]],"date-time":"2023-11-28T16:08:37Z","timestamp":1701187717000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10514-023-10104-w"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,5,30]]},"references-count":51,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2023,10]]}},"alternative-id":["10104"],"URL":"https:\/\/doi.org\/10.1007\/s10514-023-10104-w","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"type":"print","value":"0929-5593"},{"type":"electronic","value":"1573-7527"}],"subject":[],"published":{"date-parts":[[2023,5,30]]},"assertion":[{"value":"15 January 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"1 April 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"30 May 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Bask\u0131n \u015eenba\u015flar, the first author, has moved to Prof. Gaurav S. Sukhatme\u2019s group in January 2022 after the initial submission of this paper. Prof. Sukhatme is the editor-in-chief of Autonomous Robots journal and the advisor of Bask\u0131n \u015eenba\u015flar at the time of writing. Prof. Sukhatme was not involved in ideation, writing and experiments of this paper in any way. This paper is submitted to <i>Robot Swarms in the Real World: from Design to Deployment<\/i> special issue of Autonomous Robots, which has Dr. Siddharth Mayya as the lead guest editor.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}