{"id":"https://openalex.org/W2265685702","doi":"https://doi.org/10.1007/978-3-642-37387-9_8","title":"A 3D Path Planning Approach Extended by Bifurcation Theory for Formation Flights","display_name":"A 3D Path Planning Approach Extended by Bifurcation Theory for Formation Flights","publication_year":2013,"publication_date":"2013-01-01","ids":{"openalex":"https://openalex.org/W2265685702","doi":"https://doi.org/10.1007/978-3-642-37387-9_8","mag":"2265685702"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-642-37387-9_8","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-642-37387-9_8","pdf_url":null,"source":{"id":"https://openalex.org/S2764461748","display_name":"Studies in computational intelligence","issn_l":"1860-949X","issn":["1860-949X","1860-9503"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Studies in Computational Intelligence","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051852119","display_name":"Christoph Rasche","orcid":"https://orcid.org/0000-0001-9843-6889"},"institutions":[{"id":"https://openalex.org/I206945453","display_name":"Paderborn University","ror":"https://ror.org/058kzsd48","country_code":"DE","type":"education","lineage":["https://openalex.org/I206945453"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Christoph Rasche","raw_affiliation_strings":["Electrical Engineering and Mathematics, Department of Computer Science, C-LAB, University of Paderborn, Paderborn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Mathematics, Department of Computer Science, C-LAB, University of Paderborn, Paderborn, Germany","institution_ids":["https://openalex.org/I206945453"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103284605","display_name":"Claudius Stern","orcid":"https://orcid.org/0000-0002-7187-8991"},"institutions":[{"id":"https://openalex.org/I206945453","display_name":"Paderborn University","ror":"https://ror.org/058kzsd48","country_code":"DE","type":"education","lineage":["https://openalex.org/I206945453"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Claudius Stern","raw_affiliation_strings":["Electrical Engineering and Mathematics, Department of Computer Science, C-LAB, University of Paderborn, Paderborn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Mathematics, Department of Computer Science, C-LAB, University of Paderborn, Paderborn, Germany","institution_ids":["https://openalex.org/I206945453"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061942322","display_name":"Lisa Kleinjohann","orcid":null},"institutions":[{"id":"https://openalex.org/I206945453","display_name":"Paderborn University","ror":"https://ror.org/058kzsd48","country_code":"DE","type":"education","lineage":["https://openalex.org/I206945453"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lisa Kleinjohann","raw_affiliation_strings":["Electrical Engineering and Mathematics, Department of Computer Science, C-LAB, University of Paderborn, Paderborn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Mathematics, Department of Computer Science, C-LAB, University of Paderborn, Paderborn, Germany","institution_ids":["https://openalex.org/I206945453"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026131063","display_name":"Bernd Kleinjohann","orcid":null},"institutions":[{"id":"https://openalex.org/I206945453","display_name":"Paderborn University","ror":"https://ror.org/058kzsd48","country_code":"DE","type":"education","lineage":["https://openalex.org/I206945453"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bernd Kleinjohann","raw_affiliation_strings":["Electrical Engineering and Mathematics, Department of Computer Science, C-LAB, University of Paderborn, Paderborn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Mathematics, Department of Computer Science, C-LAB, University of Paderborn, Paderborn, Germany","institution_ids":["https://openalex.org/I206945453"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5051852119"],"corresponding_institution_ids":["https://openalex.org/I206945453"],"apc_list":null,"apc_paid":null,"fwci":4.2622,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.94220532,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"103","last_page":"113"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5838680267333984},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5811731219291687},{"id":"https://openalex.org/keywords/bifurcation","display_name":"Bifurcation","score":0.5126937627792358},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5113665461540222},{"id":"https://openalex.org/keywords/potential-field","display_name":"Potential field","score":0.48338451981544495},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.46800699830055237},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.44267648458480835},{"id":"https://openalex.org/keywords/order","display_name":"Order (exchange)","score":0.4103517234325409},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.39038074016571045},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3209642767906189},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3053780198097229},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26867130398750305},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16119101643562317},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.08205923438072205},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.0731029212474823}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5838680267333984},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5811731219291687},{"id":"https://openalex.org/C2781349735","wikidata":"https://www.wikidata.org/wiki/Q4904824","display_name":"Bifurcation","level":3,"score":0.5126937627792358},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5113665461540222},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.48338451981544495},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.46800699830055237},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.44267648458480835},{"id":"https://openalex.org/C182306322","wikidata":"https://www.wikidata.org/wiki/Q1779371","display_name":"Order (exchange)","level":2,"score":0.4103517234325409},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39038074016571045},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3209642767906189},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3053780198097229},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26867130398750305},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16119101643562317},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.08205923438072205},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0731029212474823},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-642-37387-9_8","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-642-37387-9_8","pdf_url":null,"source":{"id":"https://openalex.org/S2764461748","display_name":"Studies in computational intelligence","issn_l":"1860-949X","issn":["1860-949X","1860-9503"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Studies in Computational Intelligence","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1504650852","https://openalex.org/W1990599200","https://openalex.org/W2004831165","https://openalex.org/W2016910787","https://openalex.org/W2066687901","https://openalex.org/W2073660355","https://openalex.org/W2089069623","https://openalex.org/W2100367669","https://openalex.org/W2106509651","https://openalex.org/W2153612202"],"related_works":["https://openalex.org/W1965569281","https://openalex.org/W2062919732","https://openalex.org/W2573269332","https://openalex.org/W2546046681","https://openalex.org/W2893406334","https://openalex.org/W4388726836","https://openalex.org/W4324119413","https://openalex.org/W4319978806","https://openalex.org/W4282942842","https://openalex.org/W2893030767"],"abstract_inverted_index":null,"counts_by_year":[{"year":2014,"cited_by_count":3}],"updated_date":"2026-08-04T08:18:43.703281","created_date":"2025-10-10T00:00:00"}