{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,17]],"date-time":"2025-10-17T14:32:07Z","timestamp":1760711527670,"version":"build-2065373602"},"reference-count":37,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"9","license":[{"start":{"date-parts":[[2025,9,1]],"date-time":"2025-09-01T00:00:00Z","timestamp":1756684800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,9,1]],"date-time":"2025-09-01T00:00:00Z","timestamp":1756684800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,9,1]],"date-time":"2025-09-01T00:00:00Z","timestamp":1756684800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62273249","62203415","62373268","62373273"],"award-info":[{"award-number":["62273249","62203415","62373268","62373273"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["2024M762355"],"award-info":[{"award-number":["2024M762355"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Aeronautical Science Foundation of China","award":["2024Z032048002","2024Z032048001"],"award-info":[{"award-number":["2024Z032048002","2024Z032048001"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Intell. Transport. Syst."],"published-print":{"date-parts":[[2025,9]]},"DOI":"10.1109\/tits.2025.3565896","type":"journal-article","created":{"date-parts":[[2025,5,12]],"date-time":"2025-05-12T13:45:38Z","timestamp":1747057538000},"page":"13439-13451","source":"Crossref","is-referenced-by-count":2,"title":["Sampling-Based Hierarchical Trajectory Planning for Formation Flight"],"prefix":"10.1109","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-9888-5157","authenticated-orcid":false,"given":"Qingzhao","family":"Liu","sequence":"first","affiliation":[{"name":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1004-8350","authenticated-orcid":false,"given":"Bailing","family":"Tian","sequence":"additional","affiliation":[{"name":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4512-1335","authenticated-orcid":false,"given":"Xuewei","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0993-9765","authenticated-orcid":false,"given":"Junjie","family":"Lu","sequence":"additional","affiliation":[{"name":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9062-0534","authenticated-orcid":false,"given":"Zhiyu","family":"Li","sequence":"additional","affiliation":[{"name":"School of Electrical and Information Engineering, Tianjin University, Tianjin, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"doi-asserted-by":"publisher","key":"ref1","DOI":"10.1109\/TITS.2022.3203411"},{"doi-asserted-by":"publisher","key":"ref2","DOI":"10.1109\/ICUAS54217.2022.9836137"},{"doi-asserted-by":"publisher","key":"ref3","DOI":"10.1109\/TSMC.2016.2582745"},{"doi-asserted-by":"publisher","key":"ref4","DOI":"10.1109\/TITS.2022.3177627"},{"doi-asserted-by":"publisher","key":"ref5","DOI":"10.1109\/TIV.2023.3322705"},{"doi-asserted-by":"publisher","key":"ref6","DOI":"10.1002\/rnc.1147"},{"doi-asserted-by":"publisher","key":"ref7","DOI":"10.1080\/00207721.2020.1716096"},{"doi-asserted-by":"publisher","key":"ref8","DOI":"10.1109\/ACC.2014.6858587"},{"doi-asserted-by":"publisher","key":"ref9","DOI":"10.1109\/TCYB.2015.2477107"},{"doi-asserted-by":"publisher","key":"ref10","DOI":"10.1109\/ACC.2002.1023188"},{"doi-asserted-by":"publisher","key":"ref11","DOI":"10.1016\/j.automatica.2021.109813"},{"doi-asserted-by":"publisher","key":"ref12","DOI":"10.23919\/ACC53348.2022.9867711"},{"doi-asserted-by":"publisher","key":"ref13","DOI":"10.1109\/TAC.2018.2798805"},{"doi-asserted-by":"publisher","key":"ref14","DOI":"10.1109\/LRA.2024.3396643"},{"doi-asserted-by":"publisher","key":"ref15","DOI":"10.1109\/ICRA.2019.8794349"},{"doi-asserted-by":"publisher","key":"ref16","DOI":"10.1007\/s10514-012-9279-y"},{"doi-asserted-by":"publisher","key":"ref17","DOI":"10.1109\/LRA.2018.2800119"},{"doi-asserted-by":"publisher","key":"ref18","DOI":"10.1109\/TASE.2023.3279827"},{"doi-asserted-by":"publisher","key":"ref19","DOI":"10.1109\/TMECH.2021.3056099"},{"doi-asserted-by":"publisher","key":"ref20","DOI":"10.1109\/TRO.2018.2857477"},{"doi-asserted-by":"publisher","key":"ref21","DOI":"10.1177\/0278364916632065"},{"doi-asserted-by":"publisher","key":"ref22","DOI":"10.1109\/ICRA46639.2022.9812050"},{"doi-asserted-by":"publisher","key":"ref23","DOI":"10.1109\/TRO.2023.3339989"},{"doi-asserted-by":"publisher","key":"ref24","DOI":"10.1109\/IROS.2018.8594438"},{"doi-asserted-by":"publisher","key":"ref25","DOI":"10.1109\/IROS.2015.7354037"},{"doi-asserted-by":"publisher","key":"ref26","DOI":"10.1109\/ICRA.2016.7487747"},{"doi-asserted-by":"publisher","key":"ref27","DOI":"10.1177\/0278364917719333"},{"doi-asserted-by":"publisher","key":"ref28","DOI":"10.1109\/ICRA.2019.8793765"},{"doi-asserted-by":"publisher","key":"ref29","DOI":"10.1109\/ISMAR.2011.6092378"},{"doi-asserted-by":"publisher","key":"ref30","DOI":"10.1109\/IROS.2017.8202315"},{"doi-asserted-by":"publisher","key":"ref31","DOI":"10.1109\/LRA.2019.2927938"},{"key":"ref32","article-title":"Fast iterative region inflation for computing large 2-D\/3-D convex regions of obstacle-free space","author":"Wang","year":"2024","journal-title":"arXiv:2403.02977"},{"doi-asserted-by":"publisher","key":"ref33","DOI":"10.1063\/1.2709596"},{"doi-asserted-by":"publisher","key":"ref34","DOI":"10.1109\/TRO.2017.2693377"},{"doi-asserted-by":"publisher","key":"ref35","DOI":"10.1016\/j.automatica.2012.06.040"},{"doi-asserted-by":"publisher","key":"ref36","DOI":"10.1007\/BF02216923"},{"doi-asserted-by":"publisher","key":"ref37","DOI":"10.1109\/TIE.2021.3114744"}],"container-title":["IEEE Transactions on Intelligent Transportation Systems"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/6979\/11178161\/11000365.pdf?arnumber=11000365","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,30]],"date-time":"2025-09-30T13:29:59Z","timestamp":1759238999000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11000365\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9]]},"references-count":37,"journal-issue":{"issue":"9"},"URL":"https:\/\/doi.org\/10.1109\/tits.2025.3565896","relation":{},"ISSN":["1524-9050","1558-0016"],"issn-type":[{"type":"print","value":"1524-9050"},{"type":"electronic","value":"1558-0016"}],"subject":[],"published":{"date-parts":[[2025,9]]}}}