{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,5]],"date-time":"2026-02-05T10:17:49Z","timestamp":1770286669948,"version":"3.49.0"},"reference-count":42,"publisher":"Springer Science and Business Media LLC","issue":"1-4","license":[{"start":{"date-parts":[[2016,2,10]],"date-time":"2016-02-10T00:00:00Z","timestamp":1455062400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001824","name":"GA\u010cR","doi-asserted-by":"crossref","award":["P103-12\/P756"],"award-info":[{"award-number":["P103-12\/P756"]}],"id":[{"id":"10.13039\/501100001824","id-type":"DOI","asserted-by":"crossref"}]},{"name":"CTU","award":["SGS15\/157\/OHK3\/2T\/13"],"award-info":[{"award-number":["SGS15\/157\/OHK3\/2T\/13"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2016,12]]},"DOI":"10.1007\/s10846-016-0338-z","type":"journal-article","created":{"date-parts":[[2016,2,10]],"date-time":"2016-02-10T00:45:26Z","timestamp":1455065126000},"page":"469-492","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":89,"title":["Swarm Distribution and Deployment for Cooperative Surveillance by Micro-Aerial Vehicles"],"prefix":"10.1007","volume":"84","author":[{"given":"Martin","family":"Saska","sequence":"first","affiliation":[]},{"given":"Vojt\u011bch","family":"Von\u00e1sek","sequence":"additional","affiliation":[]},{"given":"Jan","family":"Chudoba","sequence":"additional","affiliation":[]},{"given":"Justin","family":"Thomas","sequence":"additional","affiliation":[]},{"given":"Giuseppe","family":"Loianno","sequence":"additional","affiliation":[]},{"given":"Vijay","family":"Kumar","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2016,2,10]]},"reference":[{"key":"338_CR1","doi-asserted-by":"crossref","unstructured":"Krajnik, T., Nitsche, M., Faigl, J., Vanek, P., Saska, M., Preucil, L., Duckett, T., Mejail, M.: A practical multirobot localization system. In: Accepted by Journal of Intelligent & Robotic Systems (2014)","DOI":"10.1007\/s10846-014-0041-x"},{"key":"338_CR2","doi-asserted-by":"crossref","unstructured":"Faigl, J., Krajn\u00edk, T., Chudoba, J., Preucil, L., Saska, M.: Low-cost embedded system for relative localization in robotic swarms. In: Proc. of IEEE International Conference on Robotics and Automation (2013)","DOI":"10.1109\/ICRA.2013.6630694"},{"key":"338_CR3","doi-asserted-by":"crossref","unstructured":"Saska, M., Chudoba, J., Precil, L., Thomas, J., Loianno, G., Tresnak, A., Vonasek, V., Kumar, V.: Autonomous deployment of swarms of micro-aerial vehicles in cooperative surveillance. In: 2014 International Conference on Unmanned Aircraft Systems (ICUAS) (2014)","DOI":"10.1109\/ICUAS.2014.6842301"},{"key":"338_CR4","doi-asserted-by":"crossref","first-page":"171","DOI":"10.1007\/s10514-007-9073-4","volume":"25","author":"T Schmickl","year":"2008","unstructured":"Schmickl, T., Crailsheim, K.: Trophallaxis within a robotic swarm: bio-inspired communication among robots in a swarm. Autonom. Robots 25, 171\u2013188 (2008)","journal-title":"Autonom. Robots"},{"key":"338_CR5","doi-asserted-by":"crossref","unstructured":"Teacy, W., Nie, J., McClean, S., Parr, G.: Maintaining connectivity in uav swarm sensing. In: IEEE GLOBECOM Workshops (2010)","DOI":"10.1109\/GLOCOMW.2010.5700246"},{"issue":"4","key":"338_CR6","doi-asserted-by":"crossref","first-page":"927","DOI":"10.1109\/TRO.2009.2024997","volume":"25","author":"S Berman","year":"2009","unstructured":"Berman, S., Halasz, A., Hsieh, M., Kumar, V.: Optimized stochastic policies for task allocation in swarms of robots. IEEE Trans. Robot. 25(4), 927\u2013937 (2009)","journal-title":"IEEE Trans. Robot."},{"key":"338_CR7","doi-asserted-by":"crossref","unstructured":"Liu, W., Winfield, A., Sa, J., Chen, J., Dou, L.: Strategies for energy optimisation in a swarm of foraging robots. In: Swarm Robotics, vol. 4433, pp. 14\u201326 (2007)","DOI":"10.1007\/978-3-540-71541-2_2"},{"key":"338_CR8","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1007\/s11721-008-0015-3","volume":"2","author":"H Hamann","year":"2008","unstructured":"Hamann, H., Worn, H.: A framework of space-time continuous models for algorithm design in swarm robotics. Swarm Intell. 2, 209\u2013239 (2008)","journal-title":"Swarm Intell."},{"key":"338_CR9","doi-asserted-by":"crossref","first-page":"241","DOI":"10.1007\/s11721-008-0018-0","volume":"2","author":"A Winfield","year":"2008","unstructured":"Winfield, A., Liu, W., Nembrini, J., Martinoli, A.: Modelling a wireless connected swarm of mobile robots. Swarm Intell. 2, 241\u2013266 (2008)","journal-title":"Swarm Intell."},{"key":"338_CR10","doi-asserted-by":"crossref","unstructured":"Saska, M., Vakula, J., Preucil, L: Swarms of micro aerial vehicles stabilized under a visual relative localization. In: ICRA2014: Proceedings of 2014 IEEE International Conference on Robotics and Automation (2014)","DOI":"10.1109\/ICRA.2014.6907374"},{"issue":"3","key":"338_CR11","doi-asserted-by":"crossref","first-page":"743","DOI":"10.1109\/TAC.2010.2040494","volume":"55","author":"M Kumar","year":"2010","unstructured":"Kumar, M., Garg, D., Kumar, V.: Segregation of heterogeneous units in a swarm of robotic agents. IEEE Trans. Autom. Control 55(3), 743\u2013748 (2010)","journal-title":"IEEE Trans. Autom. Control"},{"key":"338_CR12","doi-asserted-by":"crossref","unstructured":"Saska, M: MAV-swarms: Unmanned aerial vehicles stabilized along a given path using onboard relative localization. In: Proceedings of 2015 International Conference on Unmanned Aircraft Systems (ICUAS) (2015)","DOI":"10.1109\/ICUAS.2015.7152376"},{"issue":"1\u20132","key":"338_CR13","doi-asserted-by":"publisher","first-page":"143","DOI":"10.1007\/s10514-012-9279-y","volume":"33","author":"M Turpin","year":"2012","unstructured":"Turpin, M., Michael, N., Kumar, V.: Trajectory design and control for aggressive formation flight with quadrotors. Autonom. Robots 33(1\u20132), 143\u2013156 (2012). [Online]. Available. doi: 10.1007\/s10514-012-9279-y","journal-title":"Autonom. Robots"},{"issue":"7","key":"338_CR14","first-page":"939","volume":"223","author":"DJ Bennet","year":"2009","unstructured":"Bennet, D. J., McInnes, C. R.: Verifiable control of a swarm of unmanned aerial vehicles. J. Aerospace Eng. 223(7), 939\u2013953 (2009)","journal-title":"J. Aerospace Eng."},{"key":"338_CR15","doi-asserted-by":"crossref","unstructured":"Barnes, L., Garcia, R., Fields, M., Valavanis, K.: Swarm formation control utilizing ground and aerial unmanned systems. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (2008)","DOI":"10.1109\/IROS.2008.4651260"},{"key":"338_CR16","doi-asserted-by":"crossref","unstructured":"Holland, O., Woods, J., Nardi, R., Clark, A.: Beyond swarm intelligence: The UltraSwarm. In: IEEE Swarm Intelligence Symposium, pp. 217\u2013224 (2005)","DOI":"10.1109\/SIS.2005.1501625"},{"key":"338_CR17","doi-asserted-by":"crossref","unstructured":"Brkle, A., Leuchter, S.: Development of micro uav swarms. In: Autonome Mobile Systeme 2009, ser. Informatik aktuell, pp. 217\u2013224 (2009)","DOI":"10.1007\/978-3-642-10284-4_28"},{"issue":"2","key":"338_CR18","doi-asserted-by":"crossref","first-page":"402","DOI":"10.1049\/iet-cta.2009.0589","volume":"5","author":"N Cai","year":"2011","unstructured":"Cai, N., Xi, J.-X., Zhong, Y.-S.: Brief paper swarm stability of high-order linear time-invariant swarm systems. Control Theory Appl. IET 5(2), 402\u2013408, 20 (2011)","journal-title":"Control Theory Appl. IET"},{"issue":"10","key":"338_CR19","doi-asserted-by":"crossref","first-page":"2406","DOI":"10.1016\/j.automatica.2009.06.026","volume":"45","author":"CC Cheah","year":"2009","unstructured":"Cheah, C.C., Hou, S.P., Slotine, J.J.E.: Region-based shape control for a swarm of robots. Automatica 45(10), 2406\u20132411 (2009)","journal-title":"Automatica"},{"issue":"2","key":"338_CR20","doi-asserted-by":"crossref","first-page":"243","DOI":"10.1109\/TRA.2004.824698","volume":"20","author":"J Cortes","year":"2004","unstructured":"Cortes, J., Martinez, S., Karatas, T., Bullo, F.: Coverage control for mobile sensing networks. IEEE Trans. Robot. Autom 20(2), 243\u2013255 (2004)","journal-title":"IEEE Trans. Robot. Autom"},{"key":"338_CR21","doi-asserted-by":"crossref","unstructured":"Renzaglia, A., Doitsidis, L., Martinelli, A., Kosmatopoulos, E.: Adaptive-based distributed cooperative multi-robot coverage. In: American Control Conference (ACC) (2011)","DOI":"10.1109\/ACC.2011.5990822"},{"key":"338_CR22","doi-asserted-by":"crossref","unstructured":"Renzaglia, A., Doitsidis, L., Martinelli, A., Kosmatopoulos, E.: Adaptive-based, scalable design for autonomous multi-robot surveillance. In: IEEE CDC (2010)","DOI":"10.1109\/CDC.2010.5717844"},{"key":"338_CR23","doi-asserted-by":"crossref","unstructured":"Mathews, E., Graf, T., Kulathunga, K.S.S.B.: Biologically inspired swarm robotic network ensuring coverage and connectivity. In: 2012 IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp. 84\u201390 (2012)","DOI":"10.1109\/ICSMC.2012.6377681"},{"issue":"11","key":"338_CR24","doi-asserted-by":"crossref","first-page":"3154","DOI":"10.1007\/s11771-012-1390-x","volume":"19","author":"J-z Liu","year":"2012","unstructured":"Liu, J.-z., Wang, B.-l., Ao, J.-y., Wang, S., Wu, Q.: An immune-swarm intelligence based algorithm for deterministic coverage problems of wireless sensor networks. J. Central South Univ. 19(11), 3154\u20133161 (2012)","journal-title":"J. Central South Univ."},{"key":"338_CR25","doi-asserted-by":"crossref","first-page":"221","DOI":"10.1007\/978-4-431-35873-2_22","volume-title":"Distributed Autonomous Robotic Systems 6","author":"I Maza","year":"2007","unstructured":"Maza, I., Ollero, A.: Multiple uav cooperative searching operation using polygon area decomposition and efficient coverage algorithms. In: Alami, R., Chatila, R., Asama, H. (eds.) Distributed Autonomous Robotic Systems 6, pp 221\u2013230. Springer, Japan (2007)"},{"key":"338_CR26","unstructured":"Ha, T: The UAV Continuous Coverage Problem. Air Force Institute of Technology (2010)"},{"key":"338_CR27","doi-asserted-by":"crossref","unstructured":"Schwager, M., Julian, B. J., Rus, D.: Optimal coverage for multiple hovering robots with downward facing cameras. In: IEEE ICRA (2009)","DOI":"10.1109\/ROBOT.2009.5152815"},{"key":"338_CR28","doi-asserted-by":"crossref","unstructured":"Doitsidis, L., Renzaglia, A., Weiss, S., Kosmatopoulos, E., Scaramuzza, D., Siegwart, R: 3d surveillance coverage using maps extracted by a monocular slam algorithm. In: IEEE\/RSJ IROS (2011)","DOI":"10.1109\/IROS.2011.6094460"},{"key":"338_CR29","unstructured":"Saska, M., Hess, M., Schilling, K.: Hierarchical spline path planning method for complex environments. In: Proc. of the 4th International Conference on Informatics in Control, Automation and Robotics (2007)"},{"key":"338_CR30","unstructured":"Saska, M., Hess, M., Schilling, K.: Voronoi strains - a spline path planning algorithm for complex environments. In: Proc. of the IASTED conference on Artificial Intelligence and Applications (2007)"},{"issue":"1","key":"338_CR31","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1162\/EVCO_a_00048","volume":"20","author":"J-B Mouret","year":"2012","unstructured":"Mouret, J.-B., Doncieux, S.: Encouraging behavioral diversity in evolutionary robotics: An empirical study. Evol. Comput. 20(1), 91\u2013133 (2012)","journal-title":"Evol. Comput."},{"key":"338_CR32","doi-asserted-by":"crossref","unstructured":"Vonasek, V., Saska, M., Kosnar, K., Preucil, L.: Global motion planning for modular robots with local motion primitives. In: IEEE ICRA (2013)","DOI":"10.1109\/ICRA.2013.6630912"},{"issue":"10","key":"338_CR33","doi-asserted-by":"crossref","first-page":"1393","DOI":"10.1177\/0278364914530482","volume":"33","author":"M Saska","year":"2014","unstructured":"Saska, M., Vonasek, V., Krajnik, T., Preucil, L.: Coordination and navigation of heterogeneous MAV&#8211;UGV formations localized by a &#8216;hawk-eye&#8217;-like Approach Under A Model Predictive Control Scheme. Int. J. Robot. Res. 33(10), 1393\u20131412 (2014)","journal-title":"Int. J. Robot. Res."},{"issue":"1\u20134","key":"338_CR34","doi-asserted-by":"crossref","first-page":"603","DOI":"10.1007\/s10846-013-9976-6","volume":"73","author":"M Saska","year":"2014","unstructured":"Saska, M., Krajnik, T., Vonasek, V., Kasl, Z., Spurny, V., Preucil, L: Fault-tolerant formation driving mechanism designed for heterogeneous MAVs-UGVs groups. J. Intell. Robot. Syst. 73 (1\u20134), 603\u2013622 (2014)","journal-title":"J. Intell. Robot. Syst."},{"key":"338_CR35","doi-asserted-by":"crossref","unstructured":"Saska, M., Krajnik, T., Vonasek, V., Vanek, P., Preucil, L.: Navigation, localization and stabilization of formations of unmanned aerial and ground vehicles. In: Proceedings of 2013 International Conference on Unmanned Aircraft Systems (2013)","DOI":"10.1109\/ICUAS.2013.6564767"},{"key":"338_CR36","doi-asserted-by":"crossref","first-page":"1942","DOI":"10.1109\/ICNN.1995.488968","volume":"4","author":"J Kennedy","year":"1995","unstructured":"Kennedy, J., Eberhart, R.: Particle swarm optimization. Proc. Int. Conf. Neural Netw. IEEE 4, 1942\u20131948 (1995)","journal-title":"Proc. Int. Conf. Neural Netw. IEEE"},{"key":"338_CR37","unstructured":"O\u2019Rourke, J: Art Gallery Theorems and Algorithms. Oxford University Press (1987)"},{"key":"338_CR38","unstructured":"LaValle, S.M.: Rapidly-exploring random trees: A new tool for path planning. In: TR 98-11, Computer Science Dept. Iowa State University (1998)"},{"key":"338_CR39","volume-title":"Concurrent assignment and planning of trajectories for large teams of interchangeable robots. In: International Conference on Robotics and Automation","author":"M Turpin","year":"2013","unstructured":"Turpin, M., Michael, N., Kumar, V.: Concurrent assignment and planning of trajectories for large teams of interchangeable robots. In: International Conference on Robotics and Automation. Karlsruhe, Germany (2013)"},{"key":"338_CR40","doi-asserted-by":"crossref","unstructured":"Lee, T., Leoky, M., McClamroch, N.: Geometric tracking control of a quadrotor uav on se(3). In: 49th IEEE Conference on Decision and Control (CDC) (2010)","DOI":"10.1109\/CDC.2010.5717652"},{"key":"338_CR41","doi-asserted-by":"crossref","unstructured":"Saska, M., Baca, T., Thomas, J., Chudoba, J., Preucil, L., Krajnik, T., Faigl, J., Loianno, G., Kumar, V.: System for deployment of groups of micro aerial vehicles in gps-denied environments using onboard visual relative localization. Accepted for Autonomous Robots (2016)","DOI":"10.1007\/s10514-016-9567-z"},{"key":"338_CR42","unstructured":"Movies, Movies of experiments of the mav cooperative surveillance. http:\/\/imr.felk.cvut.cz\/mavsurveillance\/ [online] [cit. 2014-12-12]"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-016-0338-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0338-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0338-z","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0338-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,4]],"date-time":"2019-09-04T07:51:46Z","timestamp":1567583506000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-016-0338-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,2,10]]},"references-count":42,"journal-issue":{"issue":"1-4","published-print":{"date-parts":[[2016,12]]}},"alternative-id":["338"],"URL":"https:\/\/doi.org\/10.1007\/s10846-016-0338-z","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,2,10]]}}}