{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,7]],"date-time":"2026-02-07T16:57:21Z","timestamp":1770483441424,"version":"3.49.0"},"reference-count":26,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2014,7,20]],"date-time":"2014-07-20T00:00:00Z","timestamp":1405814400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2015,1]]},"DOI":"10.1007\/s10846-014-0077-y","type":"journal-article","created":{"date-parts":[[2014,7,18]],"date-time":"2014-07-18T22:20:58Z","timestamp":1405722058000},"page":"229-246","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":112,"title":["Path Planning for Multi-UAV Formation"],"prefix":"10.1007","volume":"77","author":[{"given":"YongBo","family":"Chen","sequence":"first","affiliation":[]},{"given":"JianQiao","family":"Yu","sequence":"additional","affiliation":[]},{"given":"XiaoLong","family":"Su","sequence":"additional","affiliation":[]},{"given":"GuanChen","family":"Luo","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2014,7,20]]},"reference":[{"key":"77_CR1","doi-asserted-by":"crossref","unstructured":"Garcia, M., Viguria, A., Ollero, A.: Dynamic Graph-Search Algorithm for Global Path Planning in Presence of Hazardous Weather (2012)","DOI":"10.1007\/s10846-012-9704-7"},{"issue":"1","key":"77_CR2","doi-asserted-by":"crossref","first-page":"90","DOI":"10.1177\/027836498600500106","volume":"5","author":"O Khatib","year":"1986","unstructured":"Khatib, O.: Real-time Obstacle Avoidance for Manipulators and Mobile Robots. Int. J. Robot. Res. 5 (1), 90\u201398 (1986)","journal-title":"Int. J. Robot. Res."},{"issue":"3","key":"77_CR3","doi-asserted-by":"crossref","first-page":"620","DOI":"10.1109\/TAC.2011.2159651","volume":"57","author":"WB Dunbar","year":"2012","unstructured":"Dunbar, W.B., Caveney, D.S.: Distributed Receding Horizon Control of Vehicle Platoons: Stability and String Stability. IEEE Trans. Autom. Control 57 (3), 620\u2013633 (2012). doi: 10.1109\/TAC.2011.2159651","journal-title":"IEEE Trans. Autom. Control"},{"issue":"10","key":"77_CR4","doi-asserted-by":"crossref","first-page":"2712","DOI":"10.1007\/s11431-012-4890-x","volume":"55","author":"L Pei","year":"2012","unstructured":"Pei, L., HaiBin, D.: Path Planning of Unmanned Aerial Vehicle Based on Improved Gravitational Search Algorithm. Sci. China Technol. Sci. 55 (10), 2712\u20132719 (2012). doi: 10.1007\/s11431-012-4890-x","journal-title":"Sci. China Technol. Sci."},{"issue":"1","key":"77_CR5","doi-asserted-by":"crossref","first-page":"132","DOI":"10.1109\/TII.2012.2198665","volume":"9","author":"V Roberge","year":"2013","unstructured":"Roberge, V., Tarbouchi, M., Labonte, G.: Comparison of Parallel Genetic Algorithm and Particle Swarm Optimization for Real-time UAV Path Planning. IEEE Trans. Ind. Inform. 9 (1), 132\u2013141 (2013). doi: 10.1109\/TII.2012.2198665","journal-title":"IEEE Trans. Ind. Inform."},{"key":"77_CR6","doi-asserted-by":"crossref","unstructured":"Anderson, B.D.O., Yu, C., Baris, F.: Information Architecture and Control Design for Rigid Formations. In: 26th Chinese Control Conference, 26-31 July 2007, Piscataway, NJ, USA 2007. Proceedings of the 26th Chinese Control Conference. IEEE (2007)","DOI":"10.1109\/CHICC.2006.4346754"},{"issue":"4","key":"77_CR7","doi-asserted-by":"crossref","first-page":"672","DOI":"10.1109\/TCST.2007.899191","volume":"15","author":"W Xiaohua","year":"2007","unstructured":"Xiaohua, W., Yadav, V., Balakrishnan, S.N.: Cooperative UAV Formation Flying with Obstacle\/Collision Avoidance. IEEE Trans. Control Syst. Technol. 15 (4), 672\u2013679 (2007). doi: 10.1109\/TCST.2007.899191","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"5","key":"77_CR8","doi-asserted-by":"crossref","first-page":"813","DOI":"10.1109\/TRA.2002.803463","volume":"18","author":"AK Das","year":"2002","unstructured":"Das, A.K., Fierro, R., Kumar, V., Ostrowski, J.P., Spletzer, J., Taylor, C.J.: A Vision-based Formation Control Framework. IEEE Trans. Robot. Autom. 18 (5), 813\u2013825 (2002). doi: 10.1109\/TRA.2002.803463","journal-title":"IEEE Trans. Robot. Autom."},{"key":"77_CR9","unstructured":"Chang Boon, L.: A Dynamic Virtual Structure Formation Control for Fixed-wing UAVs. In: 2011 9th IEEE International Conference on Control and Automation (ICCA 2011), 19-21 Dec. 2011, Piscataway, NJ, USA. IEEE (2011)"},{"issue":"1073","key":"77_CR10","doi-asserted-by":"crossref","first-page":"419","DOI":"10.1017\/S0001924000013348","volume":"107","author":"CR McInnes","year":"2003","unstructured":"McInnes, C.R.: Velocity Field Path-planning for Single and Multiple Unmanned Aerial Vehicles. Aeronaut. J. 107 (1073), 419\u2013426 (2003)","journal-title":"Aeronaut. J."},{"key":"77_CR11","unstructured":"Bemporad, A., Rocchi, C.: Decentralized Linear Time-varying Model Predictive Control of a Formation of Unmanned Aerial Vehicles. In: 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011), 12-15 Dec. 2011, Piscataway, NJ, USA, 7488\u20137493 (2011). IEEE"},{"key":"77_CR12","doi-asserted-by":"crossref","unstructured":"Chen Y.-b., Luo G.-c., Mei Y.-s., Yu J.-q., Su X.-l.: UAV path planning using artificial potential field method updated by optimal control theory. Int. J. Syst. Sci. (2014). doi:10.1080\/00207721.2014.929191","DOI":"10.1080\/00207721.2014.929191"},{"issue":"1-4","key":"77_CR13","doi-asserted-by":"crossref","first-page":"361","DOI":"10.1007\/s10846-012-9761-y","volume":"69","author":"O Cetin","year":"2013","unstructured":"Cetin, O., Zagli, I., Yilmaz, G.: Establishing Obstacle and Collision Free Communication Relay for UAVs with Artificial Potential Fields. J. Intell. Robot. Syst. 69 (1-4), 361\u2013372 (2013)","journal-title":"J. Intell. Robot. Syst."},{"key":"77_CR14","doi-asserted-by":"crossref","unstructured":"Charifa, S., Bikdash, M.: Comparison of geometrical, kinematic, and dynamic performance of several potential field methods. In: IEEE SoutheastCon 2009, 5-8 March 2009, Piscataway, NJ, USA. IEEE (2009)","DOI":"10.1109\/SECON.2009.5174043"},{"key":"77_CR15","doi-asserted-by":"crossref","unstructured":"Luo, G.-c., Yu, J.-q., Zhang, S.-y., Zhang, W.: Artificial Potential Field based Receding Horizon Control for path planning. In: 2012 24th Chinese Control and Decision Conference (CCDC), 23-25 May 2012, Piscataway, NJ, USA. IEEE (2012)","DOI":"10.1109\/CCDC.2012.6244586"},{"issue":"2","key":"77_CR16","first-page":"223","volume":"53","author":"X Zhang","year":"2010","unstructured":"Zhang, X., Duan, H., Yu, Y.: Receding Horizon Control for Multi-UAVs Close Formation Control Based on Differential Evolution. Sci. China Ser. F (Inf. Sci.) 53 (2), 223\u2013235 (2010). doi: 10.1007\/s11432-010-0036-6","journal-title":"Sci. China Ser. F (Inf. Sci.)"},{"issue":"1","key":"77_CR17","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1016\/S1000-9361(11)60361-0","volume":"25","author":"W Yanyang","year":"2012","unstructured":"Yanyang, W., Tietao, W., Xiangju, Q.: Study of Multi-objective Fuzzy Optimization for Path Planning. Chin. J. Aeronaut. 25 (1), 51\u201356 (2012). doi: 10.1016\/S1000-9361(11)60361-0","journal-title":"Chin. J. Aeronaut."},{"issue":"3","key":"77_CR18","first-page":"1","volume":"19","author":"S Hua","year":"2012","unstructured":"Hua, S., You, Y., Zhang, H., Song, H.: Receding Horizon Control of UAV Formations. Electron. Opt. Control. 19 (3), 1\u20135 (2012)","journal-title":"Electron. Opt. Control."},{"key":"77_CR19","volume-title":"Optimal Control Theory and Application","author":"S Wu","year":"2008","unstructured":"Wu, S.: Optimal Control Theory and Application. China Machine Press, Beijing (2008)"},{"issue":"4","key":"77_CR20","doi-asserted-by":"crossref","first-page":"552","DOI":"10.1007\/s11771-008-0104-x","volume":"15","author":"L-j Xie","year":"2008","unstructured":"Xie, L.-j., Xie, G.-r., Chen, H.-w., Li, X.-l.: Solution to Reinforcement Learning Problems with Artificial Potential Field. J. Cent. South Univ. Technol. 15 (4), 552\u2013557 (2008). doi: 10.1007\/s11771-008-0104-","journal-title":"J. Cent. South Univ. Technol."},{"key":"77_CR21","unstructured":"Mohamed, H.A., Yang, S., Moghavvemi, M.: Sliding Mode Controller Design for a Flying Quadrotor with Simplified Action Planner. In: ICCAS-SICE, 2009. IEEE (2009)"},{"key":"77_CR22","doi-asserted-by":"crossref","unstructured":"Bouabdallah, S., Siegwart, R.: Full Control of a Quadrotor. In: 2007 IEEE\/RSJ International Conference on Intelligent Robots and Systems, 29 Oct.-2 Nov. 2007, Piscataway, NJ, USA 2007. IEEE (2007)","DOI":"10.1109\/IROS.2007.4399042"},{"issue":"5","key":"77_CR23","first-page":"519","volume":"34","author":"Y Bai","year":"2012","unstructured":"Bai, Y., Liu, H., Shi, Z., Zhong, Y.: Robust Flight Control of Quadrotor Unmanned Air Vehicles. Jiqiren\/Robot 34 (5), 519\u2013524 (2012). doi: 10.3724\/SP.J.1218.2012.00519","journal-title":"Jiqiren\/Robot"},{"key":"77_CR24","unstructured":"Salih, A.L., Moghavvemi, M., Mohamed, H.A., Gaeid, K.S.: Modelling and PID Controller Design for a Quadrotor Unmanned air Vehicle. In: Automation Quality and Testing Robotics (AQTR), 2010 IEEE International Conference on. IEEE (2010)"},{"issue":"2","key":"77_CR25","doi-asserted-by":"crossref","first-page":"354","DOI":"10.1109\/TII.2011.2123906","volume":"7","author":"M\u00d6 Efe","year":"2011","unstructured":"Efe, M.\u00d6.: Neural Network Assisted Computationally Simple PID Control of a Quadrotor UAV. IEEE Trans. Ind. Informat. 7 (2), 354\u2013361 (2011)","journal-title":"IEEE Trans. Ind. Informat."},{"key":"77_CR26","unstructured":"Koren, Y., Borenstein, J.: Potential Field Methods and their Inherent Limitations for Mobile robot navigation. In: Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on. IEEE (1991)"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-014-0077-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-014-0077-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-014-0077-y","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,7,15]],"date-time":"2023-07-15T10:21:07Z","timestamp":1689416467000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-014-0077-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,7,20]]},"references-count":26,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2015,1]]}},"alternative-id":["77"],"URL":"https:\/\/doi.org\/10.1007\/s10846-014-0077-y","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,7,20]]}}}