{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T03:08:00Z","timestamp":1780369680019,"version":"3.54.1"},"reference-count":50,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2022,8,1]],"date-time":"2022-08-01T00:00:00Z","timestamp":1659312000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,8,1]],"date-time":"2022-08-01T00:00:00Z","timestamp":1659312000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"name":"Science and Technology Plan of Liaoning Province-Major Industrial Project","award":["2019JH1\/10100005"],"award-info":[{"award-number":["2019JH1\/10100005"]}]},{"name":"Xingliao Talents Program of Liaoning Province","award":["XLYC1807110"],"award-info":[{"award-number":["XLYC1807110"]}]},{"name":"Hundreds, Thousands, Thousands of Talents Project Funded Project of Liaoning Province","award":["2020921001"],"award-info":[{"award-number":["2020921001"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2022,8]]},"DOI":"10.1007\/s10846-022-01687-0","type":"journal-article","created":{"date-parts":[[2022,8,10]],"date-time":"2022-08-10T12:02:40Z","timestamp":1660132960000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":32,"title":["Real-Time and Efficient Collision Avoidance Planning Approach for Safe Human-Robot Interaction"],"prefix":"10.1007","volume":"105","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4780-559X","authenticated-orcid":false,"given":"Hongyan","family":"Liu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daokui","family":"Qu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fang","family":"Xu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhenjun","family":"Du","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kai","family":"Jia","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jilai","family":"Song","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mingmin","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2022,8,10]]},"reference":[{"issue":"2","key":"1687_CR1","doi-asserted-by":"publisher","first-page":"628","DOI":"10.1016\/j.cirp.2009.09.009","volume":"58","author":"J Kr\u00fcger","year":"2009","unstructured":"Kr\u00fcger, J., Lien, T.K., Verl, A.: Cooperation of human and machines in assembly lines. CIRP Ann. 58(2), 628\u2013646 (2009). https:\/\/doi.org\/10.1016\/j.cirp.2009.09.009","journal-title":"CIRP Ann."},{"issue":"5","key":"1687_CR2","doi-asserted-by":"publisher","first-page":"957","DOI":"10.1007\/s10514-017-9677-2","volume":"42","author":"A Ajoudani","year":"2018","unstructured":"Ajoudani, A., Zanchettin, A.M., Ivaldi, S., Albu-Sch\u00e4ffer, A., Kosuge, K., Khatib, O.: Progress and prospects of the human-robot collaboration. Auton. Robot. 42(5), 957\u2013975 (2018). https:\/\/doi.org\/10.1007\/s10514-017-9677-2","journal-title":"Auton. Robot."},{"issue":"6","key":"1687_CR3","doi-asserted-by":"publisher","first-page":"1292","DOI":"10.1109\/TRO.2017.2723903","volume":"33","author":"S Haddadin","year":"2017","unstructured":"Haddadin, S., De Luca, A., Albu-Sch\u00e4ffer, A.: Robot collisions: A survey on detection, isolation, and identification. IEEE Trans. Robot. 33(6), 1292\u20131312 (2017). https:\/\/doi.org\/10.1109\/TRO.2017.2723903","journal-title":"IEEE Trans. Robot."},{"issue":"3","key":"1687_CR4","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-021-01510-2","volume":"103","author":"S Li","year":"2021","unstructured":"Li, S., Han, K., Li, X., Zhang, S., Xiong, Y., Xie, Z.: Hybrid trajectory replanning-based dynamic obstacle avoidance for physical human-robot interaction. J. Intell. Robot. Syst. 103(3), 1\u201314 (2021). https:\/\/doi.org\/10.1007\/s10846-021-01510-2","journal-title":"J. Intell. Robot. Syst."},{"key":"1687_CR5","unstructured":"LaValle, S.M.: Rapidly-exploring random trees : a new tool for path planning. The annual research report (1998)"},{"key":"1687_CR6","doi-asserted-by":"publisher","unstructured":"Kuffner, J.J., LaValle, S.M.: Rrt-connect: An efficient approach to single-query path planning. In: Proceedings 2000 IEEE International Conference on Robotics and Automation., vol. 2, pp. 995\u201310012 (2000). https:\/\/doi.org\/10.1109\/ROBOT.2000.844730","DOI":"10.1109\/ROBOT.2000.844730"},{"issue":"7","key":"1687_CR7","doi-asserted-by":"publisher","first-page":"846","DOI":"10.1177\/0278364911406761","volume":"30","author":"S Karaman","year":"2011","unstructured":"Karaman, S., Frazzoli, E.: Sampling-based algorithms for optimal motion planning. Int. J. Robot. Res. 30(7), 846\u2013894 (2011). https:\/\/doi.org\/10.1177\/0278364911406761","journal-title":"Int. J. Robot. Res."},{"key":"1687_CR8","doi-asserted-by":"publisher","unstructured":"Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. In: Proceedings 1985 IEEE International Conference on Robotics and Automation, vol. 2, pp. 500\u2013505 (1985). https:\/\/doi.org\/10.1109\/ROBOT.1985.1087247","DOI":"10.1109\/ROBOT.1985.1087247"},{"key":"1687_CR9","doi-asserted-by":"publisher","unstructured":"Flacco, F., Kr\u00f6ger, T., De Luca, A., Khatib, O.: A depth space approach to human-robot collision avoidance. In: 2012 IEEE International Conference on Robotics and Automation, pp. 338\u2013345 (2012). https:\/\/doi.org\/10.1109\/ICRA.2012.6225245","DOI":"10.1109\/ICRA.2012.6225245"},{"key":"1687_CR10","doi-asserted-by":"publisher","unstructured":"Lin, H., Fan, Y., Tang, T., Tomizuka, M.: Human guidance programming on a 6-dof robot with collision avoidance. In: 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2676\u20132681 (2016). https:\/\/doi.org\/10.1109\/IROS.2016.7759416","DOI":"10.1109\/IROS.2016.7759416"},{"key":"1687_CR11","doi-asserted-by":"publisher","unstructured":"Kalakrishnan, M., Chitta, S., Theodorou, E., Pastor, P., Schaal, S.: Stomp: Stochastic trajectory optimization for motion planning. In: 2011 IEEE International Conference on Robotics and Automation, pp. 4569\u20134574 (2011). https:\/\/doi.org\/10.1109\/ICRA.2011.5980280","DOI":"10.1109\/ICRA.2011.5980280"},{"issue":"9\u201310","key":"1687_CR12","doi-asserted-by":"publisher","first-page":"1164","DOI":"10.1177\/0278364913488805","volume":"32","author":"M Zucker","year":"2013","unstructured":"Zucker, M., Ratliff, N., Dragan, A.D., Pivtoraiko, M., Klingensmith, M., Dellin, C.M., Bagnell, J.A., Srinivasa, S.S.: Chomp: Covariant hamiltonian optimization for motion planning. Int. J. Robot. Res. 32(9\u201310), 1164\u20131193 (2013). https:\/\/doi.org\/10.1177\/0278364913488805","journal-title":"Int. J. Robot. Res."},{"key":"1687_CR13","doi-asserted-by":"publisher","unstructured":"Schulman, J., Ho, J., Lee, A., Awwal, I., Bradlow, H., Abbeel, P.: Finding locally optimal, collision-free trajectories with sequential convex optimization. (2013). https:\/\/doi.org\/10.15607\/RSS.2013.IX.031","DOI":"10.15607\/RSS.2013.IX.031"},{"issue":"11","key":"1687_CR14","doi-asserted-by":"publisher","first-page":"1319","DOI":"10.1177\/0278364918790369","volume":"37","author":"M Mukadam","year":"2018","unstructured":"Mukadam, M., Dong, J., Yan, X., Dellaert, F., Boots, B.: Continuous-time gaussian process motion planning via probabilistic inference. Int. J. Robot. Res. 37(11), 1319\u20131340 (2018)","journal-title":"Int. J. Robot. Res."},{"key":"1687_CR15","doi-asserted-by":"publisher","unstructured":"Liu, C., Tomizuka, M.: Algorithmic safety measures for intelligent industrial co-robots. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 3095\u20133102 (2016). https:\/\/doi.org\/10.1109\/ICRA.2016.7487476","DOI":"10.1109\/ICRA.2016.7487476"},{"key":"1687_CR16","doi-asserted-by":"publisher","unstructured":"Tarbouriech, S., Suleiman, W.: On bisection continuous collision checking method: Spherical joints and minimum distance to obstacles. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 7613\u20137619 (2018). https:\/\/doi.org\/10.1109\/ICRA.2018.8463199","DOI":"10.1109\/ICRA.2018.8463199"},{"key":"1687_CR17","doi-asserted-by":"publisher","first-page":"5368","DOI":"10.1109\/ACCESS.2018.2889311","volume":"7","author":"M Safeea","year":"2019","unstructured":"Safeea, M., Neto, P., Bearee, R.: Efficient calculation of minimum distance between capsules and its use in robotics. IEEE Access 7, 5368\u20135373 (2019). https:\/\/doi.org\/10.1109\/ACCESS.2018.2889311","journal-title":"IEEE Access"},{"key":"1687_CR18","doi-asserted-by":"publisher","first-page":"98","DOI":"10.1016\/j.rcim.2017.05.013","volume":"49","author":"D Han","year":"2018","unstructured":"Han, D., Nie, H., Chen, J., Chen, M.: Dynamic obstacle avoidance for manipulators using distance calculation and discrete detection. Robotics and Computer-Integrated Manufacturing 49, 98\u2013104 (2018)","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"issue":"5","key":"1687_CR19","doi-asserted-by":"publisher","first-page":"265","DOI":"10.1080\/01691864.2020.1721322","volume":"34","author":"D Mronga","year":"2020","unstructured":"Mronga, D., Knobloch, T., de Gea Fern\u00e1ndez, J., Kirchner, F.: A constraint-based approach for human-robot collision avoidance. Adv. Robot. 34(5), 265\u2013281 (2020)","journal-title":"Adv. Robot."},{"issue":"3","key":"1687_CR20","doi-asserted-by":"publisher","first-page":"1864","DOI":"10.1109\/LRA.2018.2795645","volume":"3","author":"D Kappler","year":"2018","unstructured":"Kappler, D., Meier, F., Issac, J., Mainprice, J., Cifuentes, C.G., W\u00fcthrich, M., Berenz, V., Schaal, S., Ratliff, N., Bohg, J.: Real-time perception meets reactive motion generation. IEEE Robot. Autom. Lett. 3(3), 1864\u20131871 (2018)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1687_CR21","doi-asserted-by":"crossref","unstructured":"Han, L., Gao, F., Zhou, B., Shen, S.: Fiesta: Fast incremental euclidean distance fields for online motion planning of aerial robots. In: 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4423\u20134430 (2019). IEEE","DOI":"10.1109\/IROS40897.2019.8968199"},{"key":"1687_CR22","doi-asserted-by":"crossref","unstructured":"Meguenani, A., Padois, V., Da Silva, J., Hoarau, A., Bidaud, P.: Energy based control for safe human-robot physical interaction. In: 2016 International Symposium on Experimental Robotics, vol. 1 (2017). Springer","DOI":"10.1007\/978-3-319-50115-4_70"},{"key":"1687_CR23","doi-asserted-by":"publisher","unstructured":"Chen, J., Song, K.: Collision-free motion planning for human-robot collaborative safety under cartesian constraint. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 4348\u20134354 (2018). https:\/\/doi.org\/10.1109\/ICRA.2018.8460185","DOI":"10.1109\/ICRA.2018.8460185"},{"key":"1687_CR24","unstructured":"Kinects Human Tracking. https:\/\/github.com\/kuka-isir\/kinects_human_tracking"},{"issue":"1","key":"1687_CR25","doi-asserted-by":"publisher","first-page":"7","DOI":"10.1007\/s10846-014-0146-2","volume":"80","author":"F Flacco","year":"2015","unstructured":"Flacco, F., Kroeger, T., De Luca, A., Khatib, O.: A depth space approach for evaluating distance to objects. J. Intell. Robot. Syst. 80(1), 7\u201322 (2015). https:\/\/doi.org\/10.1007\/s10846-014-0146-2","journal-title":"J. Intell. Robot. Syst."},{"key":"1687_CR26","doi-asserted-by":"publisher","unstructured":"Nascimento, H., Mujica, M., Benoussaad, M.: Collision avoidance in human-robot interaction using kinect vision system combined with robot\u2019s model and data. In: 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 10293\u201310298 (2020). https:\/\/doi.org\/10.1109\/IROS45743.2020.9341248","DOI":"10.1109\/IROS45743.2020.9341248"},{"key":"1687_CR27","doi-asserted-by":"publisher","unstructured":"Tulbure, A., Khatib, O.: Closing the loop: Real-time perception and control for robust collision avoidance with occluded obstacles. In: 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5700\u20135707 (2020). https:\/\/doi.org\/10.1109\/IROS45743.2020.9341663","DOI":"10.1109\/IROS45743.2020.9341663"},{"key":"1687_CR28","doi-asserted-by":"publisher","unstructured":"Lin, H.-C., Liu, C., Fan, Y., Tomizuka, M.: Real-time collision avoidance algorithm on industrial manipulators. In: 2017 IEEE Conference on Control Technology and Applications (CCTA), pp. 1294\u20131299 (2017). https:\/\/doi.org\/10.1109\/CCTA.2017.8062637","DOI":"10.1109\/CCTA.2017.8062637"},{"key":"1687_CR29","doi-asserted-by":"publisher","unstructured":"Lacevic, B., Rocco, P.: Kinetostatic danger field - a novel safety assessment for human-robot interaction. In: 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 2169\u20132174 (2010). https:\/\/doi.org\/10.1109\/IROS.2010.5649124","DOI":"10.1109\/IROS.2010.5649124"},{"issue":"5","key":"1687_CR30","doi-asserted-by":"publisher","first-page":"1257","DOI":"10.1109\/TRO.2013.2271097","volume":"29","author":"B Lacevic","year":"2013","unstructured":"Lacevic, B., Rocco, P., Zanchettin, A.M.: Safety assessment and control of robotic manipulators using danger field. IEEE Trans. Robot. 29(5), 1257\u20131270 (2013). https:\/\/doi.org\/10.1109\/TRO.2013.2271097","journal-title":"IEEE Trans. Robot."},{"key":"1687_CR31","doi-asserted-by":"publisher","unstructured":"Zanchettin, A.M., Lacevic, B., Rocco, P.: A novel passivity-based control law for safe human-robot coexistence. In: 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 2276\u20132281 (2012). https:\/\/doi.org\/10.1109\/IROS.2012.6385797","DOI":"10.1109\/IROS.2012.6385797"},{"key":"1687_CR32","doi-asserted-by":"publisher","unstructured":"Parigi Polverini, M., Zanchettin, A.M., Rocco, P.: Real-time collision avoidance in human-robot interaction based on kinetostatic safety field. In: 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 4136\u20134141 (2014). https:\/\/doi.org\/10.1109\/IROS.2014.6943145","DOI":"10.1109\/IROS.2014.6943145"},{"key":"1687_CR33","doi-asserted-by":"publisher","first-page":"25","DOI":"10.1016\/j.rcim.2016.11.002","volume":"46","author":"M Parigi Polverini","year":"2017","unstructured":"Parigi Polverini, M., Zanchettin, A.M., Rocco, P.: A computationally efficient safety assessment for collaborative robotics applications. Robot. Comput.-Integr. Manuf. 46, 25\u201337 (2017). https:\/\/doi.org\/10.1016\/j.rcim.2016.11.002","journal-title":"Robot. Comput.-Integr. Manuf."},{"key":"1687_CR34","doi-asserted-by":"publisher","unstructured":"Zanchettin, A.M., Rocco, P.: Path-consistent safety in mixed human-robot collaborative manufacturing environments. In: 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 1131\u20131136 (2013). https:\/\/doi.org\/10.1109\/IROS.2013.6696492","DOI":"10.1109\/IROS.2013.6696492"},{"issue":"2","key":"1687_CR35","doi-asserted-by":"publisher","first-page":"882","DOI":"10.1109\/TASE.2015.2412256","volume":"13","author":"AM Zanchettin","year":"2016","unstructured":"Zanchettin, A.M., Ceriani, N.M., Rocco, P., Ding, H., Matthias, B.: Safety in human-robot collaborative manufacturing environments: Metrics and control. IEEE Trans. Autom. Sci. Eng. 13(2), 882\u2013893 (2016). https:\/\/doi.org\/10.1109\/TASE.2015.2412256","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"1687_CR36","doi-asserted-by":"publisher","first-page":"127","DOI":"10.1016\/j.conengprac.2016.11.010","volume":"59","author":"AM Zanchettin","year":"2017","unstructured":"Zanchettin, A.M., Rocco, P.: Motion planning for robotic manipulators using robust constrained control. Control Eng. Practice 59, 127\u2013136 (2017). https:\/\/doi.org\/10.1016\/j.conengprac.2016.11.010","journal-title":"Control Eng. Practice"},{"key":"1687_CR37","doi-asserted-by":"publisher","first-page":"267","DOI":"10.1016\/j.mechatronics.2017.12.009","volume":"55","author":"M Ragaglia","year":"2018","unstructured":"Ragaglia, M., Zanchettin, A.M., Rocco, P.: Trajectory generation algorithm for safe human-robot collaboration based on multiple depth sensor measurements. Mechatronics 55, 267\u2013281 (2018). https:\/\/doi.org\/10.1016\/j.mechatronics.2017.12.009","journal-title":"Mechatronics"},{"key":"1687_CR38","doi-asserted-by":"publisher","unstructured":"Wang, C., Bingham, J., Tomizuka, M.: Trajectory splitting: A distributed formulation for collision avoiding trajectory optimization. In: 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 8113\u20138120 (2021). https:\/\/doi.org\/10.1109\/IROS51168.2021.9636846","DOI":"10.1109\/IROS51168.2021.9636846"},{"key":"1687_CR39","doi-asserted-by":"publisher","unstructured":"Alwala, K.V., Mukadam, M.: Joint sampling and trajectory optimization over graphs for online motion planning. In: 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4700\u20134707 (2021). https:\/\/doi.org\/10.1109\/IROS51168.2021.9636064","DOI":"10.1109\/IROS51168.2021.9636064"},{"issue":"4","key":"1687_CR40","doi-asserted-by":"publisher","first-page":"4459","DOI":"10.1109\/LRA.2019.2929976","volume":"4","author":"B Brito","year":"2019","unstructured":"Brito, B., Floor, B., Ferranti, L., Alonso-Mora, J.: Model predictive contouring control for collision avoidance in unstructured dynamic environments. IEEE Robot. Autom. Lett. 4(4), 4459\u20134466 (2019). https:\/\/doi.org\/10.1109\/LRA.2019.2929976","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"2","key":"1687_CR41","doi-asserted-by":"publisher","first-page":"604","DOI":"10.1109\/LRA.2020.2964159","volume":"5","author":"CE Luis","year":"2020","unstructured":"Luis, C.E., Vukosavljev, M., Schoellig, A.P.: Online trajectory generation with distributed model predictive control for multi-robot motion planning. IEEE Robot. Autom. Lett. 5(2), 604\u2013611 (2020). https:\/\/doi.org\/10.1109\/LRA.2020.2964159","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1687_CR42","doi-asserted-by":"publisher","unstructured":"Gaertner, M., Bjelonic, M., Farshidian, F., Hutter, M.: Collision-free mpc for legged robots in static and dynamic scenes. In: 2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 8266\u20138272 (2021). https:\/\/doi.org\/10.1109\/ICRA48506.2021.9561326","DOI":"10.1109\/ICRA48506.2021.9561326"},{"key":"1687_CR43","unstructured":"Realtime URDF Filter. https:\/\/github.com\/blodow\/realtime_urdf_filter"},{"issue":"13","key":"1687_CR44","doi-asserted-by":"publisher","first-page":"19058","DOI":"10.1364\/OE.392414","volume":"28","author":"H Liu","year":"2020","unstructured":"Liu, H., Qu, D., Xu, F., Zou, F., Song, J., Jia, K.: Approach for accurate calibration of rgb-d cameras using spheres. Opt. Express 28(13), 19058\u201319073 (2020). https:\/\/doi.org\/10.1364\/OE.392414","journal-title":"Opt. Express"},{"key":"1687_CR45","doi-asserted-by":"publisher","unstructured":"Rusu, R.B., Cousins, S.: 3d is here: Point cloud library (pcl). In: 2011 IEEE International Conference on Robotics and Automation, pp. 1\u20134 (2011). https:\/\/doi.org\/10.1109\/ICRA.2011.5980567","DOI":"10.1109\/ICRA.2011.5980567"},{"issue":"11","key":"1687_CR46","doi-asserted-by":"publisher","first-page":"4409","DOI":"10.1109\/TIE.2011.2162714","volume":"59","author":"SY Chen","year":"2012","unstructured":"Chen, S.Y.: Kalman filter for robot vision: A survey. IEEE Trans. Ind. Electron. 59(11), 4409\u20134420 (2012). https:\/\/doi.org\/10.1109\/TIE.2011.2162714","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"29","key":"1687_CR47","doi-asserted-by":"publisher","first-page":"290","DOI":"10.1093\/jxb\/10.2.290","volume":"10","author":"F.J. Richards","year":"1959","unstructured":"Richards, F..J..: A flexible growth function for empirical use. Journal of Experimental Botany 10(29), 290\u2013300 (1959)","journal-title":"Journal of Experimental Botany"},{"issue":"7","key":"1687_CR48","doi-asserted-by":"publisher","first-page":"797","DOI":"10.1177\/0278364915594679","volume":"35","author":"M Otte","year":"2016","unstructured":"Otte, M., Frazzoli, E.: Rrtx: Asymptotically optimal single-query sampling-based motion planning with quick replanning. Int. J. Robot. Res. 35(7), 797\u2013822 (2016)","journal-title":"Int. J. Robot. Res."},{"issue":"1","key":"1687_CR49","doi-asserted-by":"publisher","first-page":"94","DOI":"10.1109\/TRO.2009.2035744","volume":"26","author":"T Kr\u00f6ger","year":"2010","unstructured":"Kr\u00f6ger, T., Wahl, F.M.: Online trajectory generation: Basic concepts for instantaneous reactions to unforeseen events. IEEE Trans. Robot. 26(1), 94\u2013111 (2010). https:\/\/doi.org\/10.1109\/TRO.2009.2035744","journal-title":"IEEE Trans. Robot."},{"issue":"6","key":"1687_CR50","doi-asserted-by":"publisher","first-page":"1992","DOI":"10.1109\/TRO.2021.3071527","volume":"37","author":"B Zhou","year":"2021","unstructured":"Zhou, B., Pan, J., Gao, F., Shen, S.: Raptor: Robust and perception-aware trajectory replanning for quadrotor fast flight. IEEE Trans. Robot. 37(6), 1992\u20132009 (2021). https:\/\/doi.org\/10.1109\/TRO.2021.3071527","journal-title":"IEEE Trans. Robot."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01687-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-022-01687-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-022-01687-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,9,12]],"date-time":"2022-09-12T14:32:30Z","timestamp":1662993150000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-022-01687-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,8]]},"references-count":50,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2022,8]]}},"alternative-id":["1687"],"URL":"https:\/\/doi.org\/10.1007\/s10846-022-01687-0","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,8]]},"assertion":[{"value":"9 November 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"6 July 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"10 August 2022","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 have no conflicts of interest to declare that are relevant to the content of this article.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of interest"}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical standard"}},{"value":"Not applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to Participate"}},{"value":"Not applicable.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for Publication"}}],"article-number":"93"}}