{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,14]],"date-time":"2026-02-14T10:24:22Z","timestamp":1771064662064,"version":"3.50.1"},"reference-count":52,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2025,11,26]],"date-time":"2025-11-26T00:00:00Z","timestamp":1764115200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2025,11,26]],"date-time":"2025-11-26T00:00:00Z","timestamp":1764115200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100004063","name":"Knut och Alice Wallenbergs Stiftelse","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004063","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>\n                    This paper presents a novel reactive coordination and planning framework for collaborative aerial 3D printing with Unmanned Aerial Vehicles (UAVs) while ensuring their safe and efficient simultaneous operation. The proposed framework incorporates a hierarchical dynamic scheduling embedded with a conflict resolution mechanism, enabling it to account for online adaptability to operational uncertainties and unforeseen events during execution. The novelty of the approach lies in its two-tiered hierarchical structure that tightly integrates dynamic assignment with an online conflict resolution mechanism, providing a flexible, adaptive and conflict-free solution for aerial construction tasks. This hierarchical framework introduces the first layer, which is responsible for dynamically assigning the tasks to the available fleet of UAVs. The task assignment considers precedence constraints to ensure structural integrity during construction while also prioritizing safe operation by minimizing the probability of conflicts and highly dependent tasks. In the second layer, conflicts arising from assigned paths are dynamically decomposed into smaller independent sub-graphs and resolved locally to reduce the computational complexities. Towards this, an online locally optimal spatiotemporal conflict resolution scheme is introduced for multi-agent systems to address the local conflicts efficiently. This mechanism dynamically adjusts the UAVs\u2019 speeds with minimal deviation from an optimal reference to mitigate conflicts and ensure printing performance. Additionally, building on this local conflict resolution strategy, the framework enforces reactiveness by iteratively relaxing the problem when conflicts cannot be resolved immediately. This is executed via dynamic reduction and rearrangement of the concurrent tasks\u2019 space to resolve the conflict between them. Moreover, insights gained from failed resolution attempts are dynamically integrated into the global dependency graph, preventing redundant computations in subsequent steps and enhancing overall efficiency and versatility. The framework is distinguished by its use of reactive task-space reconfiguration, informed by infeasible conflict resolutions, and the assignment of guaranteed conflict-free paths, unlike existing sequential or non-guaranteed approaches. The efficacy of the proposed framework is demonstrated through two case studies, constructing both a rectangular and a dome mesh with a collaborative team of UAVs, in a high-fidelity ROS-Gazebo simulation. A video of the mission can be found here\n                    <jats:ext-link xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" xlink:href=\"https:\/\/youtu.be\/Ow_qDPWmgDw\" ext-link-type=\"uri\">https:\/\/youtu.be\/Ow_qDPWmgDw<\/jats:ext-link>\n                    .\n                  <\/jats:p>","DOI":"10.1007\/s10846-025-02332-2","type":"journal-article","created":{"date-parts":[[2025,11,25]],"date-time":"2025-11-25T23:58:16Z","timestamp":1764115096000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Hierarchical Reactive Task Allocation with Dynamic Conflict Resolution Framework for Collaborative Aerial 3D Printing"],"prefix":"10.1007","volume":"111","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-8990-2066","authenticated-orcid":false,"given":"Marios-Nektarios","family":"Stamatopoulos","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6906-653X","authenticated-orcid":false,"given":"Shridhar","family":"Velhal","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3557-6782","authenticated-orcid":false,"given":"Avijit","family":"Banerjee","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0126-1897","authenticated-orcid":false,"given":"George","family":"Nikolakopoulos","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,11,26]]},"reference":[{"key":"2332_CR1","doi-asserted-by":"publisher","first-page":"72","DOI":"10.1007\/s10846-024-02104-4","volume":"110","author":"y Liu","year":"2024","unstructured":"Liu, y, AH, A., Haron, N.A., et al.: Robotics in the construction sector: Trends, advances, and challenges. J. Intell. Robot. Syst. 110, 72 (2024). https:\/\/doi.org\/10.1007\/s10846-024-02104-4","journal-title":"J. Intell. Robot. Syst."},{"key":"2332_CR2","doi-asserted-by":"publisher","unstructured":"Ruttico, P., Pacini, M., Beltracchi, C.: BRIX: an autonomous system for brick wall construction. Constr. Robot. 8(10) (2024). https:\/\/doi.org\/10.1007\/s41693-024-00123-z","DOI":"10.1007\/s41693-024-00123-z"},{"key":"2332_CR3","doi-asserted-by":"publisher","unstructured":"Zhao, S., Wang, Q., Fang, X., Liang, W., Cao, Y., Zhao, C., Li, L., Liu, C., Wang, K.: Application and development of autonomous robots in concrete construction: Challenges and opportunities. Drones 6(12) (2022). https:\/\/doi.org\/10.3390\/drones6120424","DOI":"10.3390\/drones6120424"},{"key":"2332_CR4","doi-asserted-by":"publisher","first-page":"13","DOI":"10.1007\/s41693-020-00052-7","volume":"5","author":"R Naboni","year":"2021","unstructured":"Naboni, R., Kunic, A., Kramberger, A., et al.: Design, simulation and robotic assembly of reversible timber structures. Constr. Robot. 5, 13\u201322 (2021). https:\/\/doi.org\/10.1007\/s41693-020-00052-7","journal-title":"Constr. Robot."},{"key":"2332_CR5","doi-asserted-by":"publisher","first-page":"100894","DOI":"10.1016\/j.addma.2019.100894","volume":"30","author":"A Paolini","year":"2019","unstructured":"Paolini, A., Kollmannsberger, S., Rank, E.: Additive manufacturing in construction: A review on processes, applications, and digital planning methods. Addit. Manuf. 30, 100894 (2019). https:\/\/doi.org\/10.1016\/j.addma.2019.100894","journal-title":"Addit. Manuf."},{"key":"2332_CR6","doi-asserted-by":"publisher","first-page":"106772","DOI":"10.1016\/j.cemconres.2022.106772","volume":"158","author":"K D\u00f6rfler","year":"2022","unstructured":"D\u00f6rfler, K., Dielemans, G., Lachmayer, L., Recker, T., Raatz, A., Lowke, D., Gerke, M.: Additive manufacturing using mobile robots: Opportunities and challenges for building construction. Cem. Concr. Res. 158, 106772 (2022). https:\/\/doi.org\/10.1016\/j.cemconres.2022.106772","journal-title":"Cem. Concr. Res."},{"key":"2332_CR7","doi-asserted-by":"publisher","first-page":"147","DOI":"10.1007\/s00170-018-1932-y","volume":"97","author":"I Bahnini","year":"2018","unstructured":"Bahnini, I., Rivette, M., Rechia, A., Siadat, A., Elmesbahi, A.: Additive manufacturing technology: The status, applications, and prospects. Int. J. Adv. Manuf. Technol. 97, 147\u2013161 (2018). https:\/\/doi.org\/10.1007\/s00170-018-1932-y","journal-title":"Int. J. Adv. Manuf. Technol."},{"issue":"1","key":"2332_CR8","doi-asserted-by":"publisher","first-page":"48","DOI":"10.1108\/JMTM-03-2018-0094","volume":"30","author":"M Ramola","year":"2019","unstructured":"Ramola, M., Yadav, V., Jain, R.: On the adoption of additive manufacturing in healthcare: A literature review. J. Manuf. Technol. Manag. 30(1), 48\u201369 (2019). https:\/\/doi.org\/10.1108\/JMTM-03-2018-0094","journal-title":"J. Manuf. Technol. Manag."},{"key":"2332_CR9","doi-asserted-by":"publisher","unstructured":"Najmon, J.C., Raeisi, S., Tovar, A.: Review of additive manufacturing technologies and applications in the aerospace industry. In: Froes, F., Boyer, R. (eds.) Additive Manufacturing for the Aerospace Industry, pp. 7\u201331. Elsevier, Amsterdam (2019). https:\/\/doi.org\/10.1016\/B978-0-12-814062-8.00002-9","DOI":"10.1016\/B978-0-12-814062-8.00002-9"},{"key":"2332_CR10","doi-asserted-by":"publisher","first-page":"13","DOI":"10.1007\/s43154-020-00003-8","volume":"1","author":"T Tankova","year":"2020","unstructured":"Tankova, T., Silva, L.S.: Robotics and additive manufacturing in the construction industry. Curr. Robot. Rep. 1, 13\u201318 (2020). https:\/\/doi.org\/10.1007\/s43154-020-00003-8","journal-title":"Curr. Robot. Rep."},{"issue":"1","key":"2332_CR11","doi-asserted-by":"publisher","first-page":"2162929","DOI":"10.1080\/17452759.2022.2162929","volume":"18","author":"A Alhijaily","year":"2023","unstructured":"Alhijaily, A., Kilic, Z.M., Bartolo, A.P.: Teams of robots in additive manufacturing: A review. Virtual Phys. Prototyp. 18(1), 2162929 (2023). https:\/\/doi.org\/10.1080\/17452759.2022.2162929","journal-title":"Virtual Phys. Prototyp."},{"issue":"10","key":"2332_CR12","doi-asserted-by":"publisher","first-page":"1550","DOI":"10.1111\/mice.13145","volume":"39","author":"CP Chea","year":"2024","unstructured":"Chea, C.P., Bai, Y., Zhou, Z.: Design and development of robotic collaborative system for automated construction of reciprocal frame structures. Comput.-Aided Civi Infrastruct. Eng. 39(10), 1550\u20131569 (2024). https:\/\/doi.org\/10.1111\/mice.13145","journal-title":"Comput.-Aided Civi Infrastruct. Eng."},{"key":"2332_CR13","doi-asserted-by":"publisher","unstructured":"Pacillo, G.A., Ranocchiai, G., Loccarini, F., Fagone, M.: Additive manufacturing in construction: A review on technologies, processes, materials, and their applications of 3D and 4D printing. Mater. Des. Process. Commun. 3(5), 253. https:\/\/doi.org\/10.1002\/mdp2.253","DOI":"10.1002\/mdp2.253"},{"issue":"2","key":"2332_CR14","doi-asserted-by":"publisher","first-page":"107","DOI":"10.1007\/s41693-023-00108-4","volume":"7","author":"A Bici","year":"2023","unstructured":"Bici, A., Yunitsyna, A.: Analysis of 3D printing techniques for building construction: A review. Constr. Robot. 7(2), 107\u2013123 (2023). https:\/\/doi.org\/10.1007\/s41693-023-00108-4","journal-title":"Constr. Robot."},{"key":"2332_CR15","doi-asserted-by":"publisher","first-page":"105417","DOI":"10.1016\/j.autcon.2024.105417","volume":"163","author":"H Hassan","year":"2024","unstructured":"Hassan, H., Rodriguez-Ubinas, E., Al Tamimi, A., Trepci, E., Mansouri, A., Almehairbi, K.: Towards innovative and sustainable buildings: A comprehensive review of 3D printing in construction. Autom. Constr. 163, 105417 (2024). https:\/\/doi.org\/10.1016\/j.autcon.2024.105417","journal-title":"Autom. Constr."},{"key":"2332_CR16","doi-asserted-by":"publisher","first-page":"106772","DOI":"10.1016\/j.cemconres.2022.106772","volume":"158","author":"K D\u00f6rfler","year":"2022","unstructured":"D\u00f6rfler, K., Dielemans, G., Lachmayer, L., Recker, T., Raatz, A., Lowke, D., Gerke, M.: Additive manufacturing using mobile robots: Opportunities and challenges for building construction. Cem. Concr. Res. 158, 106772 (2022). https:\/\/doi.org\/10.1016\/j.cemconres.2022.106772","journal-title":"Cem. Concr. Res."},{"issue":"11\u201312","key":"2332_CR17","doi-asserted-by":"publisher","first-page":"3559","DOI":"10.1007\/s00170-021-08067-2","volume":"118","author":"Z Xu","year":"2022","unstructured":"Xu, Z., Song, T., Guo, S., Peng, J., Zeng, L., Zhu, M.: Robotics technologies aided for 3D printing in construction: A review. Int. J. Adv. Manuf. Technol. 118(11\u201312), 3559\u20133574 (2022). https:\/\/doi.org\/10.1007\/s00170-021-08067-2","journal-title":"Int. J. Adv. Manuf. Technol."},{"key":"2332_CR18","doi-asserted-by":"publisher","unstructured":"Hunt, G., Mitzalis, F., Alhinai, T., Hooper, P.A., Kovac, M.: 3D printing with flying robots. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 4493\u20134499. IEEE (2014). https:\/\/doi.org\/10.1109\/ICRA.2014.6907515","DOI":"10.1109\/ICRA.2014.6907515"},{"issue":"101","key":"2332_CR19","doi-asserted-by":"publisher","first-page":"6251","DOI":"10.1126\/scirobotics.ado6251","volume":"10","author":"YF Kaya","year":"2025","unstructured":"Kaya, Y.F., Orr, L., Kocer, B.B., Pawar, V., Stuart-Smith, R., Kova\u010d, M.: Aerial additive manufacturing: Toward on-site building construction with aerial robots. Sci. Robot. 10(101), 6251 (2025). https:\/\/doi.org\/10.1126\/scirobotics.ado6251","journal-title":"Sci. Robot."},{"issue":"7928","key":"2332_CR20","doi-asserted-by":"publisher","first-page":"709","DOI":"10.1038\/s41586-022-04988-4","volume":"609","author":"K Zhang","year":"2022","unstructured":"Zhang, K., Chermprayong, P., Xiao, F., Tzoumanikas, D.E.A.: Aerial additive manufacturing with multiple autonomous robots. Nature 609(7928), 709\u2013707 (2022). https:\/\/doi.org\/10.1038\/s41586-022-04988-4","journal-title":"Nature"},{"key":"2332_CR21","doi-asserted-by":"publisher","first-page":"106361","DOI":"10.1016\/j.autcon.2025.106361","volume":"178","author":"M-N Stamatopoulos","year":"2025","unstructured":"Stamatopoulos, M.-N., Halu\u0161ka, J., Small, E., Marroush, J., Banerjee, A., Nikolakopoulos, G.: Fully autonomous chunk-based aerial additive manufacturing with offset-free predictive control. Autom. Constr. 178, 106361 (2025). https:\/\/doi.org\/10.1016\/j.autcon.2025.106361","journal-title":"Autom. Constr."},{"key":"2332_CR22","doi-asserted-by":"publisher","unstructured":"Dams, B., Chen, B., Kaya, Y.F., Shepherd, P., Kovac, M., Ball, R.J.: The rise of aerial additive manufacturing in construction: A review of material advancements. Front. Mater. 11 - 2024 (2025). https:\/\/doi.org\/10.3389\/fmats.2024.1458752","DOI":"10.3389\/fmats.2024.1458752"},{"key":"2332_CR23","doi-asserted-by":"publisher","first-page":"107656","DOI":"10.1016\/j.cemconres.2024.107656","volume":"186","author":"K D\u00f6rfler","year":"2024","unstructured":"D\u00f6rfler, K., Dielemans, G., Leutenegger, S., Jenny, S.E., Pankert, J., Sustarevas, J., Lachmayer, L., Raatz, A., Lowke, D.: Advancing construction in existing contexts: Prospects and barriers of 3D printing with mobile robots for building maintenance and repair. Cem. Concr. Res. 186, 107656 (2024). https:\/\/doi.org\/10.1016\/j.cemconres.2024.107656","journal-title":"Cem. Concr. Res."},{"key":"2332_CR24","doi-asserted-by":"publisher","first-page":"76","DOI":"10.1007\/s10846-023-02011-0","volume":"109","author":"GM Skaltsis","year":"2023","unstructured":"Skaltsis, G.M., Shin, H.S., Tsourdos, A.: A review of task allocation methods for UAVs. J. Intell. Robot. Syst. 109, 76 (2023). https:\/\/doi.org\/10.1007\/s10846-023-02011-0","journal-title":"J. Intell. Robot. Syst."},{"key":"2332_CR25","doi-asserted-by":"publisher","unstructured":"Puzatova, A., Shakor, P., Laghi, V., Dmitrieva, M.: Large-scale 3d printing for construction application by means of robotic arm and gantry 3D printer: A review. Buildings 12(11) (2022). https:\/\/doi.org\/10.3390\/buildings12112023","DOI":"10.3390\/buildings12112023"},{"issue":"8","key":"2332_CR26","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1115\/1.4053681","volume":"144","author":"L Poudel","year":"2022","unstructured":"Poudel, L., Marques, L.G., Williams, R.A., Hyden, Z., Guerra, P., Fowler, O.L., Sha, Z., Zhou, W.: Toward swarm manufacturing: Architecting a cooperative 3D printing system. J. Manuf. Sci. Eng. Trans. ASME 144(8), 1\u201315 (2022). https:\/\/doi.org\/10.1115\/1.4053681","journal-title":"J. Manuf. Sci. Eng. Trans. ASME"},{"key":"2332_CR27","doi-asserted-by":"publisher","first-page":"98","DOI":"10.1016\/j.autcon.2018.08.004","volume":"95","author":"X Zhang","year":"2018","unstructured":"Zhang, X., Li, M., Lim, J.H., Weng, Y., Tay, Y.W.D., Pham, H., Pham, Q.-C.: Large-scale 3D printing by a team of mobile robots. Autom. Constr. 95, 98\u2013106 (2018). https:\/\/doi.org\/10.1016\/j.autcon.2018.08.004","journal-title":"Autom. Constr."},{"key":"2332_CR28","doi-asserted-by":"publisher","unstructured":"Sustarevas, J., Kanoulas, D., Julier, S.: Task-consistent path planning for mobile 3D printing. In: 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2143\u20132150 (2021). https:\/\/doi.org\/10.1109\/IROS51168.2021.9635916","DOI":"10.1109\/IROS51168.2021.9635916"},{"issue":"4","key":"2332_CR29","doi-asserted-by":"publisher","first-page":"46","DOI":"10.1109\/MCS.2014.2320359","volume":"34","author":"F Augugliaro","year":"2014","unstructured":"Augugliaro, F., Lupashin, S., Hamer, M., Male, C., Hehn, M., Mueller, M.W., Willmann, J.S., Gramazio, F., Kohler, M., D\u2019Andrea, R.: The flight assembled architecture installation: Cooperative construction with flying machines. IEEE Control Syst. Mag. 34(4), 46\u201364 (2014). https:\/\/doi.org\/10.1109\/MCS.2014.2320359","journal-title":"IEEE Control Syst. Mag."},{"key":"2332_CR30","doi-asserted-by":"publisher","unstructured":"Augugliaro, F., Mirjan, A., Gramazio, F., Kohler, M., D\u2019Andrea, R.: Building tensile structures with flying machines. In: 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 3487\u20133492 (2013). https:\/\/doi.org\/10.1109\/IROS.2013.6696853","DOI":"10.1109\/IROS.2013.6696853"},{"key":"2332_CR31","doi-asserted-by":"publisher","first-page":"458","DOI":"10.1016\/j.autcon.2018.06.015","volume":"94","author":"S Goessens","year":"2018","unstructured":"Goessens, S., Mueller, C., Latteur, P.: Feasibility study for drone-based masonry construction of real-scale structures. Autom. Constr. 94, 458\u2013480 (2018). https:\/\/doi.org\/10.1016\/j.autcon.2018.06.015","journal-title":"Autom. Constr."},{"key":"2332_CR32","doi-asserted-by":"publisher","first-page":"106525","DOI":"10.1016\/j.autcon.2025.106525","volume":"180","author":"X Xie","year":"2025","unstructured":"Xie, X., Gu, S., Gao, X., Xu, Y., Yuan, P.F.: Vision-guided autonomous drone construction system for standardized bricklaying. Autom. Constr. 180, 106525 (2025). https:\/\/doi.org\/10.1016\/j.autcon.2025.106525","journal-title":"Autom. Constr."},{"key":"2332_CR33","doi-asserted-by":"crossref","unstructured":"Stamatopoulos, M.-N., Velhal, S., Banerjee, A., Nikolakopoulos, G.: Safety-aware optimal scheduling for autonomous masonry construction using collaborative heterogeneous aerial robots (2025). arXiv:2506.18697","DOI":"10.1109\/IROS60139.2025.11246805"},{"key":"2332_CR34","doi-asserted-by":"crossref","unstructured":"Stamatopoulos, M.-N., Small, E., Velhal, S., Banerjee, A., Nikolakopoulos, G.: Autonomous Reactive Masonry Construction using Collaborative Heterogeneous Aerial Robots with Experimental Demonstration (2025). https:\/\/arxiv.org\/abs\/2510.15114","DOI":"10.1109\/IROS60139.2025.11246805"},{"key":"2332_CR35","doi-asserted-by":"crossref","unstructured":"Raman, A., Merrill, C., George, A., Farimani, A.B.: LLM-Drone: Aerial Additive Manufacturing with Drones Planned Using Large Language Models (2025). https:\/\/arxiv.org\/abs\/2503.17566","DOI":"10.1007\/s41693-025-00162-0"},{"key":"2332_CR36","doi-asserted-by":"publisher","unstructured":"Stamatopoulos, M.-N., Banerjee, A., Nikolakopoulos, G.: Flexible multi-DoF aerial 3D printing supported with automated optimal chunking. In: 2023 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3033\u20133039 (2023). https:\/\/doi.org\/10.1109\/IROS55552.2023.10341882","DOI":"10.1109\/IROS55552.2023.10341882"},{"issue":"2","key":"2332_CR37","doi-asserted-by":"publisher","first-page":"53","DOI":"10.1007\/s10846-024-02081-8","volume":"110","author":"M-N Stamatopoulos","year":"2024","unstructured":"Stamatopoulos, M.-N., Banerjee, A., Nikolakopoulos, G.: A decomposition and a scheduling framework for enabling aerial 3D printing. J. Intell. Robot. Syst. 110(2), 53 (2024). https:\/\/doi.org\/10.1007\/s10846-024-02081-8","journal-title":"J. Intell. Robot. Syst."},{"key":"2332_CR38","doi-asserted-by":"publisher","unstructured":"Stamatopoulos, M.-N., Banerjee, A., Nikolakopoulos, G.: Conflict-free optimal motion planning for parallel aerial 3D printing using multiple UAVs. Expert Syst. Appl. 246, 123201 (2024). https:\/\/doi.org\/10.1016\/j.eswa.2024.123201","DOI":"10.1016\/j.eswa.2024.123201"},{"issue":"1","key":"2332_CR39","doi-asserted-by":"publisher","first-page":"26","DOI":"10.1007\/s10846-025-02229-0","volume":"111","author":"Y Bai","year":"2025","unstructured":"Bai, Y., Kotpalliwar, S., Kanellakis, C., Nikolakopoulos, G.: Multi-agent path planning based on conflict-based search (CBS) variations for heterogeneous robots. J. Intel. Robot. Syst. 111(1), 26 (2025). https:\/\/doi.org\/10.1007\/s10846-025-02229-0","journal-title":"J. Intel. Robot. Syst."},{"key":"2332_CR40","doi-asserted-by":"publisher","unstructured":"Yasser, M., Shalash, O., Ismail, O.: Optimized decentralized swarm communication algorithms for efficient task allocation and power consumption in swarm robotics. Robotics 13(5) (2024). https:\/\/doi.org\/10.3390\/robotics13050066","DOI":"10.3390\/robotics13050066"},{"issue":"2","key":"2332_CR41","doi-asserted-by":"publisher","first-page":"2366","DOI":"10.1109\/TVT.2024.3420154","volume":"74","author":"J Yang","year":"2025","unstructured":"Yang, J., Yang, F., Xu, X., Zhang, K., Wang, X., Yang, G.: C3R: A novel classification model-based coordination method for online conflict resolution of multiple unmanned aerial vehicles. IEEE Trans. Veh. Technol. 74(2), 2366\u20132378 (2025). https:\/\/doi.org\/10.1109\/TVT.2024.3420154","journal-title":"IEEE Trans. Veh. Technol."},{"key":"2332_CR42","doi-asserted-by":"publisher","unstructured":"Yan, S., Feng, J., Pan, F.: A distributed task allocation method for multi-UAV systems in communication-constrained environments. Drones 8(8) (2024). https:\/\/doi.org\/10.3390\/drones8080342","DOI":"10.3390\/drones8080342"},{"key":"2332_CR43","doi-asserted-by":"crossref","unstructured":"Stamatopoulos, M.-N., Banerjee, A., Nikolakopoulos, G.: Collaborative aerial 3D printing: Leveraging UAV flexibility and mesh decomposition for aerial swarm-based construction. In: 2024 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 45\u201352. IEEE (2024)","DOI":"10.1109\/ICUAS60882.2024.10557090"},{"key":"2332_CR44","doi-asserted-by":"publisher","unstructured":"Burkard, R.E., Derigs, U.: The Linear Sum Assignment Problem, pp. 1\u201315. Springer, Berlin, Heidelberg (1980). https:\/\/doi.org\/10.1007\/978-3-642-51576-7_1","DOI":"10.1007\/978-3-642-51576-7_1"},{"key":"2332_CR45","doi-asserted-by":"publisher","unstructured":"Wolsey, L.A.: Integer Programming. John Wiley & Sons, Hoboken, NJ (2020). https:\/\/doi.org\/10.1002\/9781119606475.oth1","DOI":"10.1002\/9781119606475.oth1"},{"key":"2332_CR46","doi-asserted-by":"publisher","unstructured":"et al, K.B.: The SCIP Optimization Suite 8.0. Technical report, Optimization Online (December 2021). https:\/\/doi.org\/10.48550\/arXiv.2112.08872","DOI":"10.48550\/arXiv.2112.08872"},{"key":"2332_CR47","doi-asserted-by":"publisher","unstructured":"Stamatopoulos, M.-N., Haluska, J., Small, E., Marroush, J., Banerjee, A., Nikolakopoulos, G.: Toward fully autonomous flexible chunk-based aerial additive manufacturing: Insights from experimental validation (2025). arXiv:2502.20549, https:\/\/doi.org\/10.48550\/arXiv.2502.20549","DOI":"10.48550\/arXiv.2502.20549"},{"key":"2332_CR48","doi-asserted-by":"publisher","unstructured":"Lindqvist, B., Mansouri, S.S., Sopasakis, P., Nikolakopoulos, G.: Collision avoidance for multiple micro aerial vehicles using fast centralized nonlinear model predictive control. IFAC-PapersOnLine 53(2), 9303\u20139309 (2020). https:\/\/doi.org\/10.1016\/j.ifacol.2020.12.2384. 21st IFAC World Congress","DOI":"10.1016\/j.ifacol.2020.12.2384"},{"key":"2332_CR49","doi-asserted-by":"publisher","unstructured":"Sopasakis, P., Fresk, E., Patrinos, P.: Open: Code generation for embedded nonconvex optimization. IFAC-PapersOnLine 53(2), 6548\u20136554 (2020). https:\/\/doi.org\/10.1016\/j.ifacol.2020.12.071. 21st IFAC World Congress","DOI":"10.1016\/j.ifacol.2020.12.071"},{"key":"2332_CR50","doi-asserted-by":"publisher","unstructured":"Sathya, A., Sopasakis, P., Van\u00a0Parys, R., Themelis, A., Pipeleers, G., Patrinos, P.: Embedded nonlinear model predictive control for obstacle avoidance using PANOC. In: 2018 European Control Conference (ECC), pp. 1523\u20131528. IEEE (2018). https:\/\/doi.org\/10.23919\/ECC.2018.8550253","DOI":"10.23919\/ECC.2018.8550253"},{"key":"2332_CR51","doi-asserted-by":"publisher","unstructured":"Furrer, F., Burri, M., Achtelik, M., Siegwart, R.: In: Koubaa, A. (ed.) RotorS\u2014A Modular Gazebo MAV Simulator Framework, pp. 595\u2013625. Springer, Cham (2016). https:\/\/doi.org\/10.1007\/978-3-319-26054-9_23","DOI":"10.1007\/978-3-319-26054-9_23"},{"key":"2332_CR52","doi-asserted-by":"publisher","unstructured":"Wuthier, D., Kominiak, D., Kanellakis, C., Andrikopoulos, G., Fumagalli, M., Schipper, G., Nikolakopoulos, G.: On the design, modeling and control of a novel compact aerial manipulator. In: 2016 24th Mediterranean Conference on Control and Automation (MED) (2016).https:\/\/doi.org\/10.1109\/MED.2016.7536029","DOI":"10.1109\/MED.2016.7536029"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-025-02332-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-025-02332-2","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-025-02332-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,10]],"date-time":"2026-01-10T07:49:03Z","timestamp":1768031343000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-025-02332-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,11,26]]},"references-count":52,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2025,12]]}},"alternative-id":["2332"],"URL":"https:\/\/doi.org\/10.1007\/s10846-025-02332-2","relation":{},"ISSN":["1573-0409"],"issn-type":[{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,11,26]]},"assertion":[{"value":"28 March 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"4 November 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 November 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Not applicable.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval"}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"Not applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to publish"}},{"value":"The authors have no conflicts of interest with any related parties.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing Interests"}}],"article-number":"127"}}