{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T12:36:45Z","timestamp":1740141405444,"version":"3.37.3"},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2023,8,19]],"date-time":"2023-08-19T00:00:00Z","timestamp":1692403200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,8,19]],"date-time":"2023-08-19T00:00:00Z","timestamp":1692403200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2023,9]]},"DOI":"10.1007\/s10846-023-01916-0","type":"journal-article","created":{"date-parts":[[2023,8,19]],"date-time":"2023-08-19T11:02:13Z","timestamp":1692442933000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Numerical Potential Fields Based Multi-stage Path Planning for UTM in Dense Non-segregated Airspace"],"prefix":"10.1007","volume":"109","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6261-9541","authenticated-orcid":false,"given":"Sajid Ahamed","family":"M\u00a0A","sequence":"first","affiliation":[]},{"given":"Satya Prakash","family":"K","sequence":"additional","affiliation":[]},{"given":"Shuvrangshu","family":"Jana","sequence":"additional","affiliation":[]},{"given":"Debasish","family":"Ghose","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,8,19]]},"reference":[{"key":"1916_CR1","unstructured":"Kopardekar, P. et\u00a0al.: Unmanned aircraft system traffic management (UTM) concept of operations. AIAA Aviation Forum (2016)"},{"key":"1916_CR2","doi-asserted-by":"publisher","unstructured":"Homola, J. et\u00a0al.: Technical capability level 2 unmanned aircraft system traffic management (UTM) flight demonstration: Description and analysis. 2017 IEEE\/AIAA 36th Digital Avionics Systems Conference (DASC) 1\u201310 (2017). https:\/\/doi.org\/10.1109\/DASC.2017.8101994","DOI":"10.1109\/DASC.2017.8101994"},{"key":"1916_CR3","doi-asserted-by":"crossref","unstructured":"Chakrabarty, A., Stepanyan, V., Krishnakumar, K.S., Ippolito, C.A.: Real\u2013time path planning for multi\u2013copters flying in (UTMTCL4). AIAA Scitech 2019 Forum 0958 (2019)","DOI":"10.2514\/6.2019-0958"},{"key":"1916_CR4","unstructured":"The Unmanned Aircraft System Traffic Management (UTM) directory. https:\/\/www.unmannedairspace.info\/wp-content\/uploads\/2019\/06\/UTM-directory.-June-2019.-v1.pdf. Accessed on 28 Feb. 2021"},{"key":"1916_CR5","doi-asserted-by":"crossref","unstructured":"Consiglio, M., Mu\u00f1oz, C., Hagen, G., Narkawicz, A., Balachandran, S.: ICAROUS: Integrated configurable algorithms for reliable operations of unmanned systems. 2016 IEEE\/AIAA 35th Digital Avionics Systems Conference (DASC) 1\u20135 (2016)","DOI":"10.1109\/DASC.2016.7778033"},{"key":"1916_CR6","unstructured":"Tony, L.A., Ratnoo, A., Ghose, D.: Corridrone: Corridors for drones, an adaptive on\u2013demand multi\u2013lane design and testbed. ArXiv arXiv:2012.01019 (2020)"},{"key":"1916_CR7","doi-asserted-by":"crossref","unstructured":"Tony, L.A., Ratnoo, A., Ghose, D.: Lane geometry, compliance levels, and adaptive geo\u2013fencing in corridrone architecture for urban mobility. 2021 International Conference on Unmanned Aircraft Systems (ICUAS), Greece (2021)","DOI":"10.1109\/ICUAS51884.2021.9476745"},{"issue":"21","key":"1916_CR8","doi-asserted-by":"publisher","first-page":"4779","DOI":"10.3390\/s19214779","volume":"19","author":"N Samir Labib","year":"2019","unstructured":"Samir Labib, N., Danoy, G., Musial, J., Brust, M.R., Bouvry, P.: Internet of unmanned aerial vehicles-A multilayer lowaltitude airspace model for distributed UAV traffic management. Sensors 19(21), 4779 (2019)","journal-title":"Sensors"},{"key":"1916_CR9","doi-asserted-by":"crossref","unstructured":"Pang, B., Tan, Q., Ra, T., Low, K.H.: A risk\u2013based UAS traffic network model for adaptive urban airspace management. AIAA Aviation Forum 2900 (2020)","DOI":"10.2514\/6.2020-2900"},{"key":"1916_CR10","doi-asserted-by":"crossref","unstructured":"Wu, P., Li, L., Xie, J., Chen, J.: Probabilistically guaranteed path planning for safe urban air mobility using chance constrained RRT. AIAA Aviation Forum 2914 (2020)","DOI":"10.2514\/6.2020-2914"},{"key":"1916_CR11","doi-asserted-by":"crossref","unstructured":"Adolf, F., Langer, A., e Silva, L.d.M.P., Thielecke, F.: Probabilistic roadmaps and ant colony optimization for UAV mission planning. IFAC Proc. Vol. 40(15), 264\u2013269 (2007)","DOI":"10.3182\/20070903-3-FR-2921.00046"},{"key":"1916_CR12","doi-asserted-by":"crossref","unstructured":"Sahawneh, L.R., Argyle, M.E., Beard, R.W.: 3D path planning for small UAS operating in low\u2013altitude airspace. 2016 International Conference on Unmanned Aircraft Systems (ICUAS) 413\u2013419 (2016)","DOI":"10.1109\/ICUAS.2016.7502528"},{"key":"1916_CR13","unstructured":"Park, M.G., Lee, M.C.: Experimental evaluation of robot path planning by artificial potential field approach with simulated annealing. Proceedings of the 41st SICE Annual Conference. SICE 2002. 4, 2190\u20132195 (2002)"},{"key":"1916_CR14","unstructured":"Connolly, C.I., Burns, J.B., Weiss, R.: Path planning using laplace\u2019s equation. Proceedings., IEEE International Conference on Robotics and Automation 2102\u20132106 (1990)"},{"issue":"4","key":"1916_CR15","doi-asserted-by":"publisher","first-page":"2786","DOI":"10.1109\/TAES.2012.6324661","volume":"48","author":"AA Masoud","year":"2012","unstructured":"Masoud, A.A.: Motion planning with gammaharmonic potential fields. IEEE Trans. Aerosp. Electron. Syst. 48(4), 2786\u20132801 (2012)","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"1916_CR16","doi-asserted-by":"crossref","unstructured":"Vlantis, P., Vrohidis, C., Bechlioulis, C.P., Kyriakopoulos, K.J.: Orientation\u2013aware motion planning in complex workspaces using adaptive harmonic potential fields. 2019 International Conference on Robotics and Automation (ICRA) 8592\u20138598 (2019)","DOI":"10.1109\/ICRA.2019.8794053"},{"key":"1916_CR17","doi-asserted-by":"crossref","unstructured":"He, T., Mantegh, I., Chen, L., Vidal, C., Xie, W. UAS flight path planning for dynamic, multi\u2013vehicle environment. 2020 International Conference on Unmanned Aircraft Systems (ICUAS) 211\u2013219 (2020)","DOI":"10.1109\/ICUAS48674.2020.9213911"},{"issue":"2","key":"1916_CR18","doi-asserted-by":"publisher","first-page":"224","DOI":"10.1109\/21.148426","volume":"22","author":"J Barraquand","year":"1992","unstructured":"Barraquand, J., Langlois, B., Latombe, J.C.: Numerical potential field techniques for robot path planning. IEEE Trans. Syst. Man. Cybern. 22(2), 224\u2013241 (1992)","journal-title":"IEEE Trans. Syst. Man. Cybern."},{"issue":"1","key":"1916_CR19","doi-asserted-by":"publisher","first-page":"187","DOI":"10.1007\/s10846-017-0766-4","volume":"92","author":"J Yang","year":"2018","unstructured":"Yang, J., Yin, D., Shen, L., Cheng, Q., Xie, X.: Cooperative deconflicting heading maneuvers applied to unmanned aerial vehicles in non-segregated airspace. J. Intell. Robot. Syst. 92(1), 187\u2013201 (2018)","journal-title":"J. Intell. Robot. Syst."},{"issue":"1","key":"1916_CR20","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(1), 495\u2013505 (2012)","journal-title":"J. Intell. Robot. Syst."},{"issue":"1","key":"1916_CR21","doi-asserted-by":"publisher","first-page":"331","DOI":"10.1007\/s10846-012-9768-4","volume":"69","author":"D Alejo","year":"2013","unstructured":"Alejo, D., D\u00edaz-B\u00e1\u00f1ez, J.M., Cobano, J.A., P\u00e9rez-Lantero, P., Ollero, A.: The velocity assignment problem for conflict resolution with multiple aerial vehicles sharing airspace. J. Intell. Robot. Syst. 69(1), 331\u2013346 (2013)","journal-title":"J. Intell. Robot. Syst."},{"key":"1916_CR22","doi-asserted-by":"crossref","unstructured":"Chakravarthy, A., Ghose, D.: Generalization of the collision cone approach for motion safety in 3-D environments. Auton. Robots 32(3), 243\u2013266 (2012)","DOI":"10.1007\/s10514-011-9270-z"},{"key":"1916_CR23","doi-asserted-by":"crossref","unstructured":"Kumar, A. et\u00a0al.: A novel software\u2013defined drone network (SDDN)\u2013based collision avoidance strategies for on\u2013road traffic monitoring and management. Veh. Commun. 100313 (2020)","DOI":"10.1016\/j.vehcom.2020.100313"},{"key":"1916_CR24","doi-asserted-by":"crossref","unstructured":"Mcfadyen, A., Mejias, L., Corke, P., Pradalier, C.: Aircraft collision avoidance using spherical visual predictive control and single point features. 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems 50\u201356 (2013)","DOI":"10.1109\/IROS.2013.6696331"},{"issue":"1","key":"1916_CR25","doi-asserted-by":"publisher","first-page":"215","DOI":"10.1007\/s10846-014-0073-2","volume":"77","author":"M Melega","year":"2015","unstructured":"Melega, M., Lazarus, S., Savvaris, A., Tsourdos, A.: Multiple threats sense and avoid algorithm for static and dynamic obstacles. J. Intell. Robot. Syst. 77(1), 215\u2013228 (2015)","journal-title":"J. Intell. Robot. Syst."},{"key":"1916_CR26","doi-asserted-by":"publisher","first-page":"105139","DOI":"10.1109\/ACCESS.2020.3000064","volume":"8","author":"JN Yasin","year":"2020","unstructured":"Yasin, J.N., et al.: Unmanned aerial vehicles (uavs): Collision avoidance systems and approaches. IEEE Access 8, 105139\u2013105155 (2020)","journal-title":"IEEE Access"},{"key":"1916_CR27","doi-asserted-by":"crossref","unstructured":"Sigurd, K., How, J.: UAV trajectory design using total field collision avoidance. AIAA Guidance, Navigation, and Control Conference and Exhibit 5728 (2003)","DOI":"10.2514\/6.2003-5728"},{"key":"1916_CR28","doi-asserted-by":"crossref","unstructured":"Zeghal, K.: A review of different approaches based on force fields for airborne conflict resolution. Guidance, Navigation, and Control Conference and Exhibit 4240 (1998)","DOI":"10.2514\/6.1998-4240"},{"issue":"3","key":"1916_CR29","first-page":"140","volume":"11","author":"J Ruchti","year":"2014","unstructured":"Ruchti, J., et al.: Unmanned aerial system collision avoidance using artificial potential fields. J. Aerosp. Inf. Syst. 11(3), 140\u2013144 (2014)","journal-title":"J. Aerosp. Inf. Syst."},{"key":"1916_CR30","first-page":"1398","volume":"2","author":"Y Koren","year":"1991","unstructured":"Koren, Y., Borenstein, J., et al.: Potential field methods and their inherent limitations for mobile robot navigation. ICRA 2, 1398\u20131404 (1991)","journal-title":"ICRA"},{"key":"1916_CR31","doi-asserted-by":"crossref","unstructured":"Sajid Ahamed, M.A., Prakash, K.S., Jana, S., Ghose, D. et\u00a0al.: UAS flight path planning using numerical potential fields in dense non\u2013segregated airspace. 2021 International Conference on Unmanned Aircraft Systems (ICUAS) 1010\u20131019 (2021)","DOI":"10.1109\/ICUAS51884.2021.9476791"},{"key":"1916_CR32","doi-asserted-by":"crossref","unstructured":"Yu, J., Cai, Z., Wang, Y.: Minimum jerk trajectory generation of a quadrotor based on the differential flatness. Proceedings of 2014 IEEE Chinese Guidance, Navigation and Control Conference 832\u2013837 (2014)","DOI":"10.1109\/CGNCC.2014.7007318"},{"key":"1916_CR33","doi-asserted-by":"publisher","unstructured":"Mellinger, D., Kumar, V.: Minimum snap trajectory generation and control for quadrotors. 2011 IEEE International Conference on Robotics and Automation 2520\u20132525 (2011). https:\/\/doi.org\/10.1109\/ICRA.2011.5980409","DOI":"10.1109\/ICRA.2011.5980409"},{"key":"1916_CR34","doi-asserted-by":"publisher","first-page":"170226","DOI":"10.1109\/ACCESS.2019.2954987","volume":"7","author":"F Ho","year":"2019","unstructured":"Ho, F., et al.: Pre-flight conflict detection and resolution for UAV integration in shared airspace: Sendai 2030 model case. IEEE Access 7, 170226\u2013170237 (2019). https:\/\/doi.org\/10.1109\/ACCESS.2019.2954987","journal-title":"IEEE Access"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01916-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-023-01916-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01916-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,26]],"date-time":"2024-10-26T12:01:40Z","timestamp":1729944100000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-023-01916-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,8,19]]},"references-count":34,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2023,9]]}},"alternative-id":["1916"],"URL":"https:\/\/doi.org\/10.1007\/s10846-023-01916-0","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2023,8,19]]},"assertion":[{"value":"21 June 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 June 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 August 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 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":"Conflict of interest\/Competing interests"}},{"value":"Not applicable","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval"}},{"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"}},{"value":"The simulation video link is attached in the manuscript.","order":6,"name":"Ethics","group":{"name":"EthicsHeading","label":"Availability of data and materials"}}],"article-number":"5"}}