{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,3]],"date-time":"2025-11-03T13:33:13Z","timestamp":1762176793827,"version":"3.40.5"},"reference-count":38,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2015,2,6]],"date-time":"2015-02-06T00:00:00Z","timestamp":1423180800000},"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":[[2015,12]]},"DOI":"10.1007\/s10846-015-0187-1","type":"journal-article","created":{"date-parts":[[2015,2,5]],"date-time":"2015-02-05T08:07:21Z","timestamp":1423123641000},"page":"507-523","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["3D Robot Formations Path Planning with Fast Marching Square"],"prefix":"10.1007","volume":"80","author":[{"given":"David","family":"\u00c1lvarez","sequence":"first","affiliation":[]},{"given":"Javier V.","family":"G\u00f3mez","sequence":"additional","affiliation":[]},{"given":"Santiago","family":"Garrido","sequence":"additional","affiliation":[]},{"given":"Luis","family":"Moreno","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2015,2,6]]},"reference":[{"key":"187_CR1","unstructured":"Martin, M., Klupar, P., Kilberg, S., Winter, J.: TechSat 21 and revolutionizing space missions using microsatellites. In: AIAA\/USU Conference on Small Satellites (2001)"},{"key":"187_CR2","doi-asserted-by":"crossref","unstructured":"Dewan, A., Mahendran, A., Soni, N., Krishna, K.M.: Heterogeneous UGV-MAV exploration using integer programming. In: AIAA\/USU Conference on Small Satellites on Intelligent Robots and Systems (2013)","DOI":"10.1109\/IROS.2013.6697188"},{"key":"187_CR3","doi-asserted-by":"crossref","unstructured":"Hauert, S., Zufferey, J.C., Floreano, D.: Reverse-engineering of artificially evolved controllers for swarms of robots. In: IEEE Congress on Evolutionary Computation (2009)","DOI":"10.1109\/CEC.2009.4982930"},{"issue":"1\u20134","key":"187_CR4","doi-asserted-by":"crossref","first-page":"329","DOI":"10.1007\/s10846-012-9716-3","volume":"70","author":"JJ Acevedo","year":"2013","unstructured":"Acevedo, J.J., Arrue, B.C., Maza, I., Ollero, A.: Cooperative large area surveillance with a team of aerial mobile robots for long endurance missions. J. Intell. Robot. Syst. 70(1\u20134), 329\u2013345 (2013)","journal-title":"J. Intell. Robot. Syst."},{"key":"187_CR5","doi-asserted-by":"crossref","unstructured":"Likhachev, M., Keller, J., Kumar, V., Dobrokhodov, V., Jones, K., Wurz, J., Kaminer, I.: Planning for opportunistic surveillance with multiple robots. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 5750\u20135757. Tokyo (2013)","DOI":"10.1109\/IROS.2013.6697189"},{"key":"187_CR6","unstructured":"Bouabdallah, S.: Design and Control of Quadrotors with Applicationto Autonomous Flying, Theses 3727. \u00c9cole polytechnique f\u00e9d\u00e9rale de Lausanne (2007)"},{"key":"187_CR7","doi-asserted-by":"crossref","unstructured":"Hrabar, S.: Reactive obstacle avoidance for rotorcraft UAVs. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 4967\u20134974. San Francisco (2011)","DOI":"10.1109\/IROS.2011.6094629"},{"key":"187_CR8","unstructured":"Shen, S., Michael, N., Kumar, V.: 3D estimation and control for autonomous flight with constrained computation. In: IEEE International Conference of Robotics and Automation. Shanghai (2011)"},{"key":"187_CR9","unstructured":"Hino, T.: Simple formation control scheme tolerant to communication failures for small unmanned air vehicles. In: International Congress of the Aeronautical Sciences. Nice (2010)"},{"issue":"6","key":"187_CR10","doi-asserted-by":"crossref","first-page":"926","DOI":"10.1109\/70.736776","volume":"14","author":"T Balch","year":"1998","unstructured":"Balch, T., Arkin, R.C.: Behaviour-based formation control for multi-robot teams. IEEE Trans. Robot. Autom. 14(6), 926\u2013939 (1998)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"187_CR11","unstructured":"Naffin, D., Sukhatme, G.: Negotiated formations. In: Proceedings of the International Conference on Intelligent Autonomous Systems, pp. 181\u2013190. Amsterdam (2004)"},{"issue":"5","key":"187_CR12","doi-asserted-by":"crossref","first-page":"837","DOI":"10.1109\/TRA.2002.803458","volume":"18","author":"J Fredslund","year":"2002","unstructured":"Fredslund, J., Matari, M.J.: A general algorithm for robot formations using local sensing and minimal communication. IEEE Trans. Robot. Autom. 18(5), 837\u2013846 (2002)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"187_CR13","doi-asserted-by":"crossref","unstructured":"Lemay, M, Michaud, F., L\u00e9tourneau, D., Valin, J.-M.: Autonomous initialization of robot formations. In: Proceedings of the IEEE International Conference on Robotics and Automation, vol. 3, pp. 3018\u20133023. New Orleans (2004)","DOI":"10.1109\/ROBOT.2004.1307520"},{"issue":"5","key":"187_CR14","doi-asserted-by":"crossref","first-page":"847","DOI":"10.1109\/TRA.2002.804500","volume":"18","author":"P Ogren","year":"2002","unstructured":"Ogren, P., Egerstedt, M., Hu, X.: A control Lyapunov function approach to multiagent coordination. IEEE Trans. Robot. Autom. 18(5), 847\u2013851 (2002)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"187_CR15","doi-asserted-by":"crossref","unstructured":"Zhang, M., Shen, Y., Wang, Q., Wang, Y.: Dynamic artificial potential field based multi-robot formation control. In: IEEE Instrumentation and Measurement Technology Conference, pp. 1530\u20131534. Austin (2010)","DOI":"10.1109\/IMTC.2010.5488238"},{"key":"187_CR16","doi-asserted-by":"crossref","unstructured":"Cao, Z., Xie, L., Zhang, B., Wang, S., Tan, M.: Formation constrained multi-robot system in unknown environments. Proceedings Conference on Robotics and Automation, vol. 1, pp. 735\u2013740 (2003)","DOI":"10.1109\/ROBOT.2003.1241681"},{"key":"187_CR17","doi-asserted-by":"crossref","unstructured":"Tan, K.H., Lewis, M.A.: Virtual structures for high-precision cooperative mobile robotic control. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 132\u2013139 (1996)","DOI":"10.1109\/IROS.1996.570643"},{"issue":"1","key":"187_CR18","doi-asserted-by":"crossref","first-page":"73","DOI":"10.2514\/1.9287","volume":"1","author":"W Ren","year":"2004","unstructured":"Ren, W., Beard, R.W.: Decentralized scheme for spacecraft formation flying via the virtual structure approach. AIAA J. Guid. Control. Dyn. 1(1), 73\u201382 (2004)","journal-title":"AIAA J. Guid. Control. Dyn."},{"key":"187_CR19","doi-asserted-by":"crossref","unstructured":"Ahmad, A., Nascimento, T., Concei\u00e7ao, A.G.S., Moreira, A.P., Lima, P.: Perception-driven multi-robot formation control. In: IEEE International Conference on Robotics and Automation, pp. 1851\u20131856. Karlsruhe (2013)","DOI":"10.1109\/ICRA.2013.6630821"},{"key":"187_CR20","doi-asserted-by":"crossref","unstructured":"Kanjanawanishkul, K., Zell, A.: A model-predictive approach to formation control of omnidirectional mobile robots. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 2771\u20132776. Nice (2008)","DOI":"10.1109\/IROS.2008.4650752"},{"key":"187_CR21","doi-asserted-by":"crossref","unstructured":"\u00c1lvarez, D., G\u00f3mez, J.V., Garrido, S., Moreno, L.: 3D Robot formations planning with fast marching square. In: IEEE International Conference on Autonomous Robot Systems and Competitions. Espinho (2014)","DOI":"10.1109\/ICARSC.2014.6849763"},{"issue":"9","key":"187_CR22","doi-asserted-by":"crossref","first-page":"543","DOI":"10.1016\/j.sysconle.2010.06.014","volume":"59","author":"W Yu","year":"2010","unstructured":"Yu, W., Chen, G., Cao, M.: Distributed leader-follower flocking control for multi-agent dynamical systems with time-varying velocities. Syst. Control Lett. 59(9), 543\u2013552 (2010)","journal-title":"Syst. Control Lett."},{"issue":"9","key":"187_CR23","doi-asserted-by":"crossref","first-page":"675","DOI":"10.1016\/j.robot.2011.05.011","volume":"59","author":"S Garrido","year":"2011","unstructured":"Garrido, S., Moreno, L., Lima, P.: Robot formation motion planning using fast marching. J. Robot. Auton. Syst. 59(9), 675\u2013683 (2011)","journal-title":"J. Robot. Auton. Syst."},{"key":"187_CR24","doi-asserted-by":"crossref","unstructured":"\u00c1lvarez, D., Lumbier, A., G\u00f3mez, J.V., Garrido, S., Moreno, L.: Precision grasp planning with Gifu hand III based on fast marching square. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 4549\u20134554. Tokyo (2013)","DOI":"10.1109\/IROS.2013.6697010"},{"issue":"4","key":"187_CR25","doi-asserted-by":"crossref","first-page":"111","DOI":"10.1109\/MRA.2013.2248309","volume":"20","author":"A Valero","year":"2013","unstructured":"Valero, A., G\u00f3mez, J.V., Garrido, S., Moreno, L.: The path to efficiency. IEEE Robot. Autom. Mag. 20(4), 111\u2013120 (2013)","journal-title":"IEEE Robot. Autom. Mag."},{"issue":"2","key":"187_CR26","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1016\/j.robot.2012.10.009","volume":"61","author":"JV G\u00f3mez","year":"2013","unstructured":"G\u00f3mez, J.V., Lumbier, A., Garrido, S., Moreno, L.: Planning Robot Formations with Fast Marching Square Including Uncertainty Conditions. J. Robot. Auton. Syst. 61(2), 137\u2013152 (2013)","journal-title":"J. Robot. Auton. Syst."},{"key":"187_CR27","doi-asserted-by":"crossref","unstructured":"Sethian, J.A.: A fast marching level set method for monotonically advancing fronts. In: Proceedings National Academy of Science, vol. 93, pp. 1591\u20131595 (1996)","DOI":"10.1073\/pnas.93.4.1591"},{"key":"187_CR28","doi-asserted-by":"crossref","first-page":"12","DOI":"10.1016\/0021-9991(88)90002-2","volume":"79","author":"S Osher","year":"1988","unstructured":"Osher, S., Sethian, J.A.: Fronts propagating with curvature-dependent speed: Algorithms based on Hamilton-Jacobi formulations. J. Comput. Phys. 79, 12\u201349 (1988)","journal-title":"J. Comput. Phys."},{"issue":"1","key":"187_CR29","first-page":"3169","volume":"24","author":"S Garrido","year":"2009","unstructured":"Garrido, S., Moreno, L., Abderrahim, M., Blanco, D.: FM2: A Real-time Sensor-based Feedback Controller for Mobile Robots. Intl. J. Robot. Autom. 24(1), 3169\u20133192 (2009)","journal-title":"Intl. J. Robot. Autom."},{"issue":"1","key":"187_CR30","first-page":"393","volume":"212","author":"L Yatziv","year":"2005","unstructured":"Yatziv, L., Bartesaghi, A., Sapiro, G.: A fast O(n) implementation of the fast marching algorithm. J. Comput. Phys. 212(1), 393\u2013399 (2005)","journal-title":"J. Comput. Phys."},{"issue":"64","key":"187_CR31","doi-asserted-by":"crossref","first-page":"1","DOI":"10.5772\/53999","volume":"10","author":"S Garrido","year":"2013","unstructured":"Garrido, S., Moreno, L., G\u00f3mez, J.V., Lima, P.U.: General path planning methodology for leader-followers based robot formations. Intl. J. Adv. Robot. Syst. 10(64), 1\u201310 (2013)","journal-title":"Intl. J. Adv. Robot. Syst."},{"key":"187_CR32","doi-asserted-by":"crossref","unstructured":"G\u00f3mez, J.V., Garrido, S., Moreno, L.: Adaptive robot formations using fast marching square working under uncertainty conditions. In: IEEE Workshop on Advanced Robotics and Its Social Impacts, pp. 68\u201371. California (2011)","DOI":"10.1109\/ARSO.2011.6301961"},{"issue":"17","key":"187_CR33","first-page":"437","volume":"1","author":"F Frenet","year":"1852","unstructured":"Frenet, F.: Sur les Courbes \u00e0 Double Courbure. Journal de Math\u00e9matiques Pures et Appliqu\u00e9es 1(17), 437\u2013447 (1852)","journal-title":"Journal de Math\u00e9matiques Pures et Appliqu\u00e9es"},{"issue":"16","key":"187_CR34","first-page":"193","volume":"1","author":"JA Serret","year":"1851","unstructured":"Serret, J.A.: Sur Quelques Formules Relatives \u00e0 la Th\u00e9orie des Courbes \u00e0 Double Courbure. Journal de Math\u00e9matiques Pures et Appliqu\u00e9es 1(16), 193\u2013207 (1851)","journal-title":"Journal de Math\u00e9matiques Pures et Appliqu\u00e9es"},{"key":"187_CR35","doi-asserted-by":"crossref","unstructured":"Dalal, N., Triggs, B.: Histograms of oriented gradients for human detection. In: IEEE Computer Society Conference on Computer Vision and Pattern Recognition, vol. 1, pp. 886\u2013893. San Diego (2005)","DOI":"10.1109\/CVPR.2005.177"},{"issue":"9","key":"187_CR36","doi-asserted-by":"crossref","first-page":"1627","DOI":"10.1109\/TPAMI.2009.167","volume":"32","author":"P Felzenszwalb","year":"2009","unstructured":"Felzenszwalb, P., Girshick, R., McAllester, D., Ramanan, D.: Object detection with discriminatively trained part-based models. IEEE Trans. Pattern. Anal. Mach. Intell. 32(9), 1627\u20131645 (2009)","journal-title":"IEEE Trans. Pattern. Anal. Mach. Intell."},{"key":"187_CR37","doi-asserted-by":"crossref","first-page":"1423","DOI":"10.1109\/21.61211","volume":"20","author":"R Volpe","year":"1990","unstructured":"Volpe, R., Khosla, P.: Manipulator control with superquadric artificial potential functions: Theory and experiments. IEEE Trans. Syst. Man Cybern. 20, 1423\u20131436 (1990)","journal-title":"IEEE Trans. Syst. Man Cybern."},{"issue":"5","key":"187_CR38","doi-asserted-by":"crossref","first-page":"497","DOI":"10.1016\/j.robot.2010.01.008","volume":"58","author":"S El-Khoury","year":"2010","unstructured":"El-Khoury, S., Sahbani, A.: A new strategy combining empirical and analytical approaches for grasping unknown 3d objects. J. Robot. Auton. Syst. 58(5), 497\u2013507 (2010)","journal-title":"J. Robot. Auton. Syst."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-015-0187-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-015-0187-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-015-0187-1","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,18]],"date-time":"2025-05-18T10:47:42Z","timestamp":1747565262000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-015-0187-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,2,6]]},"references-count":38,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2015,12]]}},"alternative-id":["187"],"URL":"https:\/\/doi.org\/10.1007\/s10846-015-0187-1","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2015,2,6]]}}}