{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T01:04:10Z","timestamp":1773623050504,"version":"3.50.1"},"publisher-location":"New York, NY, USA","reference-count":21,"publisher":"ACM","license":[{"start":{"date-parts":[[2021,6,30]],"date-time":"2021-06-30T00:00:00Z","timestamp":1625011200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"Indian Institute of Technology Gandhinagar"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2021,6,30]]},"DOI":"10.1145\/3478586.3480645","type":"proceedings-article","created":{"date-parts":[[2021,12,29]],"date-time":"2021-12-29T05:27:31Z","timestamp":1640755651000},"page":"1-6","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["FF-RRT: A Sampling Based Path Planner for Flexible Multi-Robot Formations"],"prefix":"10.1145","author":[{"given":"Suraj S","family":"Borate","sequence":"first","affiliation":[{"name":"Smart Lab, Indian Institute of Technology Gandhinagar, India"}]},{"given":"Madhu","family":"Vadali","sequence":"additional","affiliation":[{"name":"Indian Institute of Technology Gandhinagar, India"}]}],"member":"320","published-online":{"date-parts":[[2021,12,28]]},"reference":[{"key":"e_1_3_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/CIMSim.2011.38"},{"key":"e_1_3_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041697"},{"key":"e_1_3_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/MFI.2016.7849525"},{"key":"e_1_3_2_1_4_1","volume-title":"Principles of robot motion: theory, algorithms, and implementation","author":"Choset M","unstructured":"Howie\u00a0 M Choset , Kevin\u00a0 M Lynch , Seth Hutchinson , George Kantor , Wolfram Burgard , Lydia Kavraki , Sebastian Thrun , and Ronald\u00a0 C Arkin . 2005. Principles of robot motion: theory, algorithms, and implementation . MIT press . Howie\u00a0M Choset, Kevin\u00a0M Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia Kavraki, Sebastian Thrun, and Ronald\u00a0C Arkin. 2005. Principles of robot motion: theory, algorithms, and implementation. MIT press."},{"key":"e_1_3_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2005.09.002"},{"key":"e_1_3_2_1_6_1","volume-title":"Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems. 87\u201394","author":"de Wilde Boris","year":"2013","unstructured":"Boris de Wilde , Adriaan\u00a0 W ter Mors , and Cees Witteveen . 2013 . Push and rotate: cooperative multi-agent path planning . In Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems. 87\u201394 . Boris de Wilde, Adriaan\u00a0W ter Mors, and Cees Witteveen. 2013. Push and rotate: cooperative multi-agent path planning. In Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems. 87\u201394."},{"key":"e_1_3_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9275-2"},{"key":"e_1_3_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2010.5717432"},{"key":"e_1_3_2_1_9_1","volume-title":"Sampling-based algorithms for optimal motion planning. The international journal of robotics research 30, 7","author":"Karaman Sertac","year":"2011","unstructured":"Sertac Karaman and Emilio Frazzoli . 2011. Sampling-based algorithms for optimal motion planning. The international journal of robotics research 30, 7 ( 2011 ), 846\u2013894. Sertac Karaman and Emilio Frazzoli. 2011. Sampling-based algorithms for optimal motion planning. The international journal of robotics research 30, 7 (2011), 846\u2013894."},{"key":"e_1_3_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844730"},{"key":"e_1_3_2_1_11_1","volume-title":"Multi-agent Generalized Probabilistic RoadMaps: MAGPRM. In 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems. 3747\u20133753","author":"Kumar S.","year":"2012","unstructured":"S. Kumar and S. Chakravorty . 2012 . Multi-agent Generalized Probabilistic RoadMaps: MAGPRM. In 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems. 3747\u20133753 . https:\/\/doi.org\/10.1109\/IROS. 2012 .6385678 10.1109\/IROS.2012.6385678 S. Kumar and S. Chakravorty. 2012. Multi-agent Generalized Probabilistic RoadMaps: MAGPRM. In 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems. 3747\u20133753. https:\/\/doi.org\/10.1109\/IROS.2012.6385678"},{"key":"e_1_3_2_1_12_1","unstructured":"Steven\u00a0M LaValle 1998. Rapidly-exploring random trees: A new tool for path planning. (1998).  Steven\u00a0M LaValle 1998. Rapidly-exploring random trees: A new tool for path planning. (1998)."},{"key":"e_1_3_2_1_13_1","volume-title":"Juan De Dios\u00a0Y\u00e1nez Avila, and Natalia D\u00edaz-Rodr\u00edguez","author":"Lomonaco Vincenzo","year":"2018","unstructured":"Vincenzo Lomonaco , Angelo Trotta , Marta Ziosi , Juan De Dios\u00a0Y\u00e1nez Avila, and Natalia D\u00edaz-Rodr\u00edguez . 2018 . Intelligent drone swarm for search and rescue operations at sea. arXiv preprint arXiv:1811.05291(2018). Vincenzo Lomonaco, Angelo Trotta, Marta Ziosi, Juan De Dios\u00a0Y\u00e1nez Avila, and Natalia D\u00edaz-Rodr\u00edguez. 2018. Intelligent drone swarm for search and rescue operations at sea. arXiv preprint arXiv:1811.05291(2018)."},{"key":"e_1_3_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0169817"},{"key":"e_1_3_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-47605-6_21"},{"key":"e_1_3_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2008.27"},{"key":"e_1_3_2_1_17_1","volume-title":"Path Planning for Dense Drone Formation Based on Modified Artificial Potential Fields. In 2020 39th Chinese Control Conference (CCC). 4658\u20134664","author":"Sun H.","year":"2020","unstructured":"H. Sun , J. Qi , C. Wu , and M. Wang . 2020 . Path Planning for Dense Drone Formation Based on Modified Artificial Potential Fields. In 2020 39th Chinese Control Conference (CCC). 4658\u20134664 . https:\/\/doi.org\/10.23919\/CCC50068. 2020 .9189345 10.23919\/CCC50068.2020.9189345 H. Sun, J. Qi, C. Wu, and M. Wang. 2020. Path Planning for Dense Drone Formation Based on Modified Artificial Potential Fields. In 2020 39th Chinese Control Conference (CCC). 4658\u20134664. https:\/\/doi.org\/10.23919\/CCC50068.2020.9189345"},{"key":"e_1_3_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2019.8814874"},{"key":"e_1_3_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.5555\/2208436.2208439"},{"key":"e_1_3_2_1_20_1","volume-title":"International Conference on Robotics in Alpe-Adria Danube Region. Springer, 302\u2013309","author":"Xidias Elias","year":"2016","unstructured":"Elias Xidias , Claudio Paliotta , Nikos Aspragathos , and Kristin Pettersen . 2016 . Path planning for formation control of autonomous vehicles . In International Conference on Robotics in Alpe-Adria Danube Region. Springer, 302\u2013309 . Elias Xidias, Claudio Paliotta, Nikos Aspragathos, and Kristin Pettersen. 2016. Path planning for formation control of autonomous vehicles. In International Conference on Robotics in Alpe-Adria Danube Region. Springer, 302\u2013309."},{"key":"e_1_3_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399064"}],"event":{"name":"AIR2021: Advances in Robotics - 5th International Conference of The Robotics Society","location":"Kanpur India","acronym":"AIR2021"},"container-title":["Advances in Robotics - 5th International Conference of The Robotics Society"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3478586.3480645","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3478586.3480645","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T20:11:41Z","timestamp":1750191101000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3478586.3480645"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,6,30]]},"references-count":21,"alternative-id":["10.1145\/3478586.3480645","10.1145\/3478586"],"URL":"https:\/\/doi.org\/10.1145\/3478586.3480645","relation":{},"subject":[],"published":{"date-parts":[[2021,6,30]]},"assertion":[{"value":"2021-12-28","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}