{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,9]],"date-time":"2026-04-09T00:48:35Z","timestamp":1775695715170,"version":"3.50.1"},"reference-count":22,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2023,4,1]],"date-time":"2023-04-01T00:00:00Z","timestamp":1680307200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,4,1]],"date-time":"2023-04-01T00:00:00Z","timestamp":1680307200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62003180"],"award-info":[{"award-number":["62003180"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Hainan Province Science and Technology Special Fund","award":["ZDYF2021GXJS041"],"award-info":[{"award-number":["ZDYF2021GXJS041"]}]},{"name":"Shanghai Scientific and Technological Innovation Program","award":["19510745200"],"award-info":[{"award-number":["19510745200"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U2141234"],"award-info":[{"award-number":["U2141234"]}],"id":[{"id":"10.13039\/501100001809","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":[[2023,4]]},"DOI":"10.1007\/s10846-023-01830-5","type":"journal-article","created":{"date-parts":[[2023,4,11]],"date-time":"2023-04-11T12:03:01Z","timestamp":1681214581000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":23,"title":["Dynamic Route Planning for a USV-UAV Multi-Robot System in the Rendezvous Task with Obstacles"],"prefix":"10.1007","volume":"107","author":[{"given":"Yongqi","family":"Li","sequence":"first","affiliation":[]},{"given":"Shengquan","family":"Li","sequence":"additional","affiliation":[]},{"given":"Yumei","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Weidong","family":"Zhang","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7161-1146","authenticated-orcid":false,"given":"Haibo","family":"Lu","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,4,11]]},"reference":[{"issue":"3","key":"1830_CR1","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s10846-022-01756-4","volume":"106","author":"C Liu","year":"2022","unstructured":"Liu, C., Zhao, J., Sun, N.: A review of collaborative air-ground robots research. J. Intell. Robot. Syst. 106(3), 1\u201328 (2022)","journal-title":"J. Intell. Robot. Syst."},{"key":"1830_CR2","doi-asserted-by":"crossref","unstructured":"Kundu, T., Saha, I.: Mobile recharger path planning and recharge scheduling in a multi-robot environment. In: 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 3635\u20133642 (2021)","DOI":"10.1109\/IROS51168.2021.9636078"},{"key":"1830_CR3","doi-asserted-by":"crossref","unstructured":"Ribeiro, R.G., Cota, L.P., Euz\u00e9bio, T.A., Ram\u00edrez, J.A., Guimar\u00e3es, F G.: Unmanned-aerial-vehicle routing problem with mobile charging stations for assisting search and rescue missions in postdisaster scenarios. IEEE Transactions on Systems Man, and Cybernetics: Systems (2021)","DOI":"10.1109\/TSMC.2021.3088776"},{"issue":"2","key":"1830_CR4","doi-asserted-by":"publisher","first-page":"4157","DOI":"10.1109\/LRA.2022.3146938","volume":"7","author":"X Lin","year":"2022","unstructured":"Lin, X., Yaz\u0131c\u0131o\u011flu, Y., Aksaray, D.: Robust planning for persistent surveillance with energy-constrained UAVs and mobile charging stations. IEEE Robot. Autom. Lett. 7(2), 4157\u20134164 (2022)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1830_CR5","doi-asserted-by":"crossref","unstructured":"Sundar, K., Rathinam, S.: Route planning algorithms for unmanned aerial vehicles with refueling constraints. In: 2012 American Control Conference (ACC), pp 3266\u20133271 (2012)","DOI":"10.1109\/ACC.2012.6315620"},{"key":"1830_CR6","doi-asserted-by":"crossref","unstructured":"Yu, K., Budhiraja, A.K., Tokekar, P.: Algorithms for routing of unmanned aerial vehicles with mobile recharging stations. In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp 5720\u20135725 (2018)","DOI":"10.1109\/ICRA.2018.8460819"},{"issue":"4","key":"1830_CR7","doi-asserted-by":"publisher","first-page":"6702","DOI":"10.1109\/LRA.2020.3015464","volume":"5","author":"KE Booth","year":"2020","unstructured":"Booth, K.E., Piacentini, C., Bernardini, S., Beck, J.C.: Target search on road networks with range-constrained UAVs and ground-based mobile recharging vehicles. IEEE Robot. Autom. Lett. 5(4), 6702\u20136709 (2020)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1830_CR8","doi-asserted-by":"crossref","unstructured":"Mathew, N., Smith, S.L., Waslander, S.L.: A graph-based approach to multi-robot rendezvous for recharging in persistent tasks. In: 2013 IEEE International Conference on Robotics and Automation, pp 3497\u20133502 (2013)","DOI":"10.1109\/ICRA.2013.6631066"},{"issue":"1","key":"1830_CR9","doi-asserted-by":"publisher","first-page":"128","DOI":"10.1109\/TRO.2014.2380593","volume":"31","author":"N Mathew","year":"2015","unstructured":"Mathew, N., Smith, S.L., Waslander, S.L.: Multirobot rendezvous planning for recharging in persistent tasks. IEEE Trans. Robot. 31(1), 128\u2013142 (2015)","journal-title":"IEEE Trans. Robot."},{"issue":"2","key":"1830_CR10","doi-asserted-by":"publisher","first-page":"1653","DOI":"10.1109\/LRA.2019.2896899","volume":"4","author":"B Li","year":"2019","unstructured":"Li, B., Page, B.R., Hoffman, J., Moridian, B., Mahmoudian, N.: Rendezvous planning for multiple AUVs with mobile charging stations in dynamic currents. IEEE Robot. Autom. Lett. 4(2), 1653\u20131660 (2019)","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"2","key":"1830_CR11","doi-asserted-by":"publisher","first-page":"498","DOI":"10.1287\/opre.21.2.498","volume":"21","author":"S Lin","year":"1973","unstructured":"Lin, S., Kernighan, B.W.: An effective heuristic algorithm for the traveling-salesman problem. Oper. Res. 21(2), 498\u2013516 (1973)","journal-title":"Oper. Res."},{"issue":"2","key":"1830_CR12","doi-asserted-by":"publisher","first-page":"119","DOI":"10.1007\/s12532-009-0004-6","volume":"1","author":"K Helsgaun","year":"2009","unstructured":"Helsgaun, K.: General k-opt submoves for the Lin-Kernighan TSP heuristic. Math. Program. Comput. 1(2), 119\u2013163 (2009)","journal-title":"Math. Program. Comput."},{"key":"1830_CR13","unstructured":"Hardgrave, S.W.: Determining the feasibility of replenishing a dispersed carrier battle group. Master\u2019s thesis, Naval Postgraduate School, Monterey, California (1989)"},{"key":"1830_CR14","doi-asserted-by":"crossref","unstructured":"Kannan, B., Marmol, V., Bourne, J., Dias, M.B.: The autonomous recharging problem: Formulation and a market-based solution. In: 2013 IEEE International Conference on Robotics and Automation, pp 3503\u20133510 (2013)","DOI":"10.1109\/ICRA.2013.6631067"},{"issue":"1","key":"1830_CR15","doi-asserted-by":"publisher","first-page":"61","DOI":"10.1287\/opre.4.1.61","volume":"4","author":"MM Flood","year":"1956","unstructured":"Flood, M.M.: The traveling-salesman problem. Oper. Res. 4(1), 61\u201375 (1956)","journal-title":"Oper. Res."},{"issue":"3","key":"1830_CR16","doi-asserted-by":"publisher","first-page":"209","DOI":"10.1016\/j.omega.2004.10.004","volume":"34","author":"T Bektas","year":"2006","unstructured":"Bektas, T.: The multiple traveling salesman problem: An overview of formulations and solution procedures. Omega 34(3), 209\u2013219 (2006)","journal-title":"Omega"},{"issue":"1","key":"1830_CR17","first-page":"39","volume":"31","author":"CE Noon","year":"1993","unstructured":"Noon, C.E., Bean, J.C.: An efficient transformation of the generalized traveling salesman problem. INFor: Inform. Syst. Oper. Res. 31(1), 39\u201344 (1993)","journal-title":"INFor: Inform. Syst. Oper. Res."},{"issue":"2","key":"1830_CR18","doi-asserted-by":"publisher","first-page":"498","DOI":"10.1287\/opre.21.2.498","volume":"21","author":"S Lin","year":"1973","unstructured":"Lin, S., Kernighan, B.W.: An effective heuristic algorithm for the traveling-salesman problem. Oper. Res. 21(2), 498\u2013516 (1973)","journal-title":"Oper. Res."},{"issue":"1","key":"1830_CR19","doi-asserted-by":"publisher","first-page":"106","DOI":"10.1016\/S0377-2217(99)00284-2","volume":"126","author":"K Helsgaun","year":"2000","unstructured":"Helsgaun, K.: An effective implementation of the Lin-Kernighan traveling salesman heuristic. Eur. J. Oper. Res. 126(1), 106\u2013130 (2000)","journal-title":"Eur. J. Oper. Res."},{"issue":"4","key":"1830_CR20","doi-asserted-by":"publisher","first-page":"1279","DOI":"10.1109\/LCSYS.2020.3032845","volume":"5","author":"M Cai","year":"2020","unstructured":"Cai, M., Peng, H., Li, Z., Gao, H., Kan, Z.: Receding horizon control-based motion planning with partially infeasible LTL constraints. IEEE Control Syst. Lett. 5(4), 1279\u20131284 (2020)","journal-title":"IEEE Control Syst. Lett."},{"issue":"13","key":"1830_CR21","doi-asserted-by":"publisher","first-page":"6939","DOI":"10.1016\/j.jfranklin.2022.06.043","volume":"359","author":"P He","year":"2022","unstructured":"He, P., Wen, J., Stojanovic, V., Liu, F., Luan, X.: Finite-time control of discrete-time semi-Markov jump linear systems: A self-triggered MPC approach. J. Franklin Inst. 359(13), 6939\u20136957 (2022)","journal-title":"J. Franklin Inst."},{"issue":"1","key":"1830_CR22","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1007\/s10514-012-9281-4","volume":"33","author":"L Meier","year":"2012","unstructured":"Meier, L., Tanskanen, P., Heng, L., Lee, G.H., Fraundorfer, F., Pollefeys, M.: PIXHAWK: A micro aerial vehicle design for autonomous flight using onboard computer vision. Auton. Robot. 33(1), 21\u201339 (2012)","journal-title":"Auton. Robot."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01830-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-023-01830-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01830-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,5,4]],"date-time":"2023-05-04T11:20:26Z","timestamp":1683199226000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-023-01830-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,4]]},"references-count":22,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2023,4]]}},"alternative-id":["1830"],"URL":"https:\/\/doi.org\/10.1007\/s10846-023-01830-5","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,4]]},"assertion":[{"value":"29 July 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"6 February 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 April 2023","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 study does not involve humans and animals.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Ethics approval"}},{"value":"The study does not involve human subjects.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Consent to participate"}},{"value":"The study does not involve human subjects.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Consent for Publication"}},{"value":"The authors have no relevant financial or non-financial interests to disclose.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Conflict of interest\/Competing interests"}}],"article-number":"52"}}