{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T14:15:33Z","timestamp":1766067333546,"version":"3.37.3"},"reference-count":42,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2021,4,30]],"date-time":"2021-04-30T00:00:00Z","timestamp":1619740800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,4,30]],"date-time":"2021-04-30T00:00:00Z","timestamp":1619740800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61973309"],"award-info":[{"award-number":["61973309"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61906209"],"award-info":[{"award-number":["61906209"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61973006"],"award-info":[{"award-number":["61973006"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Beijing Natural Science Foundation","award":["JQ20025"],"award-info":[{"award-number":["JQ20025"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2021,5]]},"DOI":"10.1007\/s10846-021-01384-4","type":"journal-article","created":{"date-parts":[[2021,5,3]],"date-time":"2021-05-03T10:49:51Z","timestamp":1620038991000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Formation Reconfiguration for Fixed-Wing UAVs"],"prefix":"10.1007","volume":"102","author":[{"given":"Hao","family":"Chen","sequence":"first","affiliation":[]},{"given":"Xiangke","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Lincheng","family":"Shen","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9361-4305","authenticated-orcid":false,"given":"Zhongkui","family":"Li","sequence":"additional","affiliation":[]},{"given":"Zhihong","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Yangguang","family":"Yu","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,4,30]]},"reference":[{"issue":"11","key":"1384_CR1","doi-asserted-by":"publisher","first-page":"212204","DOI":"10.1007\/s11432-018-9887-5","volume":"62","author":"X Wang","year":"2019","unstructured":"Wang, X., Shen, L., Liu, Z., Zhao, S., Cong, Y., Li, Z., Jia, S., Chen, H., Yu, Y., Chang, Y., Wang, Y.: Coordinated flight control of miniature fixed-wing UAV swarms: Methods and experiments. Sci. China Inf. Sci. 62(11), 212204 (2019)","journal-title":"Sci. China Inf. Sci."},{"issue":"6","key":"1384_CR2","doi-asserted-by":"publisher","first-page":"34","DOI":"10.1109\/37.887447","volume":"20","author":"F Giulietti","year":"2000","unstructured":"Giulietti, F., Pollini, L., Innocenti, M.: Autonomous formation flight. IEEE Control. Syst. Mag. 20(6), 34\u201344 (2000)","journal-title":"IEEE Control. Syst. Mag."},{"issue":"4","key":"1384_CR3","doi-asserted-by":"publisher","first-page":"829","DOI":"10.1287\/opre.2014.1279","volume":"62","author":"MS Akt\u00fcrk","year":"2014","unstructured":"Akt\u00fcrk, M.S., Atamt\u00fcrk, A., G\u00fcrel, S.: Aircraft rescheduling with cruise speed control. Oper. Res. 62(4), 829\u2013845 (2014)","journal-title":"Oper. Res."},{"issue":"5","key":"1384_CR4","doi-asserted-by":"publisher","first-page":"661","DOI":"10.1002\/rob.21637","volume":"33","author":"DB Wilson","year":"2016","unstructured":"Wilson, D.B., Goktogan, A.H., Sukkarieh, S.: Vision-aided guidance and navigation for close formation flight. J. Field Robot. 33(5), 661\u2013686 (2016)","journal-title":"J. Field Robot."},{"key":"1384_CR5","doi-asserted-by":"publisher","unstructured":"Chen, H., Wang, X., Shen, L., Cong, Y.: Formation flight of fixed-wing UAV swarms: A group-based hierarchical approach. Chinese Journal of Aeronautics. https:\/\/doi.org\/10.1016\/j.cja.2020.03.006 (2020)","DOI":"10.1016\/j.cja.2020.03.006"},{"issue":"9","key":"1384_CR6","doi-asserted-by":"publisher","first-page":"1149","DOI":"10.1016\/j.robot.2012.05.016","volume":"60","author":"Q Li","year":"2012","unstructured":"Li, Q., Jiang, Z.P.: Pattern preserving path following of unicycle teams with communication delays. Rob. Auton. Syst. 60(9), 1149\u20131164 (2012)","journal-title":"Rob. Auton. Syst."},{"issue":"3","key":"1384_CR7","doi-asserted-by":"publisher","first-page":"744","DOI":"10.1016\/j.cnsns.2012.08.015","volume":"18","author":"H Rezaee","year":"2013","unstructured":"Rezaee, H., Abdollahi, F.: Motion synchronization in unmanned aircrafts formation control with communication delays. Commun. Nonlinear Sci. Numer. Simul. 18(3), 744\u2013756 (2013)","journal-title":"Commun. Nonlinear Sci. Numer. Simul."},{"key":"1384_CR8","doi-asserted-by":"crossref","unstructured":"Hauert, S., Leven, S., Varga, M., Ruini, F., Cangelosi, A., Zufferey, J.-C., Floreano, D.: Reynolds flocking in reality with fixed-wing robots: communication range vs. maximum turning rate. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), (San Francisco, USA), pp. 5015\u20135020 (2011)","DOI":"10.1109\/IROS.2011.6048729"},{"issue":"1","key":"1384_CR9","doi-asserted-by":"publisher","first-page":"105","DOI":"10.1177\/0278364914546173","volume":"34","author":"D Zelazo","year":"2014","unstructured":"Zelazo, D., Franchi, A., B\u00fclthoff, H.H., Giordano, P.R.: Decentralized rigidity maintenance control with range measurements for multi-robot systems. Int. J. Robot. Res. 34(1), 105\u2013128 (2014)","journal-title":"Int. J. Robot. Res."},{"issue":"17","key":"1384_CR10","doi-asserted-by":"publisher","first-page":"2747","DOI":"10.1049\/iet-cta.2018.6133","volume":"13","author":"Y Yu","year":"2019","unstructured":"Yu, Y., Li, Z., Wang, X., Shen, L.: Bearing-only circumnavigation control of the multi-agent system around a moving target. IET Control Theory Appl. 13(17), 2747\u20132757 (2019)","journal-title":"IET Control Theory Appl."},{"issue":"1-4","key":"1384_CR11","doi-asserted-by":"publisher","first-page":"415","DOI":"10.1007\/s10846-015-0318-8","volume":"84","author":"O Cetin","year":"2016","unstructured":"Cetin, O., Yilmaz, G.: Real-time autonomous uav formation flight with collision and obstacle avoidance in unknown environment. J. Intell. Robot. Syst. 84(1-4), 415\u2013433 (2016)","journal-title":"J. Intell. Robot. Syst."},{"key":"1384_CR12","doi-asserted-by":"crossref","unstructured":"Li, H., Chen, H., Yang, S., Wang, X.: Standard formation generation and keeping of unmanned aerial vehicles through a potential functional approach. In: The 39th Chinese Control Conference (CCC) (Shenyang China), pp. 4771\u20134776 (2020)","DOI":"10.23919\/CCC50068.2020.9188802"},{"key":"1384_CR13","doi-asserted-by":"publisher","first-page":"204","DOI":"10.1016\/j.neucom.2016.03.021","volume":"199","author":"X Wang","year":"2016","unstructured":"Wang, X., Zeng, Z., Cong, Y.: Multi-agent distributed coordination control: developments and directions via graph viewpoint. Neurocomputing 199, 204\u2013218 (2016)","journal-title":"Neurocomputing"},{"key":"1384_CR14","doi-asserted-by":"publisher","first-page":"128","DOI":"10.1016\/j.arcontrol.2020.02.001","volume":"49","author":"MA Kamel","year":"2020","unstructured":"Kamel, M.A., Yu, X., Zhang, Y.: Formation control and coordination of multiple unmanned ground vehicles in normal and faulty situations: a review. Annu. Rev. Control. 49, 128\u2013144 (2020)","journal-title":"Annu. Rev. Control."},{"issue":"1","key":"1384_CR15","first-page":"181","volume":"27","author":"RW Brockett","year":"1983","unstructured":"Brockett, R.W.: Asymptotic stability and feedback stabilization. Diff. Geometr. Control Theory 27(1), 181\u2013191 (1983)","journal-title":"Diff. Geometr. Control Theory"},{"issue":"6","key":"1384_CR16","doi-asserted-by":"publisher","first-page":"440","DOI":"10.1016\/j.ast.2010.09.007","volume":"15","author":"H-E Park","year":"2011","unstructured":"Park, H.-E., Park, S.-Y., Choi, K.-H.: Satellite formation reconfiguration and station-keeping using state-dependent Riccati equation technique. Aerosp. Sci. Technol. 15(6), 440\u2013452 (2011)","journal-title":"Aerosp. Sci. Technol."},{"issue":"15","key":"1384_CR17","doi-asserted-by":"publisher","first-page":"2222","DOI":"10.1049\/iet-cta.2015.0144","volume":"9","author":"N Zhou","year":"2015","unstructured":"Zhou, N., Xia, Y.: Coordination control design for formation reconfiguration of multiple spacecraft. IET Control Theory Appl. 9(15), 2222\u20132231 (2015)","journal-title":"IET Control Theory Appl."},{"issue":"2","key":"1384_CR18","doi-asserted-by":"publisher","first-page":"239","DOI":"10.1007\/s10846-013-9829-3","volume":"72","author":"M Saska","year":"2013","unstructured":"Saska, M., Von\u00e1sek, V., P\u0159eu\u010dil, L.: Trajectory planning and control for airport snow sweeping by autonomous formations of ploughs. J. Intell. Robot. Syst. 72(2), 239\u2013261 (2013)","journal-title":"J. Intell. Robot. Syst."},{"issue":"4","key":"1384_CR19","doi-asserted-by":"publisher","first-page":"287","DOI":"10.1007\/s10514-013-9349-9","volume":"35","author":"A Kushleyev","year":"2013","unstructured":"Kushleyev, A., Mellinger, D., Powers, C., Kumar, V.: Towards a swarm of agile micro quadrotors. Auton. Robot. 35(4), 287\u2013300 (2013)","journal-title":"Auton. Robot."},{"issue":"4","key":"1384_CR20","doi-asserted-by":"publisher","first-page":"59","DOI":"10.1109\/MCS.2016.2558443","volume":"36","author":"V Cichella","year":"2016","unstructured":"Cichella, V., Choe, R., Mehdi, S.B., Xargay, E.: Safe coordinated maneuvering of teams of multirotor unmanned aerial vehicles: a cooperative control framework for multivehicle, time-critical missions. IEEE Control. Syst. Mag. 36(4), 59\u201382 (2016)","journal-title":"IEEE Control. Syst. Mag."},{"issue":"5","key":"1384_CR21","doi-asserted-by":"publisher","first-page":"49","DOI":"10.1109\/MCS.2012.2205477","volume":"32","author":"E Xargay","year":"2012","unstructured":"Xargay, E., Dobrokhodov, V., Kaminer, I., Pascoal, A.M., Hovakimyan, N., Cao, C.: Time-critical cooperative control of multiple autonomous vehicles. IEEE Control. Syst. Mag. 32(5), 49\u201373 (2012)","journal-title":"IEEE Control. Syst. Mag."},{"issue":"2","key":"1384_CR22","doi-asserted-by":"publisher","first-page":"234","DOI":"10.1109\/TAC.2004.841924","volume":"50","author":"AP Aguiar","year":"2005","unstructured":"Aguiar, A.P., Hespanha, J.P., Kokotovi\u0107, P.V.: Path-following for nonminimum phase systems removes performance limitations. IEEE Trans. Autom. Control 50(2), 234\u2013239 (2005)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"3","key":"1384_CR23","doi-asserted-by":"publisher","first-page":"598","DOI":"10.1016\/j.automatica.2007.06.030","volume":"44","author":"AP Aguiar","year":"2008","unstructured":"Aguiar, A.P., Hespanha, J.P., Kokotovi\u0107, P.V.: Performance limitations in reference tracking and path following for nonlinear systems. Automatica 44(3), 598\u2013610 (2008)","journal-title":"Automatica"},{"issue":"6","key":"1384_CR24","doi-asserted-by":"publisher","first-page":"2103","DOI":"10.1109\/TCST.2014.2303787","volume":"22","author":"RW Beard","year":"2014","unstructured":"Beard, R.W., Ferrin, J., Humpherys, J.: Fixed wing UAV path following in wind with input constraints. IEEE Trans. Control Syst. Technol. 22(6), 2103\u20132117 (2014)","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"1-2","key":"1384_CR25","doi-asserted-by":"publisher","first-page":"107","DOI":"10.1007\/s10846-017-0472-2","volume":"89","author":"S Zhao","year":"2018","unstructured":"Zhao, S., Wang, X., Zhang, D., Shen, L.: Curved path following control for fixed-wing unmanned aerial vehicles with control constraint. J. Intell. Robot. Syst. 89(1-2), 107\u2013119 (2018)","journal-title":"J. Intell. Robot. Syst."},{"key":"1384_CR26","doi-asserted-by":"crossref","unstructured":"Gon\u00e7alves, V.M., Pimenta, L.C.A., Maia, C.A., Pereira, G.A.S.: Coordination of multiple fixed-wing UAVs traversing intersecting periodic paths. In: Proceedings of the IEEE International Conference on Robotics and Automation (Karlsruhe, Germany). IEEE, pp. 849\u2013854 (2013)","DOI":"10.1109\/ICRA.2013.6630672"},{"issue":"2","key":"1384_CR27","doi-asserted-by":"publisher","first-page":"499","DOI":"10.2514\/1.56538","volume":"36","author":"E Xargay","year":"2013","unstructured":"Xargay, E., Kaminer, I., Pascoal, A., Hovakimyan, N., Dobrokhodov, V., Cichella, V., Aguiar, A.P., Ghabcheloo, R.: Time-critical cooperative path following of multiple unmanned aerial vehicles over time-varying networks. J. Guid. Control Dynam. 36(2), 499\u2013516 (2013)","journal-title":"J. Guid. Control Dynam."},{"key":"1384_CR28","doi-asserted-by":"publisher","first-page":"82","DOI":"10.1016\/j.automatica.2018.11.004","volume":"100","author":"Y Wang","year":"2019","unstructured":"Wang, Y., Wang, D., Zhu, S.: Cooperative moving path following for multiple fixed-wing unmanned aerial vehicles with speed constraints. Automatica 100, 82\u201389 (2019)","journal-title":"Automatica"},{"issue":"5","key":"1384_CR29","doi-asserted-by":"publisher","first-page":"1170","DOI":"10.1109\/TAC.2011.2107070","volume":"56","author":"Y Lan","year":"2011","unstructured":"Lan, Y., Yan, G., Lin, Z.: Synthesis of distributed control of coordinated path following based on hybrid approach. IEEE Trans. Autom. Control 56(5), 1170\u20131175 (2011)","journal-title":"IEEE Trans. Autom. Control"},{"key":"1384_CR30","doi-asserted-by":"publisher","unstructured":"Chen, H., Cong, Y., Wang, X., Xu, X., Shen, L.: Coordinated path-following control of fixed-wing unmanned aerial vehicles. IEEE Transactions on Systems, Man Cybernetics, Systems. https:\/\/doi.org\/10.1109\/TSMC.2021.3049681 (2021)","DOI":"10.1109\/TSMC.2021.3049681"},{"key":"1384_CR31","doi-asserted-by":"crossref","unstructured":"Chen, H., Wang, X., Li, Z., Shen, L.: Consensus in networks of nonlinear integrators with applications to coordinated path following control of fixed-wing uavs. In: The 59th IEEE Conference on Decision and Control (CDC), (Jeju Island, Republic of Korea). pp. 5348\u20135353 (2020)","DOI":"10.1109\/CDC42340.2020.9304199"},{"issue":"3","key":"1384_CR32","doi-asserted-by":"publisher","first-page":"1569","DOI":"10.1007\/s10846-020-01210-3","volume":"100","author":"S Zhao","year":"2020","unstructured":"Zhao, S., Wang, X., Chen, H., Wang, Y.: Cooperative path following control of fixed-wing unmanned aerial vehicles with collision avoidance. J. Intell. Robot. Syst. 100(3), 1569\u20131581 (2020)","journal-title":"J. Intell. Robot. Syst."},{"key":"1384_CR33","doi-asserted-by":"crossref","unstructured":"Chung, T.H., Clement, M.R., Day, M.A., Jones, K.D., Davis, D., Jones, M.: Live-fly, large-scale field experimentation for large numbers of fixed-wing UAVs. In: Proceedings of the IEEE International Conference on Robotics and Automation, (Stockholm, Sweden). pp. 1255\u20131262 (2016)","DOI":"10.1109\/ICRA.2016.7487257"},{"key":"1384_CR34","doi-asserted-by":"publisher","DOI":"10.1515\/9781400840601","volume-title":"Small Unmanned Aircraft: Theory and Practice","author":"RW Beard","year":"2012","unstructured":"Beard, R.W., McLain, T.W.: Small Unmanned Aircraft: Theory and Practice. Princeton University Press, Princeton (2012)"},{"issue":"8","key":"1384_CR35","first-page":"2897","volume":"50","author":"S Zhao","year":"2020","unstructured":"Zhao, S., Wang, X., Lin, Z., Zhang, D., Shen, L.: Integrating vector field approach and input-to-state stability curved path following for unmanned aerial vehicles. IEEE Trans. Syst. Man Cybern. Syst. 50 (8), 2897\u20132904 (2020)","journal-title":"IEEE Trans. Syst. Man Cybern. Syst."},{"issue":"1-4","key":"1384_CR36","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1007\/s10846-009-9383-1","volume":"57","author":"C Goerzen","year":"2010","unstructured":"Goerzen, C., Kong, Z., Mettler, B.: A survey of motion planning algorithms from the perspective of autonomous UAV guidance. J. Intell. Robot. Syst. 57(1-4), 65 (2010)","journal-title":"J. Intell. Robot. Syst."},{"key":"1384_CR37","volume-title":"Cooperative Path Planning of Unmanned Aerial Vehicles","author":"A Tsourdos","year":"2011","unstructured":"Tsourdos, A., White, B., Shanmugavel, M.: Cooperative Path Planning of Unmanned Aerial Vehicles. Wiley, Chichester (2011)"},{"key":"1384_CR38","unstructured":"Samson, C.: Path following and time-varying feedback stabilization of a wheeled mobile robot. In: Proceedings of the International Conference on Advanced Robotics and Computer Vision (Singapore) (1992)"},{"key":"1384_CR39","volume-title":"Nonlinear Systems","author":"HK Khalil","year":"2002","unstructured":"Khalil, H.K.: Nonlinear Systems. Prentice-Hall, Upper Saddle River (2002)"},{"key":"1384_CR40","doi-asserted-by":"publisher","DOI":"10.1515\/9781400835355","volume-title":"Graph Theoretic Methods in Multiagent Networks","author":"M Mesbahi","year":"2010","unstructured":"Mesbahi, M., Egerstedt, M.: Graph Theoretic Methods in Multiagent Networks. Princeton University Press, Princeton (2010)"},{"key":"1384_CR41","doi-asserted-by":"crossref","unstructured":"Wang, Y., Wang, X., Zhao, S., Shen, L.: A hierarchical collision avoidance architecture for multiple fixed-wing uavs in an integrated airspace. arXiv:2005.14455 (2020)","DOI":"10.1016\/j.ifacol.2020.12.199"},{"key":"1384_CR42","doi-asserted-by":"publisher","unstructured":"Liu, Z., Wang, X., Shen, L., Zhao, S., Cong, Y., Li, J., Yin, D., Jia, S., Xiang, X.: Mission oriented miniature fixed-wing UAV swarms: A multi-layered and distributed architecture. IEEE Transactions on Systems, Man, and Cybernetics. https:\/\/doi.org\/10.1109\/TSMC.2020.3033935 (2020)","DOI":"10.1109\/TSMC.2020.3033935"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01384-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-021-01384-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01384-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,5,15]],"date-time":"2021-05-15T13:14:00Z","timestamp":1621084440000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-021-01384-4"}},"subtitle":["A Coordinated Path Following Approach"],"short-title":[],"issued":{"date-parts":[[2021,4,30]]},"references-count":42,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2021,5]]}},"alternative-id":["1384"],"URL":"https:\/\/doi.org\/10.1007\/s10846-021-01384-4","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2021,4,30]]},"assertion":[{"value":"12 September 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"30 March 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"30 April 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare that they have no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Competing interests"}}],"article-number":"27"}}