{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,29]],"date-time":"2025-10-29T13:26:28Z","timestamp":1761744388056,"version":"3.41.0"},"reference-count":35,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2016,8,1]],"date-time":"2016-08-01T00:00:00Z","timestamp":1470009600000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100003176","name":"Ministerio de Educaci\u00f3n, Cultura y Deporte","doi-asserted-by":"publisher","award":["FPU AP2009-0246"],"award-info":[{"award-number":["FPU AP2009-0246"]}],"id":[{"id":"10.13039\/501100003176","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2017,2]]},"DOI":"10.1007\/s10846-016-0409-1","type":"journal-article","created":{"date-parts":[[2016,8,1]],"date-time":"2016-08-01T18:06:22Z","timestamp":1470074782000},"page":"353-368","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Approximate 3D Euclidean Shortest Paths for Unmanned Aircraft in Urban Environments"],"prefix":"10.1007","volume":"85","author":[{"given":"Guillermo","family":"Frontera","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David J.","family":"Mart\u00edn","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juan A.","family":"Besada","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Da-Wei","family":"Gu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2016,8,1]]},"reference":[{"issue":"2933","key":"409_CR1","doi-asserted-by":"crossref","first-page":"27","DOI":"10.1016\/S0262-4079(13)62190-9","volume":"219","author":"A George","year":"2013","unstructured":"George, A: Forget roads, drones are the future of goods transport. New Sci. 219(2933), 27 (2013)","journal-title":"New Sci."},{"key":"409_CR2","unstructured":"Sarris, Z.: Survey of UAV applications in civil markets (June 2001). In: The 9th IEEE Mediterranean Conference on Control and Automation. Dubrovnik"},{"issue":"3","key":"409_CR3","doi-asserted-by":"crossref","first-page":"1067","DOI":"10.1109\/TITS.2013.2252343","volume":"14","author":"JA Besada","year":"2013","unstructured":"Besada, J.A., Frontera, G., Crespo, J., Casado, E., L\u00f3pez-Leon\u00e9s, J.: Automated aircraft trajectory prediction based on formal intent-related language processing. IEEE Trans. Intell. Transp. Syst. 14(3), 1067\u20131082 (2013)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"issue":"4","key":"409_CR4","doi-asserted-by":"crossref","first-page":"1550","DOI":"10.1109\/TITS.2014.2299971","volume":"15","author":"G Frontera","year":"2014","unstructured":"Frontera, G., Besada, J.A., Bernardos, A.M., Casado, E., L\u00f3pez-Leon\u00e9s, J.: Formal intent-based trajectory description languages. IEEE Trans. Intell. Transp. Syst. 15(4), 1550\u20131566 (2014)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"409_CR5","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-540-77974-2","volume-title":"Computational Geometry: Algorithms and Applications","author":"M Berg de","year":"2008","unstructured":"de Berg, M., van Kreveld, M., Overmars, M., Cheong, O.: Computational Geometry: Algorithms and Applications, 3rd edn. Springer, Berlin Heidelberg (2008)","edition":"3rd edn."},{"issue":"1\u20134","key":"409_CR6","doi-asserted-by":"crossref","first-page":"49","DOI":"10.1007\/BF01840436","volume":"1","author":"T Asano","year":"1986","unstructured":"Asano, T, Asano, T, Guibas, L, Hershberger, J, Imai, H: Visibility of disjoint polygons. Algorithmica 1(1\u20134), 49\u201363 (1986)","journal-title":"Algorithmica"},{"issue":"4","key":"409_CR7","doi-asserted-by":"crossref","first-page":"167","DOI":"10.1016\/0020-0190(85)90044-4","volume":"20","author":"E Welzl","year":"1985","unstructured":"Welzl, E.: Constructing the visibility graph for n-line segments in O(n 2) time. Inf. Process. Lett. 20(4), 167\u2013171 (1985)","journal-title":"Inf. Process. Lett."},{"key":"409_CR8","doi-asserted-by":"crossref","unstructured":"Ghosh, S. K., Mount, D. M.: An output sensitive algorithm for computing visibility graphs. In: The 28th Annual Symposium on Foundations of Computer Science, pp. 11\u201319 (1987)","DOI":"10.1109\/SFCS.1987.6"},{"issue":"6","key":"409_CR9","doi-asserted-by":"crossref","first-page":"2215","DOI":"10.1137\/S0097539795289604","volume":"28","author":"J Hershberger","year":"1999","unstructured":"Hershberger, J, Suri, S.: An optimal algorithm for Euclidean shortest paths in the plane. SIAM J. Comput. 28(6), 2215\u20132256 (1999)","journal-title":"SIAM J. Comput."},{"issue":"1\u20134","key":"409_CR10","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1007\/BF01840360","volume":"2","author":"L Guibas","year":"1987","unstructured":"Guibas, L., Hershberger, J., Leven, D., Sharir, M., Tarjan, R.E.: Linear-time algorithms for visibility and shortest path problems inside triangulated simple polygons. Algorithmica 2(1\u20134), 209\u2013233 (1987)","journal-title":"Algorithmica"},{"issue":"1\u20134","key":"409_CR11","doi-asserted-by":"crossref","first-page":"141","DOI":"10.1007\/BF01553883","volume":"4","author":"J Hershberger","year":"1989","unstructured":"Hershberger, J.: An optimal visibility graph algorithm for triangulated simple polygons. Algorithmica 4(1\u20134), 141\u2013155 (1989)","journal-title":"Algorithmica"},{"key":"409_CR12","unstructured":"Omar, R., Da-Wei, G.: Visibility line based methods for UAV path planning. In: ICCAS-SICE, pp. 3176\u20133181 (2009)"},{"key":"409_CR13","doi-asserted-by":"crossref","unstructured":"Agarwal, P.K., Sharathkumar, R., Yu, H.: Approximate Euclidean shortest paths amid convex obstacles. In: The 20th Annual ACM-SIAM Symposium on Discrete Algorithms, pp 283\u2013292. Society for Industrial and Applied Mathematics, Philadelphia (2009)","DOI":"10.1137\/1.9781611973068.32"},{"key":"409_CR14","doi-asserted-by":"crossref","unstructured":"Clarkson, K.: Approximation algorithms for shortest path motion planning. In: The 19th Annual ACM Symposium on Theory of Computing, pp 56\u201365. ACM, New York (1987)","DOI":"10.1145\/28395.28402"},{"issue":"2","key":"409_CR15","doi-asserted-by":"crossref","first-page":"205","DOI":"10.1016\/0022-0000(89)90044-5","volume":"39","author":"L Paul Chew","year":"1989","unstructured":"Paul Chew, L.: There are planar graphs almost as good as the complete graph. J. Comput. Syst. Sci. 39(2), 205\u2013219 (1989)","journal-title":"J. Comput. Syst. Sci."},{"key":"409_CR16","doi-asserted-by":"crossref","unstructured":"Canny, J., Reif, J.: New lower bound techniques for robot motion planning problems. In: The 28th Annual Symposium on Foundations of Computer Science, pp. 49\u201360. Los Angeles (October 1987)","DOI":"10.1109\/SFCS.1987.42"},{"issue":"5","key":"409_CR17","doi-asserted-by":"crossref","first-page":"1013","DOI":"10.1145\/185675.185811","volume":"41","author":"JH Reif","year":"1994","unstructured":"Reif, J.H., Storer, J.A.: A single-exponential upper bound for finding shortest paths in three dimensions. J. ACM 41(5), 1013\u20131019 (1994)","journal-title":"J. ACM"},{"key":"409_CR18","doi-asserted-by":"crossref","unstructured":"Mount, D.M.: On finding shortest paths on convex polyhedra. Tech. report, Computer Science Department, University of Maryland (1985)","DOI":"10.21236\/ADA166246"},{"key":"409_CR19","doi-asserted-by":"crossref","unstructured":"Sharir, A, Baltsan, A: On shortest paths amidst convex polyhedra. In: The 2nd Annual Symposium on Computational Geometry, pp 193\u2013206. ACM, New York (1986)","DOI":"10.1145\/10515.10537"},{"issue":"3","key":"409_CR20","doi-asserted-by":"crossref","first-page":"331","DOI":"10.1109\/70.56665","volume":"6","author":"LP Gewali","year":"1990","unstructured":"Gewali, L.P., Ntafos, S., Tollis, I.G.: Path planning in the presence of vertical obstacles. IEEE Trans. Robot. Autom. 6(3), 331\u2013341 (1990)","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"10","key":"409_CR21","doi-asserted-by":"crossref","first-page":"560","DOI":"10.1145\/359156.359164","volume":"22","author":"T Lozano-P\u00e9rez","year":"1979","unstructured":"Lozano-P\u00e9rez, T., Wesley, M.A.: An algorithm for planning collision-free paths among polyhedral obstacles. Commun. ACM 22(10), 560\u2013570 (1979)","journal-title":"Commun. ACM"},{"issue":"5","key":"409_CR22","doi-asserted-by":"crossref","first-page":"259","DOI":"10.1016\/0020-0190(85)90029-8","volume":"20","author":"CH Papadimitriou","year":"1985","unstructured":"Papadimitriou, C.H.: An algorithm for shortest-path motion in three dimensions. Inf. Process. Lett. 20(5), 259\u2013263 (1985)","journal-title":"Inf. Process. Lett."},{"key":"409_CR23","doi-asserted-by":"crossref","unstructured":"Choi, J., Sellen, J., Yap, C.-K.: Approximate Euclidean shortest path in 3-space. In: The 10th Annual Symposium on Computational Geometry, pp 41\u201348. ACM, New York (1994)","DOI":"10.1145\/177424.177501"},{"key":"409_CR24","doi-asserted-by":"crossref","unstructured":"Choi, J., Sellen, J., Yap, C.-K.: Precision-sensitive Euclidean shortest path in 3-space (extended abstract). In: The 11th Annual Symposium on Computational Geometry, pp 350\u2013359. ACM, New York (1995)","DOI":"10.1145\/220279.220317"},{"key":"409_CR25","doi-asserted-by":"crossref","unstructured":"Qi, Z., Shao, Z., Ping, Y.S., Hiot, L. M., Leong, Y.K.: An improved heuristic algorithm for UAV path planning in 3D environment. In: The 2nd International Conference on Intelligent Human-Machine Systems and Cybernetics, vol. 2, pp. 258\u2013261 (2010)","DOI":"10.1109\/IHMSC.2010.165"},{"issue":"1\u20134","key":"409_CR26","doi-asserted-by":"crossref","first-page":"247","DOI":"10.1007\/s10846-011-9568-2","volume":"65","author":"LD Filippis","year":"2012","unstructured":"Filippis, L.D., Guglieri, G., Quagliotti, F.: Path planning strategies for UAVS in 3D environments. J. Intell. Robot. Syst. 65(1\u20134), 247\u2013264 (2012)","journal-title":"J. Intell. Robot. Syst."},{"key":"409_CR27","doi-asserted-by":"crossref","unstructured":"Omar, R., Gu, D.-W.: 3D path planning for unmanned aerial vehicles using visibility line based method. In: The 7th International Conference on Informatics in Control, Automation and Robotics, vol. 1, pp 80\u201385. INSTICC Press, Funchal (2010)","DOI":"10.5220\/0002881100800085"},{"issue":"2","key":"409_CR28","doi-asserted-by":"crossref","first-page":"381","DOI":"10.1177\/0954410011430173","volume":"227","author":"ED Lellis","year":"2013","unstructured":"Lellis, E.D., Morani, G., Corraro, F., Vito, V.D.: On-line trajectory generation for autonomous unmanned vehicles in the presence of no-fly zones. Proc. Inst. Mech. Eng. Part G: J. Aerospace Eng. 227 (2), 381\u2013393 (2013)","journal-title":"Proc. Inst. Mech. Eng. Part G: J. Aerospace Eng."},{"key":"409_CR29","doi-asserted-by":"crossref","unstructured":"Xiao-dong, C., De-yun, Z., Ruo-nan, Z.: New method for UAV online path planning. In: 2013 IEEE International Conference on Signal Processing, Communication and Computing, pp. 1\u20135 (2013)","DOI":"10.1109\/ICSPCC.2013.6664044"},{"issue":"1","key":"409_CR30","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. Inf. 9(1), 132\u2013141 (2013)","journal-title":"IEEE Trans. Ind. Inf."},{"issue":"4","key":"409_CR31","doi-asserted-by":"crossref","first-page":"566","DOI":"10.1109\/70.508439","volume":"12","author":"LE Kavraki","year":"1996","unstructured":"Kavraki, L.E., Svestka, P., Latombe, J.C., Overmars, M.H.: Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Trans. Robot. Autom. 12(4), 566\u2013580 (1996)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"409_CR32","unstructured":"LaValle, S.M.: Rapidly-exploring random trees: A new tool for path planning. Technical Report TR 98-11. Dept. of Computer Science, Iowa State University (1998)"},{"key":"409_CR33","doi-asserted-by":"crossref","unstructured":"Gammell, J.D., Srinivasa, S.S., Barfoot, T.D.: Batch informed trees (BIT*): Sampling-based optimal planning via the heuristically guided search of implicit random geometric graphs. In: The 2015 IEEE International Conference on Robotics and Automation, pp. 3067\u20133074 (2015)","DOI":"10.1109\/ICRA.2015.7139620"},{"key":"409_CR34","doi-asserted-by":"crossref","unstructured":"Sch\u00f8ler, F., la Cour-Harbo, A., Bisgaard, M.: Generating approximative minimum length paths in 3D for UAVs. In: The 2012 IEEE Intelligent Vehicles Symposium (IV), pp. 229\u2013233. Alcal\u00e1 de Henares (2012)","DOI":"10.1109\/IVS.2012.6232120"},{"issue":"4","key":"409_CR35","doi-asserted-by":"crossref","first-page":"72","DOI":"10.1109\/MRA.2012.2205651","volume":"19","author":"IA Sucan","year":"2012","unstructured":"Sucan, I.A., Moll, M., Kavraki, L.E.: The open motion planning library. IEEE Robot. Autom. Mag. 19(4), 72\u201382 (2012)","journal-title":"IEEE Robot. Autom. Mag."}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0409-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-016-0409-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0409-1","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-016-0409-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,4]],"date-time":"2025-06-04T10:50:20Z","timestamp":1749034220000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-016-0409-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,8,1]]},"references-count":35,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2017,2]]}},"alternative-id":["409"],"URL":"https:\/\/doi.org\/10.1007\/s10846-016-0409-1","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2016,8,1]]}}}