{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,7]],"date-time":"2026-10-07T03:50:00Z","timestamp":1791345000853,"version":"4.3.1"},"reference-count":37,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,11,1]],"date-time":"2026-11-01T00:00:00Z","timestamp":1793491200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,11,1]],"date-time":"2026-11-01T00:00:00Z","timestamp":1793491200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,11,1]],"date-time":"2026-11-01T00:00:00Z","timestamp":1793491200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,11,1]],"date-time":"2026-11-01T00:00:00Z","timestamp":1793491200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,11,1]],"date-time":"2026-11-01T00:00:00Z","timestamp":1793491200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,11,1]],"date-time":"2026-11-01T00:00:00Z","timestamp":1793491200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,11,1]],"date-time":"2026-11-01T00:00:00Z","timestamp":1793491200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Robotics and Autonomous Systems"],"published-print":{"date-parts":[[2026,11]]},"DOI":"10.1016\/j.robot.2026.105597","type":"journal-article","created":{"date-parts":[[2026,7,16]],"date-time":"2026-07-16T15:06:03Z","timestamp":1784214363000},"page":"105597","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["Priority-based environmental complexity-aware deadlock recovery for distributed swarm obstacle avoidance"],"prefix":"10.1016","volume":"205","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-1251-2156","authenticated-orcid":false,"given":"Tianle","family":"Liu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiacheng","family":"He","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fangguo","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shuo","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zheng","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3250-963X","authenticated-orcid":false,"given":"Jinming","family":"Xu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"key":"10.1016\/j.robot.2026.105597_b1","article-title":"Collaborative control for aerial transportation of cargo with dual quadrotors","author":"Zhang","year":"2024","journal-title":"IEEE Trans. Ind. Informatics"},{"issue":"1","key":"10.1016\/j.robot.2026.105597_b2","doi-asserted-by":"crossref","first-page":"6572","DOI":"10.1038\/s41467-025-61985-7","article-title":"A collective intelligence model for swarm robotics applications","volume":"16","author":"Nitti","year":"2025","journal-title":"Nat. Commun."},{"issue":"3","key":"10.1016\/j.robot.2026.105597_b3","doi-asserted-by":"crossref","first-page":"2492","DOI":"10.1109\/TITS.2023.3320049","article-title":"Unified robust path planning and optimal trajectory generation for efficient 3D area coverage of quadrotor UAVs","volume":"25","author":"Rekabi-Bana","year":"2024","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"10.1016\/j.robot.2026.105597_b4","doi-asserted-by":"crossref","DOI":"10.1016\/j.robot.2025.104970","article-title":"Optimal path planning for unmanned aerial vehicles with multiple round-trip flights in coverage tasks","volume":"189","author":"Li","year":"2025","journal-title":"Robot. Auton. Syst."},{"key":"10.1016\/j.robot.2026.105597_b5","series-title":"Robotics Research: The 14th International Symposium on Robotics Research","first-page":"3","article-title":"Reciprocal n-body collision avoidance","author":"Van Den Berg","year":"2011"},{"key":"10.1016\/j.robot.2026.105597_b6","series-title":"2008 IEEE International Conference on Robotics and Automation","first-page":"1928","article-title":"Reciprocal velocity obstacles for real-time multi-agent navigation","author":"Van den Berg","year":"2008"},{"issue":"2","key":"10.1016\/j.robot.2026.105597_b7","doi-asserted-by":"crossref","first-page":"1047","DOI":"10.1109\/LRA.2017.2656241","article-title":"Fast, on-line collision avoidance for dynamic vehicles using buffered voronoi cells","volume":"2","author":"Zhou","year":"2017","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"2","key":"10.1016\/j.robot.2026.105597_b8","doi-asserted-by":"crossref","first-page":"659","DOI":"10.1109\/LRA.2020.3047786","article-title":"Online trajectory planning for multiple quadrotors in dynamic environments using relative safe flight corridor","volume":"6","author":"Park","year":"2020","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"2","key":"10.1016\/j.robot.2026.105597_b9","doi-asserted-by":"crossref","first-page":"4869","DOI":"10.1109\/LRA.2022.3152702","article-title":"Online distributed trajectory planning for quadrotor swarm with feasibility guarantee using linear safe corridor","volume":"7","author":"Park","year":"2022","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"1","key":"10.1016\/j.robot.2026.105597_b10","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1109\/LRA.2021.3118091","article-title":"Distributed predictive drone swarms in cluttered environments","volume":"7","author":"Soria","year":"2022","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"2","key":"10.1016\/j.robot.2026.105597_b11","doi-asserted-by":"crossref","first-page":"604","DOI":"10.1109\/LRA.2020.2964159","article-title":"Online trajectory generation with distributed model predictive control for multi-robot motion planning","volume":"5","author":"Luis","year":"2020","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.robot.2026.105597_b12","doi-asserted-by":"crossref","unstructured":"Vivek K Adajania, Siqi Zhou, Arun Kumar Singh, Angela P Schoellig, AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered Environments, in: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA, 2023, pp. 1421\u20131427.","DOI":"10.1109\/ICRA48891.2023.10161063"},{"key":"10.1016\/j.robot.2026.105597_b13","series-title":"Proceedings of the IEEE International Conference on Robotics and Automation","first-page":"14555","article-title":"Amswarmx: Safe swarm coordination in complex environments via implicit non-convex decomposition of the obstacle-free space","author":"Adajania","year":"2024"},{"issue":"2","key":"10.1016\/j.robot.2026.105597_b14","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1109\/TSSC.1968.300136","article-title":"A formal basis for the heuristic determination of minimum cost paths","volume":"4","author":"Hart","year":"1968","journal-title":"IEEE Trans. Syst. Sci. Cybern."},{"key":"10.1016\/j.robot.2026.105597_b15","series-title":"Rapidly-Exploring Random Trees: A New Tool for Path Planning","author":"LaValle","year":"1998"},{"key":"10.1016\/j.robot.2026.105597_b16","doi-asserted-by":"crossref","unstructured":"Vivek Kantilal Adajania, Houman Masnavi, Fatemeh Rastgar, Karl Kruusamae, Arun Kumar Singh, Embedded hardware appropriate fast 3D trajectory optimization for fixed wing aerial vehicles by leveraging hidden convex structures, in: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, IROS, 2021, pp. 571\u2013578.","DOI":"10.1109\/IROS51168.2021.9636337"},{"issue":"11","key":"10.1016\/j.robot.2026.105597_b17","doi-asserted-by":"crossref","first-page":"11551","DOI":"10.1109\/TIE.2025.3561859","article-title":"Resilient real-time decision-making for autonomous mobile robot path planning in complex dynamic environments","volume":"72","author":"Hai","year":"2025","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"11","key":"10.1016\/j.robot.2026.105597_b18","doi-asserted-by":"crossref","first-page":"14420","DOI":"10.1109\/TIE.2024.3370939","article-title":"A novel feature learning-based bio-inspired neural network for real-time collision-free rescue of multirobot systems","volume":"71","author":"Li","year":"2024","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"12","key":"10.1016\/j.robot.2026.105597_b19","doi-asserted-by":"crossref","first-page":"471","DOI":"10.1007\/s40747-025-02097-z","article-title":"Multi-load AGVS deadlock prevention task scheduling method based on improved imperialist competition algorithm","volume":"11","author":"Xiao","year":"2025","journal-title":"Complex Intell. Syst."},{"issue":"3","key":"10.1016\/j.robot.2026.105597_b20","doi-asserted-by":"crossref","first-page":"661","DOI":"10.1109\/TRO.2017.2659727","article-title":"Safety barrier certificates for collisions-free multirobot systems","volume":"33","author":"Wang","year":"2017","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"10.1016\/j.robot.2026.105597_b21","doi-asserted-by":"crossref","first-page":"11110","DOI":"10.1109\/LRA.2022.3196777","article-title":"Decentralized multi-agent planning using model predictive control and time-aware safe corridors","volume":"7","author":"Toumieh","year":"2022","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"3","key":"10.1016\/j.robot.2026.105597_b22","doi-asserted-by":"crossref","first-page":"2710","DOI":"10.1109\/LRA.2024.3358623","article-title":"Mcca: A decentralized method for collision and deadlock avoidance with nonholonomic robots","volume":"9","author":"Zheng","year":"2024","journal-title":"IEEE Robot. Autom. Lett."},{"key":"10.1016\/j.robot.2026.105597_b23","series-title":"Proceedings of the IEEE International Conference on Intelligent Robots and Systems","first-page":"429","article-title":"Deadlock prediction and recovery for distributed collision avoidance with buffered voronoi cells","author":"Abdullhak","year":"2021"},{"issue":"4","key":"10.1016\/j.robot.2026.105597_b24","doi-asserted-by":"crossref","first-page":"2197","DOI":"10.1109\/LRA.2023.3248377","article-title":"Multi-robot trajectory planning with feasibility guarantee and deadlock resolution: An obstacle-dense environment","volume":"8","author":"Chen","year":"2023","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"5","key":"10.1016\/j.robot.2026.105597_b25","doi-asserted-by":"crossref","first-page":"3739","DOI":"10.1109\/TRO.2023.3279903","article-title":"DLSC: Distributed multi-agent trajectory planning in maze-like dynamic environments using linear safe corridor","volume":"39","author":"Park","year":"2023","journal-title":"IEEE Trans. Robot."},{"key":"10.1016\/j.robot.2026.105597_b26","article-title":"Nonlinear MPC for collision-free and deadlock-free navigation of multiple nonholonomic mobile robots","volume":"141","author":"Lafmejani","year":"2021","journal-title":"Robot. Auton. Syst."},{"key":"10.1016\/j.robot.2026.105597_b27","doi-asserted-by":"crossref","DOI":"10.1016\/j.robot.2025.105132","article-title":"Circulation-embedded control barrier function for safe navigation: A solution to avoid undesired equilibria and dysfunctional circulation","author":"Keyumarsi","year":"2025","journal-title":"Robot. Auton. Syst."},{"issue":"2","key":"10.1016\/j.robot.2026.105597_b28","doi-asserted-by":"crossref","first-page":"375","DOI":"10.1109\/LRA.2018.2890572","article-title":"Trajectory generation for multiagent point-to-point transitions via distributed model predictive control","volume":"4","author":"Luis","year":"2019","journal-title":"Robot. Autom. Lett."},{"key":"10.1016\/j.robot.2026.105597_b29","unstructured":"Gavin Taylor, Ryan Burmeister, Zheng Xu, Bharat Singh, Ankit Patel, Tom Goldstein, Training neural networks without gradients: A scalable admm approach, in: International Conference on Machine Learning, 2016, pp. 2722\u20132731."},{"issue":"1","key":"10.1016\/j.robot.2026.105597_b30","article-title":"Safe flight corridor constrained sequential convex programming for efficient trajectory generation of fixed-wing UAVs","volume":"38","author":"Jing","year":"2025","journal-title":"Chin. J. Aeronaut."},{"issue":"1","key":"10.1016\/j.robot.2026.105597_b31","doi-asserted-by":"crossref","first-page":"463","DOI":"10.1109\/TRO.2021.3080235","article-title":"MADER: Trajectory planner in multiagent and dynamic environments","volume":"38","author":"Tordesillas","year":"2021","journal-title":"IEEE Trans. Robot."},{"issue":"2","key":"10.1016\/j.robot.2026.105597_b32","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1109\/TSSC.1968.300136","article-title":"A formal basis for the heuristic determination of minimum cost paths","volume":"4","author":"Hart","year":"1968","journal-title":"IEEE Trans. Syst. Sci. Cybern."},{"key":"10.1016\/j.robot.2026.105597_b33","doi-asserted-by":"crossref","unstructured":"Ruben Van Parys, Goele Pipeleers, Online distributed motion planning for multi-vehicle systems, in: Proceedings of the European Control Conference, ECC, 2016, pp. 1580\u20131585.","DOI":"10.1109\/ECC.2016.7810516"},{"key":"10.1016\/j.robot.2026.105597_b34","series-title":"Interpolation and Approximation By Polynomials","first-page":"247","article-title":"Bernstein polynomials","author":"Phillips","year":"2003"},{"key":"10.1016\/j.robot.2026.105597_b35","series-title":"Proceedings of the IEEE International Conference on Intelligent Robots and Systems","first-page":"13679","article-title":"Evaluating dynamic environment difficulty for obstacle avoidance benchmarking","author":"Shi","year":"2024"},{"key":"10.1016\/j.robot.2026.105597_b36","series-title":"Proceedings of the IEEE International Conference on Intelligent Robots and Systems","first-page":"14056","article-title":"Priority-based deadlock recovery for distributed swarm obstacle avoidance in cluttered environments","author":"He","year":"2024"},{"key":"10.1016\/j.robot.2026.105597_b37","series-title":"Deadlock resolution and feasibility guarantee in MPC-based multi-robot trajectory generation","author":"Chen","year":"2022"}],"container-title":["Robotics and Autonomous Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889026002691?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889026002691?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,10,7]],"date-time":"2026-10-07T02:53:06Z","timestamp":1791341586000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0921889026002691"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,11]]},"references-count":37,"alternative-id":["S0921889026002691"],"URL":"https:\/\/doi.org\/10.1016\/j.robot.2026.105597","relation":{},"ISSN":["0921-8890"],"issn-type":[{"value":"0921-8890","type":"print"}],"subject":[],"published":{"date-parts":[[2026,11]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Priority-based environmental complexity-aware deadlock recovery for distributed swarm obstacle avoidance","name":"articletitle","label":"Article Title"},{"value":"Robotics and Autonomous Systems","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.robot.2026.105597","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"105597"}}