{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,24]],"date-time":"2025-08-24T01:16:40Z","timestamp":1755998200455},"reference-count":47,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2009,2,10]],"date-time":"2009-02-10T00:00:00Z","timestamp":1234224000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Mobile Netw Appl"],"published-print":{"date-parts":[[2009,6]]},"DOI":"10.1007\/s11036-009-0152-y","type":"journal-article","created":{"date-parts":[[2009,2,9]],"date-time":"2009-02-09T22:17:00Z","timestamp":1234217820000},"page":"292-308","source":"Crossref","is-referenced-by-count":22,"title":["Safe and Distributed Kinodynamic Replanning for Vehicular Networks"],"prefix":"10.1007","volume":"14","author":[{"given":"Kostas E.","family":"Bekris","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Konstantinos I.","family":"Tsianos","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lydia E.","family":"Kavraki","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2009,2,10]]},"reference":[{"key":"152_CR1","unstructured":"Yang X, Liu L, Vaidya NH, Zhao F (2004) A vehicle-to-vehicle communication protocol for cooperative collision warning. In: MOBIQUITOUS-04, Boston, 22\u201326 August 2004"},{"key":"152_CR2","unstructured":"DSRC (2008) DSRCD Home. http:\/\/www.leearmstrong.com\/dsrc\/dsrchomeset.htm"},{"key":"152_CR3","unstructured":"Clarc C, Rock S, Latombe J-C (2003) Dynamic networks for motion planning in multi-robot space systems. In: Intl. symp. of artificial intelligence, robotics and automation in space, Kobe, 20\u201324 July 2003"},{"key":"152_CR4","doi-asserted-by":"crossref","unstructured":"Clark MC, Bretl T, Rock S (2002) Applying kinodynamic randomized motion planning with a dynamic priority system to multi-robot space systems. In: Aerospace conference, Toulouse, 16\u201319 June 2002","DOI":"10.1109\/AERO.2002.1035338"},{"issue":"5","key":"152_CR5","doi-asserted-by":"crossref","first-page":"571","DOI":"10.1115\/1.2766721","volume":"129","author":"R. M. Murray","year":"2007","unstructured":"Murray RM (2007) Recent research in cooperative control of multi-vehicle systems. ASME J Dyn Syst Meas Control 129(5):571\u2013583","journal-title":"ASME J Dyn Syst Meas Control"},{"issue":"8","key":"152_CR6","doi-asserted-by":"crossref","first-page":"1292","DOI":"10.1109\/TAC.2004.832203","volume":"49","author":"P. Ogren","year":"2004","unstructured":"Ogren P, Fiorelli E, Leonard NE (2004) Cooperative control of mobile sensor networks: adaptive gradient climbing in distributed environments. IEEE Trans Automat Contr 49(8):1292\u20131302","journal-title":"IEEE Trans Automat Contr"},{"issue":"3","key":"152_CR7","doi-asserted-by":"crossref","first-page":"401","DOI":"10.1109\/TAC.2005.864190","volume":"51","author":"R. Olfati-Saber","year":"2006","unstructured":"Olfati-Saber R (2006) Flocking for multi-agent dynamic systems: algorithms and theory. IEEE Trans Automat Contr 51(3):401\u2013420","journal-title":"IEEE Trans Automat Contr"},{"key":"152_CR8","unstructured":"Pereira GAS, Das AK, Kumar V, Campos MFM (2003) Decentralized motion planning for multiple robots subject to sesnsing and communication constraints. In: Work. on multi-robot systems"},{"issue":"3","key":"152_CR9","first-page":"443","volume":"20","author":"H. G. Tanner","year":"2004","unstructured":"Tanner HG, Pappas GJ, Kumar V (2004) Leader-to-formation stability. IEEE TRA 20(3):443\u2013455","journal-title":"IEEE TRA"},{"issue":"4","key":"152_CR10","doi-asserted-by":"crossref","first-page":"1777","DOI":"10.1109\/9.964690","volume":"46","author":"M. Egerstedt","year":"2001","unstructured":"Egerstedt M, Hu X, Stotsky A (2001) Control of mobile platforms using a virtual vehicle approach. IEEE Trans Automat Contr 46(4):1777\u20131782, November","journal-title":"IEEE Trans Automat Contr"},{"key":"152_CR11","unstructured":"Pallotino L, Scordio VG, Frazzoli E, Bicchi A (2006) Decentralized and scalable conflict resolution strategy for multi-agent systems. In: Int. symp. on mathematical theory of networks and systems, Kyoto, 24\u201328 July 2006"},{"key":"152_CR12","unstructured":"Dimarogonas DV, Kyriakopoulos KJ, Theodorakatos D (2006) Totally distributed motion control of sphere world multi-agent systems using decentralized navigation functions. In: IEEE Int Conf Robot Autom"},{"key":"152_CR13","doi-asserted-by":"crossref","unstructured":"Loizou S, Dimarogonas D, Kyriakopoulos K (2004) Decentralized feedback stabilization of multiple nonholonomic agents. In: IEEE Int Conf Robot Autom, vol 3, pp 3012\u20133017","DOI":"10.1109\/ROBOT.2004.1307519"},{"key":"152_CR14","doi-asserted-by":"crossref","DOI":"10.1017\/CBO9780511546877","volume-title":"Planning algorithms","author":"S. LaValle","year":"2006","unstructured":"LaValle S (2006) Planning algorithms. Cambridge University Press, Cambridge"},{"issue":"4","key":"152_CR15","first-page":"566","volume":"12","author":"L. E. Kavraki","year":"1996","unstructured":"Kavraki LE, Svestka P, Latombe J-C, Overmars M (1996) Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE TRA 12(4):566\u2013580","journal-title":"IEEE TRA"},{"key":"152_CR16","volume-title":"Principles of robot motion: theory, algorithms, and implementations","author":"H. Choset","year":"2005","unstructured":"Choset H, Lynch KM, Hutchinson S, Kantor G, Burgard W, Kavraki LE, Thrun S (2005) Principles of robot motion: theory, algorithms, and implementations. MIT, Boston"},{"issue":"5","key":"152_CR17","doi-asserted-by":"crossref","first-page":"1048","DOI":"10.1145\/174147.174150","volume":"40","author":"B. R. Donald","year":"1993","unstructured":"Donald BR, Xavier PG, Canny JF, Reif JH (1993) Kinodynamic motion planning. J ACM 40(5):1048\u20131066","journal-title":"J ACM"},{"issue":"5","key":"152_CR18","first-page":"378","volume":"20","author":"S. M. LaValle","year":"2001","unstructured":"LaValle SM, Kuffner JJ (2001) Randomized kinodynamic planning. IJRR 20(5):378\u2013400","journal-title":"IJRR"},{"key":"152_CR19","unstructured":"Ladd AM, Kavraki LE (2005) Motion planning in the presence of drift, underactuation and discrete system changes. In: Robot Sci Syst I, Cambridge, June 2005"},{"key":"152_CR20","doi-asserted-by":"crossref","unstructured":"Bekris KE, Kavraki LE (2007) Greedy but safe replanning under kinodynamic constraints. In: IEEE Int Conf Robot Autom, Rome, April 2007","DOI":"10.1109\/ROBOT.2007.363069"},{"issue":"3","key":"152_CR21","first-page":"233","volume":"21","author":"D. Hsu","year":"2002","unstructured":"Hsu D, Kindel R, Latombe J-C, Rock S (2002) Randomized kinodynamic motion planning with moving obstacles. IJRR 21(3):233\u2013255","journal-title":"IJRR"},{"key":"152_CR22","doi-asserted-by":"crossref","first-page":"1398","DOI":"10.1109\/JPROC.2006.876915","volume":"94","author":"J. Bruce","year":"2006","unstructured":"Bruce J, Veloso M (2006) Safe multi-robot navigation within dynamic constraints. Proc IEEE 94:1398\u20131411","journal-title":"Proc IEEE"},{"key":"152_CR23","doi-asserted-by":"crossref","unstructured":"Ferguson D, Kalra N, Stentz A (2006) Replanning with RRTs. In: IEEE Int Conf Robot Autom","DOI":"10.1109\/ROBOT.2006.1641879"},{"key":"152_CR24","doi-asserted-by":"crossref","unstructured":"Zucker M, Kuffner J, Branicky M (2007) Multipartite RRTs for rapid replanning in dynamic environments. In: IEEE int. conf. on robotics and automation, ICRA-07","DOI":"10.1109\/ROBOT.2007.363553"},{"key":"152_CR25","doi-asserted-by":"crossref","unstructured":"Gayle R, Klinger KR, Xavier PG (2007) Lazy reconfiguration forest: an approach for planning with multiple tasks in dynamic environments. In: IEEE Int Conf Robot Autom, Rome, 10\u201314 April 2007, pp 1316\u20131323","DOI":"10.1109\/ROBOT.2007.363167"},{"key":"152_CR26","unstructured":"Berg Jvd, Ferguson D, Kuffner J (2006) Anytime path planning and replanning in dynamic environments. In: IEEE Int Conf Robot Autom, May"},{"key":"152_CR27","doi-asserted-by":"crossref","unstructured":"Kallman M, Mataric M (2004) Motion planning using dynamic roadmaps. In: IEEE Int Conf Robot Autom-04, vol 5","DOI":"10.1109\/ROBOT.2004.1302410"},{"issue":"10","key":"152_CR28","doi-asserted-by":"crossref","first-page":"1001","DOI":"10.1163\/1568553042674662","volume":"18","author":"T. Fraichard","year":"2004","unstructured":"Fraichard T, Asama H (2004) Inevitable collision states\u2014a step towards safer robots? Adv Robot 18(10):1001\u20131024","journal-title":"Adv Robot"},{"key":"152_CR29","unstructured":"Petti S, Fraichard T (2005) Partial motion planning framework for reactive planning within dynamic environments. In: IEEE Int Conf Robot Autom, Barcelona, September 2005"},{"issue":"1","key":"152_CR30","doi-asserted-by":"crossref","first-page":"116","DOI":"10.2514\/2.4856","volume":"25","author":"E. Frazzoli","year":"2002","unstructured":"Frazzoli E, Dahleh MA, Feron E (2002) Real-time motion planning for agile autonomous vehicles. AIAA J Guid Control 25(1):116\u2013129","journal-title":"AIAA J Guid Control"},{"key":"152_CR31","doi-asserted-by":"crossref","unstructured":"Sanchez G, Latombe J-C (2003) A single-query bi-directional probabilistic roadmap planner with lazy collision checking. In: Int Symp Rob Res, pp 404\u2013417","DOI":"10.1007\/3-540-36460-9_27"},{"issue":"2","key":"152_CR32","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1016\/S0921-8890(02)00256-7","volume":"41","author":"M. Bennewitz","year":"2002","unstructured":"Bennewitz M, Burgard W, Thrun S (2002) Finding and optimizing solvable priority schemes for decoupled path planning for teams of mobile robots. Robot Auton Syst 41(2):89\u201399","journal-title":"Robot Auton Syst"},{"key":"152_CR33","doi-asserted-by":"crossref","unstructured":"Saha M, Isto P (2006) Multi-robot motion planning by incremental coordination. In: Int Conf Intell Robot Syst","DOI":"10.1109\/IROS.2006.282536"},{"key":"152_CR34","doi-asserted-by":"crossref","unstructured":"Bekris KE, Tsianos KI, Kavraki LE (2007) A decentralized planner that guarantees the safety of communicating vehicles with complex dynamics that replan online. In: IEEE\/RSJ Int Conf Intell Robot Syst (IROS 2007), 29 Oct 2007\u20132 Nov 2007, pp 3784\u20133790","DOI":"10.1109\/IROS.2007.4399520"},{"issue":"2","key":"152_CR35","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1023\/A:1010078712316","volume":"3","author":"M. Yokoo","year":"2000","unstructured":"Yokoo M, Hirayama K (2000) Algorithms for distributed constraint satisfaction: a review. Auton Agents Multi-Agent Syst 3(2):189\u2013212","journal-title":"Auton Agents Multi-Agent Syst"},{"issue":"1\u20132","key":"152_CR36","doi-asserted-by":"crossref","first-page":"149","DOI":"10.1016\/j.artint.2004.09.003","volume":"161","author":"P. J. Modi","year":"2005","unstructured":"Modi PJ, Shen W-M, Tambe M, Yokoo M (2005) An asynchronous complete method for distributed constraint optimization. Artif Intell J 161(1\u20132):149\u2013180","journal-title":"Artif Intell J"},{"key":"152_CR37","unstructured":"Guestrin C, Koller D, Parr R (2002) Multiagent planning with factored MDPs. In: NIPS-14. MIT, Cambridge"},{"issue":"5","key":"152_CR38","first-page":"758","volume":"18","author":"B. P. Gerkey","year":"2002","unstructured":"Gerkey BP, Mataric MJ (2002) Sold!: auction methods for multi-robot coordination. IEEE TRA 18(5):758\u2013786","journal-title":"IEEE TRA"},{"issue":"7","key":"152_CR39","doi-asserted-by":"crossref","first-page":"1257","DOI":"10.1109\/JPROC.2006.876939","volume":"94","author":"M. B. Diass","year":"2006","unstructured":"Diass MB, Zlot R, Kalra N, Stentz A (2006) Market-based multirobot coordination: a survey and analysis. Proc IEEE 94(7):1257\u20131270","journal-title":"Proc IEEE"},{"key":"152_CR40","volume-title":"Probabilistic reasoning in intelligent systems","author":"J. Pearl","year":"1988","unstructured":"Pearl J (1988) Probabilistic reasoning in intelligent systems. Morgan Kaufmann, San Francisco"},{"key":"152_CR41","first-page":"1789","volume":"7","author":"J. R. Kok","year":"2006","unstructured":"Kok JR, Vlassis N (2006) Collaborative multiagent reinforcement learning by payoff propagation. J Mach Learn Res 7:1789\u20131828","journal-title":"J Mach Learn Res"},{"key":"152_CR42","doi-asserted-by":"crossref","first-page":"153","DOI":"10.1016\/S1570-8705(03)00052-0","volume":"2","author":"K. Plarre","year":"2004","unstructured":"Plarre K, Kumar PR (2004) Extended message passing algorithm for inference in loopy Gaussian graphical models. Ad Hoc Netw 2:153\u2013169","journal-title":"Ad Hoc Netw"},{"key":"152_CR43","doi-asserted-by":"crossref","unstructured":"Bekris KE, Tsianos KI, Kavraki LE (2007) A distributed protocol for safe real-time planning of communicating vehicles with second-order dynamics. In: First Int Conf Robot Commun Coord","DOI":"10.4108\/ICST.ROBOCOMM2007.2087"},{"key":"152_CR44","doi-asserted-by":"crossref","unstructured":"Ladd AM, Kavraki LE (2005) Fast tree-based exploration of state space for robots with dynamics. In: Workshop Algorithmic Found Robot, pp 297\u2013312","DOI":"10.1007\/10991541_21"},{"key":"152_CR45","doi-asserted-by":"crossref","unstructured":"Hsieh MA, Kumar V, Taylor CJ (2004) Constructing radio signal strength maps with multiple robots. In: IEEE inter. conference on robotics and automation, vol 4, New Orleans, April 2004, pp 4184\u20134189","DOI":"10.1109\/ROBOT.2004.1308928"},{"issue":"3","key":"152_CR46","doi-asserted-by":"crossref","first-page":"151","DOI":"10.1007\/BF02242717","volume":"8","author":"G. Singh","year":"1995","unstructured":"Singh G, Bernstein AJ (1995) A highly asynchronous minimum spanning tree protocol. Distrib Comput 8(3):151\u2013161","journal-title":"Distrib Comput"},{"issue":"4","key":"152_CR47","doi-asserted-by":"crossref","first-page":"44","DOI":"10.1145\/318951.319004","volume":"15","author":"P. Radia","year":"1985","unstructured":"Radia P (1985) An algorithm for distributed computation of a spanning tree in an extended LAN. ACM SIGCOMM Comput Commun Rev 15(4):44\u201353","journal-title":"ACM SIGCOMM Comput Commun Rev"}],"container-title":["Mobile Networks and Applications"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11036-009-0152-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11036-009-0152-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11036-009-0152-y","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,6,1]],"date-time":"2019-06-01T03:16:03Z","timestamp":1559358963000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11036-009-0152-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,2,10]]},"references-count":47,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2009,6]]}},"alternative-id":["152"],"URL":"https:\/\/doi.org\/10.1007\/s11036-009-0152-y","relation":{},"ISSN":["1383-469X","1572-8153"],"issn-type":[{"value":"1383-469X","type":"print"},{"value":"1572-8153","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,2,10]]}}}