{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,3]],"date-time":"2025-06-03T04:58:12Z","timestamp":1748926692334,"version":"3.37.3"},"reference-count":25,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2018,1,25]],"date-time":"2018-01-25T00:00:00Z","timestamp":1516838400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61403410"],"award-info":[{"award-number":["61403410"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"crossref","award":["2014M552687"],"award-info":[{"award-number":["2014M552687"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Graduate Student Innovation Project of Hunan province","award":["CX2014B013"],"award-info":[{"award-number":["CX2014B013"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2018,9]]},"DOI":"10.1007\/s10846-017-0766-4","type":"journal-article","created":{"date-parts":[[2018,1,24]],"date-time":"2018-01-24T22:36:15Z","timestamp":1516833375000},"page":"187-201","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Cooperative Deconflicting Heading Maneuvers Applied to Unmanned Aerial Vehicles in Non-Segregated Airspace"],"prefix":"10.1007","volume":"92","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7329-6090","authenticated-orcid":false,"given":"Jian","family":"Yang","sequence":"first","affiliation":[]},{"given":"Dong","family":"Yin","sequence":"additional","affiliation":[]},{"given":"Lincheng","family":"Shen","sequence":"additional","affiliation":[]},{"given":"Qiao","family":"Cheng","sequence":"additional","affiliation":[]},{"given":"Xu","family":"Xie","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2018,1,25]]},"reference":[{"key":"766_CR1","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-007-2479-2","volume-title":"On integrating unmanned aircraft systems into the national airspace system: issues, challenges, operational restrictions, certification, and recommendations","author":"K Dalamagkidis","year":"2012","unstructured":"Dalamagkidis, K., Piegl, L.A., Valavanis, K.P.: On integrating unmanned aircraft systems into the national airspace system: issues, challenges, operational restrictions, certification, and recommendations. Springer, Berlin (2012)"},{"unstructured":"Anand, S.: Domestic use of unmanned aircraft systems: evaluation of policy constraints and the role of industry consensus standards. J Eng Public Policy 35 (2007)","key":"766_CR2"},{"unstructured":"Consiglio, M., Chamberlain, J., Mu?oz, C., Hoffler, K.: Concept of integration for UAS operation in the NAS. In: 28th International Congress of the Aeronautical sciences, pp. 1\u201313 (2012)","key":"766_CR3"},{"key":"766_CR4","doi-asserted-by":"publisher","first-page":"637","DOI":"10.1061\/(ASCE)AS.1943-5525.0000154","volume":"26","author":"FAP Lie","year":"2013","unstructured":"Lie, F.A.P., Go, T.H.: Reconfiguration control with collision avoidance framework for unmanned aerial vehicles in three-dimensional space. J. Aerosp. Eng. 26, 637\u2013645 (2013)","journal-title":"J. Aerosp. Eng."},{"key":"766_CR5","doi-asserted-by":"publisher","first-page":"1218","DOI":"10.1109\/TITS.2013.2257758","volume":"14","author":"J Omer","year":"2013","unstructured":"Omer, J., Farges, J.-L.: Hybridization of nonlinear and mixed-integer linear programming for aircraft separation with trajectory recovery. IEEE Trans. Intell. Transp. Syst. 14, 1218\u20131230 (2013)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"766_CR6","doi-asserted-by":"publisher","first-page":"826","DOI":"10.1109\/TITS.2010.2051028","volume":"11","author":"AE Vela","year":"2010","unstructured":"Vela, A.E., Solak, S., Clarke, J.-P.B., Singhose, W.E., Barnes, E.R., Johnson, E.L.: Near real-time fuel-optimal en route conflict resolution. IEEE Trans. Intell. Transp. Syst. 11, 826\u2013837 (2010)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"766_CR7","doi-asserted-by":"publisher","first-page":"84","DOI":"10.1016\/S1672-6529(14)60162-1","volume":"13","author":"Z Yang","year":"2016","unstructured":"Yang, Z., Fang, Z., Li, P.: Bio-inspired collision-free 4D trajectory generation for UAVs using tau strategy. J. Bionic Eng. 13, 84\u201397 (2016)","journal-title":"J. Bionic Eng."},{"key":"766_CR8","doi-asserted-by":"publisher","first-page":"495","DOI":"10.1007\/s10846-011-9564-6","volume":"65","author":"R Conde","year":"2012","unstructured":"Conde, R., Alejo, D., Cobano, J.A., Viguria, A., Ollero, A.: Conflict detection and resolution method for cooperating unmanned aerial vehicles. J. Intell. Robot. Syst. 65, 495\u2013505 (2012)","journal-title":"J. Intell. Robot. Syst."},{"key":"766_CR9","first-page":"687","volume":"227","author":"CA Persiani","year":"2012","unstructured":"Persiani, C.A., Bagassi, S.: Route planner for unmanned aerial system insertion in civil non-segregated airspace. Proc IMechE Part G: J Aerospace Eng. 227, 687\u2013702 (2012)","journal-title":"Proc IMechE Part G: J Aerospace Eng."},{"doi-asserted-by":"crossref","unstructured":"Millinger, D., Kushelyev, A., Kumar, L.: Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams. In: 2012 IEEE international conference on robotics and automation, pp. 477\u2013483 (2002)","key":"766_CR10","DOI":"10.1109\/ICRA.2012.6225009"},{"key":"766_CR11","first-page":"1","volume":"0","author":"M Radmanesh","year":"2015","unstructured":"Radmanesh, M., Kumar, M., Nemati, A., Sarim, M.: Dynamic optimal UAV trajectory planning in the national airspace System via mixed integer linear programming. Proc IMechE Part G: J Aerospace Eng. 0, 1\u201315 (2015)","journal-title":"Proc IMechE Part G: J Aerospace Eng."},{"key":"766_CR12","volume-title":"ADS-B based separation support for general aviation","author":"D Taurino","year":"2011","unstructured":"Taurino, D., Frau, G., Beato, V., Tedeschi, A.: ADS-B based separation support for general aviation. ATACCS, Barcelona (2011)"},{"key":"766_CR13","doi-asserted-by":"publisher","first-page":"315","DOI":"10.1007\/s10846-012-9754-x","volume":"70","author":"X Yang","year":"2013","unstructured":"Yang, X., Alvarez, L.M., Bruggemann, T.: A 3D Collision Avoidance Strategy for UAVs in a Non-Cooperative Environment. J. Intell. Robot. Syst. 70, 315\u2013327 (2013)","journal-title":"J. Intell. Robot. Syst."},{"doi-asserted-by":"crossref","unstructured":"Roelofsen, S., Martinoli, A., Gillet, D.: Distributed deconfliction algorithm for unmanned aerial vehicles with limited range and field of view sensors (2015)","key":"766_CR14","DOI":"10.1109\/ACC.2015.7172014"},{"issue":"1","key":"766_CR15","doi-asserted-by":"publisher","first-page":"1","DOI":"10.2514\/atcq.15.1.1","volume":"15","author":"I Hwang","year":"2007","unstructured":"Hwang, I., et al.: Protocol-based conflict resolution for air traffic control. Air Traffic Control Quarterly 15 (1), 1\u201334 (2007)","journal-title":"Air Traffic Control Quarterly"},{"doi-asserted-by":"crossref","unstructured":"Alejo, D., Cobano, J. A., Heredia, G., Ollero, A.: Optimal reciprocal collision avoidance with mobile and static obstacles for multi-uav systems. In: 2014 International Conference on Unmanned Aircraft Systems, pp 1259\u20131266 (2014)","key":"766_CR16","DOI":"10.1109\/ICUAS.2014.6842383"},{"key":"766_CR17","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/978-3-642-19457-3_1","volume":"70","author":"JVD Berg","year":"2011","unstructured":"Berg, J.V.D., Guy, S.J., Lin, M., Manocha, D.: Reciprocal n-body collision avoidance. Rob. Res. 70, 3\u201319 (2011)","journal-title":"Rob. Res."},{"key":"766_CR18","doi-asserted-by":"publisher","first-page":"101","DOI":"10.1007\/s10514-015-9429-0","volume":"39","author":"J Alonso-Mora","year":"2015","unstructured":"Alonso-Mora, J., Naegeli, T., Siegwart, R., Beardsley, P.: Collision avoidance for aerial vehicles in multi-agent scenarios. Auton. Robot. 39, 101\u2013121 (2015)","journal-title":"Auton. Robot."},{"doi-asserted-by":"crossref","unstructured":"Baumeister, R., Estkowski, R., Spence, G.T., Clothier, R.: Evaluation of separation management algorithms in class g airspace. In: AIAA Modeling and Simulation Technologies Conference (2009)","key":"766_CR19","DOI":"10.2514\/6.2009-6126"},{"key":"766_CR20","doi-asserted-by":"publisher","first-page":"365","DOI":"10.1109\/TSMCC.2010.2089448","volume":"41","author":"D Sislak","year":"2011","unstructured":"Sislak, D., Volf, P., Pechoucek, M., Suri, N.: Automated conflict resolution utilizing probability collectives optimizer. IEEE Trans. Syst. Man Cybern. Part C Appl. Rev. 41, 365\u2013375 (2011)","journal-title":"IEEE Trans. Syst. Man Cybern. Part C Appl. Rev."},{"key":"766_CR21","doi-asserted-by":"publisher","first-page":"3126","DOI":"10.1109\/TITS.2015.2434942","volume":"16","author":"J Omer","year":"2015","unstructured":"Omer, J.: Comparison of mixed-integer linear models for fuel-optimal air conflict resolution with recovery. IEEE Trans. Intell. Transp. Syst. 16, 3126\u20133137 (2015)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"766_CR22","doi-asserted-by":"publisher","first-page":"696","DOI":"10.1109\/TRO.2011.2120810","volume":"27","author":"J Snape","year":"2011","unstructured":"Snape, J., Berg, J.V.D., Guy, S.J., Manocha, D.: The hybrid reciprocal velocity obstacle. IEEE Trans. Rob. 27, 696\u2013706 (2011)","journal-title":"IEEE Trans. Rob."},{"key":"766_CR23","volume-title":"Numerical Optimization","author":"J Nocedal","year":"2006","unstructured":"Nocedal, J., Wright, S.: Numerical Optimization. Springer-Verlag, New York (2006). ser. Springer Series in Operations Research, 2nd ed"},{"key":"766_CR24","doi-asserted-by":"publisher","first-page":"907","DOI":"10.1364\/OL.22.000907","volume":"22","author":"MA Vorontsov","year":"1997","unstructured":"Vorontsov, M. A., Carhart, G. W., Ricklin, J. C.: Adaptive phase-distortion correction based on parallel gradient-descent optimization. Opt. Lett. 22, 907\u2013909 (1997)","journal-title":"Opt. Lett."},{"key":"766_CR25","doi-asserted-by":"publisher","first-page":"2939","DOI":"10.1364\/OL.34.002939","volume":"34","author":"P Zhou","year":"2009","unstructured":"Zhou, P., Ma, Y., Wang, X., Ma, H., Xu, X., Liu, Z.: Coherent beam combination of three two-tone fiber amplifiers using stochastic parallel gradient descent algorithm. Opt. Lett. 34, 2939\u20132941 (2009)","journal-title":"Opt. Lett."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-017-0766-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0766-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0766-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,10,9]],"date-time":"2019-10-09T15:54:13Z","timestamp":1570636453000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-017-0766-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,1,25]]},"references-count":25,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2018,9]]}},"alternative-id":["766"],"URL":"https:\/\/doi.org\/10.1007\/s10846-017-0766-4","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2018,1,25]]},"assertion":[{"value":"22 April 2016","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 December 2017","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 January 2018","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}