{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,9]],"date-time":"2026-04-09T14:12:05Z","timestamp":1775743925726,"version":"3.50.1"},"reference-count":65,"publisher":"Springer Science and Business Media LLC","issue":"1-2","license":[{"start":{"date-parts":[[2018,5,11]],"date-time":"2018-05-11T00:00:00Z","timestamp":1525996800000},"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":[[2019,2]]},"DOI":"10.1007\/s10846-018-0861-1","type":"journal-article","created":{"date-parts":[[2018,5,11]],"date-time":"2018-05-11T09:42:18Z","timestamp":1526031738000},"page":"193-211","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":41,"title":["Bi-level Flight Path Planning of UAV Formations with Collision Avoidance"],"prefix":"10.1007","volume":"93","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2766-3862","authenticated-orcid":false,"given":"Egidio","family":"D\u2019Amato","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Massimiliano","family":"Mattei","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Immacolata","family":"Notaro","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2018,5,11]]},"reference":[{"key":"861_CR1","doi-asserted-by":"crossref","unstructured":"Anderson, M., Robbins, A.: Formation flight as a cooperative game. In: Guidance, navigation, and control conference and exhibit, p. 4124 (1998)","DOI":"10.2514\/6.1998-4124"},{"key":"861_CR2","unstructured":"Ariola, M., Mattei, M., D\u2019Amato, E., Notaro, I., Tartaglione, G.: Model predictive control for a swarm of fixed wing Uavs. In: 30Th Congress of the international council of the aeronautical sciences, ICAS 2016 (2016)"},{"issue":"1","key":"861_CR3","doi-asserted-by":"publisher","first-page":"335","DOI":"10.1016\/j.ejor.2017.03.067","volume":"262","author":"L Babel","year":"2017","unstructured":"Babel, L.: Curvature-constrained traveling salesman tours for aerial surveillance in scenarios with obstacles. Eur. J. Oper. Res. 262(1), 335\u2013346 (2017)","journal-title":"Eur. J. Oper. Res."},{"key":"861_CR4","doi-asserted-by":"crossref","unstructured":"Bellingham, J., Tillerson, M., Richards, A., How, J.P.: Multi-task allocation and path planning for cooperating Uavs. In: Cooperative control: models, applications and algorithms, pp. 23\u201341. Springer (2003)","DOI":"10.1007\/978-1-4757-3758-5_2"},{"key":"861_CR5","doi-asserted-by":"crossref","unstructured":"Blake, W., Multhopp, D.: Design, Performance and Modeling Considerations for Close Formation Flight. In: 23Rd atmospheric flight mechanics conference, p. 4343 (1998)","DOI":"10.2514\/6.1998-4343"},{"issue":"Supplement C","key":"861_CR6","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.ast.2017.09.007","volume":"71","author":"L Blasi","year":"2017","unstructured":"Blasi, L., Barbato, S., D\u2019Amato, E.: A mixed probabilistic-geometric strategy for uav optimum flight path identification based on bit-coded basic manoeuvres. Aerosp. Sci. Technol. 71(Supplement C), 1\u201311 (2017)","journal-title":"Aerosp. Sci. Technol."},{"key":"861_CR7","doi-asserted-by":"crossref","unstructured":"Bortoff, S.A.: Path planning for Uavs. In: American control conference, vol. 1, pp. 364\u2013368 (2000)","DOI":"10.1109\/ACC.2000.878915"},{"key":"861_CR8","unstructured":"Burns, R., McLaughlin, C.A., Leitner, J., Martin, M.: Techsat 21: formation design, control, and simulation. In: Aerospace conference proceedings, 2000 IEEE, vol. 7, pp. 19\u201325. IEEE (2000)"},{"key":"861_CR9","doi-asserted-by":"crossref","unstructured":"Camacho-Vallejo, J.F., Cordero-Franco, A.\u0301E., Gonz\u00e1lez-ram\u00edrez, R.G.: Solving the bilevel facility location problem under preferences by a stackelberg-evolutionary algorithm. Mathematical Problems in Engineering (2014)","DOI":"10.1155\/2014\/430243"},{"key":"861_CR10","doi-asserted-by":"crossref","unstructured":"Chandler, P., Rasmussen, S., Pachter, M.: Uav cooperative path planning. In: AIAA guidance, navigation, and control conference and exhibit, p. 4370 (2000)","DOI":"10.2514\/6.2000-4370"},{"key":"861_CR11","doi-asserted-by":"crossref","unstructured":"Chen, X., Zhang, J.: The three-dimension path planning of Uav based on improved artificial potential field in dynamic environment. In: 2013 5Th international conference on intelligent human-machine systems and cybernetics (IHMSC), vol. 2, pp. 144\u2013147. IEEE (2013)","DOI":"10.1109\/IHMSC.2013.181"},{"key":"861_CR12","doi-asserted-by":"crossref","unstructured":"Chichka, D.F., Speyer, J.L.: Solar-powered, formation-enhanced aerial vehicle systems for sustained endurance. In: American control conference, 1998. Proceedings of the 1998, vol. 2, pp. 684\u2013688. IEEE (1998)","DOI":"10.1109\/ACC.1998.703493"},{"key":"861_CR13","doi-asserted-by":"crossref","unstructured":"la Cour-Harbo, A., Bisgaard, M.: State-control trajectory generation for helicopter slung load system using optimal control. In: AIAA guidance, navigation, and control conference, p. 6296 (2009)","DOI":"10.2514\/6.2009-6296"},{"key":"861_CR14","unstructured":"D\u2019Amato, E.: Multiobjective evolutionary-based optimization methods for trajectory planning of a quadrotor UAV 3DTech (2012)"},{"issue":"2","key":"861_CR15","doi-asserted-by":"publisher","first-page":"74","DOI":"10.1002\/int.21514","volume":"27","author":"E D\u2019Amato","year":"2012","unstructured":"D\u2019Amato, E., Daniele, E., Mallozzi, L., Petrone, G.: Equilibrium strategies via ga to stackelberg games under multiple follower\u2019s best reply. Int. J. Intell. Syst. 27(2), 74\u201385 (2012)","journal-title":"Int. J. Intell. Syst."},{"key":"861_CR16","doi-asserted-by":"crossref","unstructured":"D\u2019Amato, E., Notaro, I., Silvestre, F., Mattei, M.: Bi-level flight path optimization for Uav formations. In: 2017 international conference on unmanned aircraft systems (ICUAS), pp. 690\u2013697 (2017)","DOI":"10.1109\/ICUAS.2017.7991425"},{"issue":"1","key":"861_CR17","doi-asserted-by":"publisher","first-page":"103","DOI":"10.1016\/j.ast.2013.11.006","volume":"32","author":"P Della Vecchia","year":"2014","unstructured":"Della Vecchia, P., Daniele, E., D\u2019Amato, E.: An airfoil shape optimization technique coupling parsec parameterization and evolutionary algorithm. Aerosp. Sci. Technol. 32(1), 103\u2013110 (2014)","journal-title":"Aerosp. Sci. Technol."},{"issue":"2","key":"861_CR18","doi-asserted-by":"publisher","first-page":"289","DOI":"10.2514\/1.13400","volume":"29","author":"C Dever","year":"2006","unstructured":"Dever, C., Mettler, B., Feron, E., Popovic, J., McConley, M.: Nonlinear trajectory generation for autonomous vehicles via parameterized maneuver classes. J. Guid. Control. Dyn. 29(2), 289\u2013302 (2006)","journal-title":"J. Guid. Control. Dyn."},{"issue":"1","key":"861_CR19","doi-asserted-by":"publisher","first-page":"269","DOI":"10.1007\/BF01386390","volume":"1","author":"EW Dijkstra","year":"1959","unstructured":"Dijkstra, E.W.: A note on two problems in connexion with graphs. Numerische mathematik 1(1), 269\u2013271 (1959)","journal-title":"Numerische mathematik"},{"key":"861_CR20","doi-asserted-by":"crossref","unstructured":"Duan, H., Li, P.: Bio-inspired computation in unmanned aerial vehicles (2014)","DOI":"10.1007\/978-3-642-41196-0"},{"issue":"3","key":"861_CR21","doi-asserted-by":"publisher","first-page":"497","DOI":"10.2307\/2372560","volume":"79","author":"LE Dubins","year":"1957","unstructured":"Dubins, L.E.: On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents. Am. J. Math. 79(3), 497\u2013516 (1957)","journal-title":"Am. J. Math."},{"issue":"6","key":"861_CR22","doi-asserted-by":"publisher","first-page":"1805","DOI":"10.2514\/1.20345","volume":"43","author":"Y Eun","year":"2006","unstructured":"Eun, Y., Bang, H.: Cooperative control of multiple unmanned aerial vehicles using the potential field theory. J. Aircr. 43(6), 1805\u20131814 (2006)","journal-title":"J. Aircr."},{"key":"861_CR23","doi-asserted-by":"crossref","unstructured":"Frazzoli, E., Dahleh, M.A., Feron, E.: Real-time motion planning for agile autonomous vehicles. In: American control conference, vol. 1, pp. 43\u201349. IEEE (2001)","DOI":"10.2514\/6.2000-4056"},{"key":"861_CR24","doi-asserted-by":"publisher","first-page":"71","DOI":"10.1007\/s12532-014-0075-x","volume":"7","author":"PE Gill","year":"2015","unstructured":"Gill, P.E., Wong, E.: Methods for convex and general quadratic programming. Math. Program. Comput. 7, 71\u2013112 (2015)","journal-title":"Math. Program. Comput."},{"key":"861_CR25","unstructured":"Girard, A.R., De Sousa, J.B., Hedrick, J.K.: An overview of emerging results in networked multi-vehicle systems. In: Proceedings of the 40th IEEE conference on decision and control, 2001, vol. 2, pp. 1485\u20131490. IEEE (2001)"},{"issue":"5","key":"861_CR26","doi-asserted-by":"publisher","first-page":"1194","DOI":"10.1137\/0913069","volume":"13","author":"P Hansen","year":"1992","unstructured":"Hansen, P., Jaumard, B., Savard, G.: New branch-and-bound rules for linear bilevel programming. SIAM J. Sci. Stat. Comput. 13(5), 1194\u20131217 (1992)","journal-title":"SIAM J. Sci. Stat. Comput."},{"key":"861_CR27","doi-asserted-by":"crossref","unstructured":"Harada, M., Nagata, H., Simond, J., Bollino, K.: Optimal trajectory generation and tracking control of a single coaxial rotor Uav. In: AIAA Guidance, navigation, and control (GNC) conference, p. 4531 (2013)","DOI":"10.2514\/6.2013-4531"},{"issue":"1","key":"861_CR28","doi-asserted-by":"publisher","first-page":"15","DOI":"10.1243\/095440505X7957","volume":"219","author":"S Jeyaraman","year":"2005","unstructured":"Jeyaraman, S., Tsourdos, A., Zbikowski, R., White, B.: Kripke modelling of multiple robots with decentralized cooperation specified with temporal logic. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 219(1), 15\u201331 (2005)","journal-title":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"},{"key":"861_CR29","doi-asserted-by":"crossref","unstructured":"Kitamura, Y., Tanaka, T., Kishino, F., Yachida, M.: 3-D path planning in a dynamic environment using an octree and an artificial potential field. In: Proceedings. 1995 IEEE\/RSJ international conference on intelligent robots and systems 95.\u2019human robot interaction and cooperative robots\u2019, vol. 2, pp. 474\u2013481. IEEE (1995)","DOI":"10.1109\/IROS.1995.526259"},{"key":"861_CR30","unstructured":"Kuriki, Y., Namerikawa, T.: Consensus-based cooperative formation control with collision avoidance for a multi-Uav system. In: American control conference (ACC), 2014, pp. 2077\u20132082. IEEE (2014)"},{"key":"861_CR31","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4022-9","volume-title":"Robot motion planning","author":"J-C Latombe","year":"1991","unstructured":"Latombe, J.-C.: Robot motion planning. Kluwer Academic Publishers, Norwell, MA, USA (1991). ISBN: 079239206X"},{"key":"861_CR32","unstructured":"Lian, F.L., Murray, R.: Real-time trajectory generation for the cooperative path planning of multi-vehicle systems. In: Proceedings of the 41st IEEE conference on decision and control, 2002, vol. 4, pp. 3766\u20133769. IEEE (2002)"},{"key":"861_CR33","doi-asserted-by":"crossref","unstructured":"Lin, Y., Saripalli, S.: Path planning using 3D dubins curve for unmanned aerial vehicles. In: 2014 international conference on unmanned aircraft systems (ICUAS), pp. 296\u2013304. IEEE (2014)","DOI":"10.1109\/ICUAS.2014.6842268"},{"key":"861_CR34","doi-asserted-by":"crossref","unstructured":"Liu, P., Yu, H., Cang, S.: Geometric analysis-based trajectory planning and control for underactuated capsule systems with viscoelastic property. Transactions of the Institute of Measurement and Control p. 0142331217708833 (2017)","DOI":"10.1177\/0142331217708833"},{"issue":"1","key":"861_CR35","doi-asserted-by":"publisher","first-page":"95","DOI":"10.1007\/BF00940846","volume":"61","author":"P Loridan","year":"1989","unstructured":"Loridan, P., Morgan, J.: A theoretical approximation scheme for stackelberg problems. J. Optim. Theory Appl. 61(1), 95\u2013110 (1989)","journal-title":"J. Optim. Theory Appl."},{"key":"861_CR36","doi-asserted-by":"crossref","unstructured":"Maini, P., Sujit, P.B.: Path planning for a Uav with kinematic constraints in the presence of polygonal obstacles. In: 2016 international conference on unmanned aircraft systems (ICUAS), pp. 62\u201367 (2016)","DOI":"10.1109\/ICUAS.2016.7502625"},{"key":"861_CR37","doi-asserted-by":"crossref","unstructured":"Mansouri, S.S., Nikolakopoulos, G., Gustafsson, T.: Distributed model predictive control for unmanned aerial vehicles. In: Workshop on research, education and development of unmanned aerial systems (RED-UAS), pp. 152\u2013161. IEEE (2015)","DOI":"10.1109\/RED-UAS.2015.7441002"},{"key":"861_CR38","doi-asserted-by":"publisher","first-page":"454","DOI":"10.2514\/1.45161","volume":"33","author":"M Mattei","year":"2010","unstructured":"Mattei, M., Blasi, L.: Smooth flight trajectory planning in the presence of no-fly zones and obstacles. J. Guid. Control. Dyn. 33, 454 (2010)","journal-title":"J. Guid. Control. Dyn."},{"issue":"13","key":"861_CR39","doi-asserted-by":"publisher","first-page":"2103","DOI":"10.1049\/iet-cta.2010.0742","volume":"6","author":"M Mattei","year":"2012","unstructured":"Mattei, M., Scordamaglia, V.: Task priority approach to the coordinated control of a team of flying vehicles in the presence of obstacles. IET Control Theory Appl. 6(13), 2103\u20132110 (2012)","journal-title":"IET Control Theory Appl."},{"key":"861_CR40","unstructured":"McKinsey, J.C.C.: Introduction to the theory of games courier corporation (2012)"},{"key":"861_CR41","unstructured":"Notaro, I.: Guidance navigation & control of a fleet of fixed wing UAVs. Aracne (2016)"},{"key":"861_CR42","doi-asserted-by":"crossref","unstructured":"Owen, M., Beard, R.W., McLain, T.W.: Implementing dubins airplane paths on fixed-wing Uavs. In: Handbook of unmanned aerial vehicles, pp. 1677\u20131701. Springer (2015)","DOI":"10.1007\/978-90-481-9707-1_120"},{"issue":"2","key":"861_CR43","doi-asserted-by":"publisher","first-page":"246","DOI":"10.2514\/2.4735","volume":"24","author":"M Pachter","year":"2001","unstructured":"Pachter, M., D\u2019Azzo, J.J., Proud, A.W.: Tight formation flight control. J. Guid. Control Dynam. 24(2), 246\u2013254 (2001)","journal-title":"J. Guid. Control Dynam."},{"issue":"1","key":"861_CR44","doi-asserted-by":"publisher","first-page":"47","DOI":"10.1016\/j.ast.2011.02.006","volume":"16","author":"YV Pehlivanoglu","year":"2012","unstructured":"Pehlivanoglu, Y.V.: A new vibrational genetic algorithm enhanced with a voronoi diagram for path planning of autonomous uav. Aerosp. Sci. Technol. 16(1), 47\u201355 (2012)","journal-title":"Aerosp. Sci. Technol."},{"key":"861_CR45","doi-asserted-by":"crossref","unstructured":"Proud, A., Pachter, M., D\u2019Azzo, J.: Close formation flight control. In: Guidance, navigation, and control conference and exhibit, p. 4207 (1999)","DOI":"10.2514\/6.1999-4207"},{"key":"861_CR46","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-84800-015-5","volume-title":"Distributed consensus in multi-vehicle cooperative control","author":"W Ren","year":"2008","unstructured":"Ren, W., Beard, R.W.: Distributed consensus in multi-vehicle cooperative control. Springer, London, UK (2008)"},{"key":"861_CR47","doi-asserted-by":"crossref","unstructured":"Richards, A., How, J.: Decentralized model predictive control of cooperating uavs. In: 43rd IEEE conference on Decision and control, IEEE, pp. 4286\u20134291 (2004)","DOI":"10.1109\/CDC.2004.1429425"},{"key":"861_CR48","unstructured":"Sastry, S., Meyer, G., Tomlin, C., Lygeros, J., Godbole, D., Pappas, G.: Hybrid control in air traffic management systems. In: Proceedings of the 34th IEEE conference on Decision and Control, 1995, vol. 2, pp. 1478\u20131483. IEEE (1995)"},{"key":"861_CR49","doi-asserted-by":"publisher","first-page":"549","DOI":"10.1177\/0278364908090949","volume":"27","author":"S Scherer","year":"2008","unstructured":"Scherer, S., Singh, S., Chamberlain, L., Elgersma, M.: Flying fast and low among obstacles: methodology and experiments. Int. J. Robot. Res. 27, 549\u2013574 (2008)","journal-title":"Int. J. Robot. Res."},{"key":"861_CR50","doi-asserted-by":"crossref","unstructured":"Sch\u00f8ler, F., Cour-Harbo, A., Bisgaard, M.: Configuration space and visibility graph generation from geometric workspaces for Uavs. In: AIAA guidance, navigation, and control conference. AIAA (2011)","DOI":"10.2514\/6.2011-6416"},{"key":"861_CR51","unstructured":"Sch\u00f8ler, F., la Cour-Harbo, A., Bisgaard, M.: Generating approximative minimum length paths in 3D for Uavs. In: Intelligent vehicles symposium (IV), 2012 IEEE, pp. 229\u2013233. IEEE (2012)"},{"key":"861_CR52","doi-asserted-by":"crossref","unstructured":"Schumacher, C., Singh, S.: Nonlinear control of multiple Uavs in close-coupled formation flight. In: AIAA Guidance, navigation, and control conference and exhibit, p. 4373 (2000)","DOI":"10.2514\/6.2000-4373"},{"issue":"4","key":"861_CR53","doi-asserted-by":"publisher","first-page":"823","DOI":"10.1017\/S0263574714001878","volume":"34","author":"H Shorakaei","year":"2016","unstructured":"Shorakaei, H., Vahdani, M., Imani, B., Gholami, A.: Optimal cooperative path planning of unmanned aerial vehicles by a parallel genetic algorithm. Robotica 34(4), 823\u2013836 (2016)","journal-title":"Robotica"},{"issue":"2","key":"861_CR54","doi-asserted-by":"publisher","first-page":"395","DOI":"10.1016\/j.ejor.2016.08.027","volume":"257","author":"A Sinha","year":"2017","unstructured":"Sinha, A., Malo, P., Deb, K.: Evolutionary algorithm for bilevel optimization using approximations of the lower level optimal solution mapping. Eur. J. Oper. Res. 257(2), 395\u2013411 (2017)","journal-title":"Eur. J. Oper. Res."},{"key":"861_CR55","doi-asserted-by":"crossref","unstructured":"Smith, J.M.: Evolution and the Theory of Games. In: Did Darwin Get It Right?, pp. 202\u2013215. Springer (1988)","DOI":"10.1007\/978-1-4684-7862-4_22"},{"key":"861_CR56","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.robot.2017.02.007","volume":"92","author":"G Tartaglione","year":"2017","unstructured":"Tartaglione, G., D\u2019Amato, E., Ariola, M., Rossi, P.S., Johansen, T.A.: Model predictive control for a multi-body slung-load system. Robot. Auton. Syst. 92, 1\u201311 (2017)","journal-title":"Robot. Auton. Syst."},{"key":"861_CR57","doi-asserted-by":"crossref","unstructured":"Tsourdos, A., White, B., Shanmugavel, M.: Cooperative path planning of unmanned aerial vehicles, vol. 32. Wiley (2010)","DOI":"10.1002\/9780470974636"},{"issue":"2","key":"861_CR58","doi-asserted-by":"publisher","first-page":"379","DOI":"10.1007\/BF02191670","volume":"81","author":"L Vicente","year":"1994","unstructured":"Vicente, L., Savard, G., J\u00fadice, J.: Descent approaches for quadratic bilevel programming. J. Optim. Theory Appl. 81(2), 379\u2013399 (1994)","journal-title":"J. Optim. Theory Appl."},{"key":"861_CR59","doi-asserted-by":"crossref","unstructured":"Wu, J., Yi, J., Gao, L., Li, X.: Cooperative path planning of multiple Uavs based on ph curves and harmony search algorithm. In: 2017 IEEE 21St international conference on computer supported cooperative work in design (CSCWD), pp. 540\u2013544. IEEE (2017)","DOI":"10.1109\/CSCWD.2017.8066751"},{"key":"861_CR60","doi-asserted-by":"crossref","unstructured":"Xu, N., Kang, W., Cai, G., Chen, B.M.: Minimum-time trajectory planning for helicopter Uavs using computational dynamic optimization. In: 2012 IEEE international conference on systems, man, and cybernetics (SMC), pp. 2732\u20132737. IEEE (2012)","DOI":"10.1109\/ICSMC.2012.6378161"},{"issue":"6","key":"861_CR61","doi-asserted-by":"publisher","first-page":"525","DOI":"10.1007\/s11633-013-0750-9","volume":"10","author":"F Yan","year":"2013","unstructured":"Yan, F., Liu, Y.S., Xiao, J.Z.: Path planning in complex 3d environments using a probabilistic roadmap method. Int. J. Autom. Comput. 10(6), 525\u2013533 (2013)","journal-title":"Int. J. Autom. Comput."},{"issue":"5","key":"861_CR62","doi-asserted-by":"publisher","first-page":"716","DOI":"10.1115\/1.2764515","volume":"129","author":"Y Yang","year":"2007","unstructured":"Yang, Y., Polycarpou, M.M., Minai, A.A.: Multi-uav cooperative search using an opportunistic learning method. J. Dyn. Syst. Meas. Control. 129(5), 716\u2013728 (2007)","journal-title":"J. Dyn. Syst. Meas. Control."},{"key":"861_CR63","doi-asserted-by":"publisher","first-page":"10","DOI":"10.1016\/j.ast.2016.04.002","volume":"54","author":"P Yao","year":"2016","unstructured":"Yao, P., Wang, H., Su, Z.: Cooperative path planning with applications to target tracking and obstacle avoidance for multi-uavs. Aerosp. Sci. Technol. 54, 10\u201322 (2016)","journal-title":"Aerosp. Sci. Technol."},{"issue":"2","key":"861_CR64","doi-asserted-by":"publisher","first-page":"115","DOI":"10.1061\/(ASCE)0733-947X(2000)126:2(115)","volume":"126","author":"Y Yin","year":"2000","unstructured":"Yin, Y.: Genetic-algorithms-based approach for bilevel programming models. J. Transp. Eng. 126(2), 115\u2013120 (2000)","journal-title":"J. Transp. Eng."},{"issue":"2","key":"861_CR65","doi-asserted-by":"publisher","first-page":"541","DOI":"10.1109\/TMECH.2014.2301459","volume":"20","author":"H Yu","year":"2015","unstructured":"Yu, H., Meier, K., Argyle, M., Beard, R.W.: Cooperative path planning for target tracking in urban environments using unmanned air and ground vehicles. IEEE\/ASME Trans. Mechatron. 20(2), 541\u2013552 (2015)","journal-title":"IEEE\/ASME Trans. Mechatron."}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-018-0861-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-018-0861-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-018-0861-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,4]],"date-time":"2025-07-04T12:56:38Z","timestamp":1751633798000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-018-0861-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,5,11]]},"references-count":65,"journal-issue":{"issue":"1-2","published-print":{"date-parts":[[2019,2]]}},"alternative-id":["861"],"URL":"https:\/\/doi.org\/10.1007\/s10846-018-0861-1","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,5,11]]},"assertion":[{"value":"30 September 2017","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 April 2018","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 May 2018","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}