{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,29]],"date-time":"2026-03-29T15:18:22Z","timestamp":1774797502396,"version":"3.50.1"},"reference-count":23,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2021,5,28]],"date-time":"2021-05-28T00:00:00Z","timestamp":1622160000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,5,28]],"date-time":"2021-05-28T00:00:00Z","timestamp":1622160000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Basic Research Program of China","doi-asserted-by":"publisher","award":["2018AAA0102401"],"award-info":[{"award-number":["2018AAA0102401"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100010225","name":"National Outstanding Youth Foundation of China","doi-asserted-by":"publisher","award":["62022060"],"award-info":[{"award-number":["62022060"]}],"id":[{"id":"10.13039\/501100010225","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100010225","name":"National Outstanding Youth Foundation of China","doi-asserted-by":"publisher","award":["62003236"],"award-info":[{"award-number":["62003236"]}],"id":[{"id":"10.13039\/501100010225","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100010225","name":"National Outstanding Youth Foundation of China","doi-asserted-by":"publisher","award":["62003236"],"award-info":[{"award-number":["62003236"]}],"id":[{"id":"10.13039\/501100010225","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100010225","name":"National Outstanding Youth Foundation of China","doi-asserted-by":"publisher","award":["61773278"],"award-info":[{"award-number":["61773278"]}],"id":[{"id":"10.13039\/501100010225","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100010225","name":"National Outstanding Youth Foundation of China","doi-asserted-by":"publisher","award":["61873340"],"award-info":[{"award-number":["61873340"]}],"id":[{"id":"10.13039\/501100010225","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J Intell Robot Appl"],"published-print":{"date-parts":[[2021,6]]},"DOI":"10.1007\/s41315-021-00183-2","type":"journal-article","created":{"date-parts":[[2021,5,28]],"date-time":"2021-05-28T18:25:19Z","timestamp":1622226319000},"page":"176-185","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Decentralized motion planning for multi quadrotor with obstacle and collision avoidance"],"prefix":"10.1007","volume":"5","author":[{"given":"Xuewei","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hongming","family":"Shen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guohui","family":"Xie","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hanchen","family":"Lu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bailing","family":"Tian","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2021,5,28]]},"reference":[{"issue":"2","key":"183_CR1","doi-asserted-by":"publisher","first-page":"1191","DOI":"10.1109\/LRA.2020.2967281","volume":"5","author":"SH Arul","year":"2020","unstructured":"Arul, S.H., Manocha, D.: DCAD: decentralized collision avoidance with dynamics constraints for agile quadrotor swarms. IEEE Robot. Autom. Lett. 5(2), 1191\u20131198 (2020)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"183_CR2","doi-asserted-by":"crossref","unstructured":"Augugliaro, F., Schoellig, A.P., D\u2019Andrea, R.: Generation of collision-free trajectories for a quadrocopter fleet: A sequential convex programming approach. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 1917\u20131922 (2012)","DOI":"10.1109\/IROS.2012.6385823"},{"key":"183_CR3","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., et al.: The flight assembled architecture installation: cooperative construction with flying machines. IEEE Control Syst. Mag. 34, 46\u201364 (2014)","journal-title":"IEEE Control Syst Mag"},{"key":"183_CR4","doi-asserted-by":"crossref","unstructured":"Burri, M., et al.: Real-time visual-inertial mapping, re-localization and planning onboard mavs in unknown environments. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1872\u20131878 (2015)","DOI":"10.1109\/IROS.2015.7353622"},{"key":"183_CR5","doi-asserted-by":"crossref","unstructured":"Chen, Y., Cutler, M., How, J.P.: Decoupled multiagent path planning via incremental sequential convex programming. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 5954\u20135961 (2015)","DOI":"10.1109\/ICRA.2015.7140034"},{"key":"183_CR6","doi-asserted-by":"publisher","first-page":"760","DOI":"10.1177\/027836499801700706","volume":"17","author":"P Fiorini","year":"1998","unstructured":"Fiorini, P., Shiller, Z.: Motion planning in dynamic environments using velocity obstacles. Int. J. Robot. Res. 17, 760\u2013772 (1998)","journal-title":"Int. J. Robot. Res."},{"key":"183_CR7","doi-asserted-by":"publisher","first-page":"6679","DOI":"10.1109\/ACCESS.2018.2889533","volume":"7","author":"M Hamer","year":"2018","unstructured":"Hamer, M., Widmer, L., Dandrea, R.: Fast generation of collision-free trajectories for robot swarms using GPU acceleration. IEEE Access 7, 6679\u20136690 (2018)","journal-title":"IEEE Access"},{"key":"183_CR8","doi-asserted-by":"publisher","first-page":"856","DOI":"10.1109\/TRO.2018.2853613","volume":"34","author":"W H\u00f6nig","year":"2018","unstructured":"H\u00f6nig, W., Preiss, J.A., Kumar, T.K.S., et al.: Trajectory planning for quadrotor swarms. IEEE Trans. Robot. 34, 856\u2013869 (2018)","journal-title":"IEEE Trans. Robot."},{"key":"183_CR9","unstructured":"Liu, S., Mohta, K., Atanasov, N., et al.: Towards search-based motion planning for micro aerial vehicles.  arXiv:1810.03071 (2018)"},{"key":"183_CR10","doi-asserted-by":"crossref","unstructured":"Mellinger, D., Kumar, V.: Minimum snap trajectory generation and control for quadrotors. In: IEEE International Conference on Robotics and Automation, pp. 2520\u20132525 (2011)","DOI":"10.1109\/ICRA.2011.5980409"},{"key":"183_CR11","doi-asserted-by":"crossref","unstructured":"Mellinger, D., Kushleyev, A., Kumar, V.: Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams. In: IEEE International Conference on Robotics and Automation, pp. 477\u2013483 (2012)","DOI":"10.1109\/ICRA.2012.6225009"},{"key":"183_CR12","doi-asserted-by":"publisher","first-page":"101","DOI":"10.1002\/rob.21774","volume":"35","author":"K Mohta","year":"2018","unstructured":"Mohta, K., Watterson, M., Mulgaonkar, Y., et al.: Fast, autonomous flight in GPS-denied and cluttered environments. J. Field Robot. 35, 101\u2013120 (2018)","journal-title":"J. Field Robot."},{"key":"183_CR13","doi-asserted-by":"crossref","unstructured":"Park, J., et al.: Efficient multi-agent trajectory planning with feasibility guarantee using relative Bernstein polynomial. arXiv:1909.10219 (2019)","DOI":"10.1109\/ICRA40945.2020.9197162"},{"key":"183_CR14","doi-asserted-by":"publisher","first-page":"177","DOI":"10.1007\/s003710050206","volume":"16","author":"K Qin","year":"2000","unstructured":"Qin, K.: General matrix representations for B-splines. Vis. Comput. 16, 177\u2013186 (2000)","journal-title":"Vis. Comput."},{"key":"183_CR15","doi-asserted-by":"publisher","first-page":"649","DOI":"10.1007\/978-3-319-28872-7_37","volume-title":"Robotics Research","author":"C Richter","year":"2016","unstructured":"Richter, C., Bry, A., Roy, N.: Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments. In: Robotics Research, pp. 649\u2013666. Springer, Cham (2016)"},{"key":"183_CR16","doi-asserted-by":"publisher","first-page":"2674","DOI":"10.1109\/LRA.2020.2972827","volume":"5","author":"DA Saikin","year":"2020","unstructured":"Saikin, D.A., Baca, T., Gurtner, M., et al.: Wildfire fighting by unmanned aerial system exploiting its time-varying mass. IEEE Robot. Autom. Lett. 5, 2674\u20132681 (2020)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"183_CR17","doi-asserted-by":"crossref","unstructured":"Shen, H., Zhang, X., Lu, H., et al.: State estimation and control for micro aerial vehicles in GPS-denied environments. In: IEEE International Conference on Wireless Communications and Signal Processing (WCSP), pp. 1070\u20131075 (2020)","DOI":"10.1109\/WCSP49889.2020.9299710"},{"issue":"9","key":"183_CR18","doi-asserted-by":"publisher","first-page":"1062","DOI":"10.1177\/0278364917741532","volume":"37","author":"S Tang","year":"2018","unstructured":"Tang, S., Thomas, J., Kumar, V.: Hold or take optimal plan (hoop): a quadratic programming approach to multi-robot trajectory generation. Int. J. Robot. Res. 37(9), 1062\u20131084 (2018)","journal-title":"Int. J. Robot. Res."},{"key":"183_CR19","doi-asserted-by":"crossref","unstructured":"Usenko, V., von Stumberg, L., Pangercic, A., et al.: Real-time trajectory replanning for MAVs using uniform B-splines and a 3D circular buffer. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 215\u2013222 (2017)","DOI":"10.1109\/IROS.2017.8202160"},{"key":"183_CR20","doi-asserted-by":"crossref","unstructured":"Van den Berg, J., Lin, M., Manocha, D.: Reciprocal velocity obstacles for real-time multi-agent navigation. In: IEEE International Conference on Robotics and Automation, pp. 1928\u20131935 (2008)","DOI":"10.1109\/ROBOT.2008.4543489"},{"key":"183_CR21","doi-asserted-by":"crossref","unstructured":"Van Den Berg, J., et al.: Reciprocal n-body collision avoidance. In: Robotics Research, pp. 3\u201319 (2011)","DOI":"10.1007\/978-3-642-19457-3_1"},{"key":"183_CR22","doi-asserted-by":"publisher","DOI":"10.14711\/thesis-991012760867803412","volume-title":"Temporal Scheduling and Optimization for Multi-MAV Planning","author":"W Wu","year":"2019","unstructured":"Wu, W., Gao, F., Wang, L., et al.: Temporal Scheduling and Optimization for Multi-MAV Planning. Hong Kong University of Science and Technology, Clear Water Bay (2019)"},{"issue":"4","key":"183_CR23","doi-asserted-by":"publisher","first-page":"3529","DOI":"10.1109\/LRA.2019.2927938","volume":"4","author":"B Zhou","year":"2019","unstructured":"Zhou, B., et al.: Robust and efficient quadrotor trajectory generation for fast autonomous flight. IEEE Robot. Autom. Lett. (RAL) 4(4), 3529\u20133536 (2019)","journal-title":"IEEE Robot. Autom. Lett. (RAL)"}],"container-title":["International Journal of Intelligent Robotics and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s41315-021-00183-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s41315-021-00183-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s41315-021-00183-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,6,8]],"date-time":"2021-06-08T12:41:54Z","timestamp":1623156114000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s41315-021-00183-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,28]]},"references-count":23,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2021,6]]}},"alternative-id":["183"],"URL":"https:\/\/doi.org\/10.1007\/s41315-021-00183-2","relation":{},"ISSN":["2366-5971","2366-598X"],"issn-type":[{"value":"2366-5971","type":"print"},{"value":"2366-598X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,5,28]]},"assertion":[{"value":"12 November 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"18 May 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"28 May 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}