{"id":"https://openalex.org/W1969721665","doi":"https://doi.org/10.1007/s10846-009-9365-3","title":"On the Generation of Trajectories for Multiple UAVs in Environments with Obstacles","display_name":"On the Generation of Trajectories for Multiple UAVs in Environments with Obstacles","publication_year":2009,"publication_date":"2009-08-27","ids":{"openalex":"https://openalex.org/W1969721665","doi":"https://doi.org/10.1007/s10846-009-9365-3","mag":"1969721665"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-009-9365-3","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-009-9365-3","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent and Robotic Systems","raw_type":"journal-article"},"type":"article","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/A5083656237","display_name":"Armando Alves Neto","orcid":"https://orcid.org/0000-0002-4940-0377"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":true,"raw_author_name":"Armando Alves Neto","raw_affiliation_strings":["Computer Vision and Robotic Laboratory (VeRlab), Computer Science Department, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","Computer Vision and Robotic Laboratory (VeRlab), Computer Science Department, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Robotic Laboratory (VeRlab), Computer Science Department, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Computer Vision and Robotic Laboratory (VeRlab), Computer Science Department, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil#TAB#","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074933369","display_name":"Douglas G. Macharet","orcid":"https://orcid.org/0000-0002-1781-7186"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Douglas G. Macharet","raw_affiliation_strings":["Computer Vision and Robotic Laboratory (VeRlab), Computer Science Department, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","Computer Vision and Robotic Laboratory (VeRlab), Computer Science Department, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Robotic Laboratory (VeRlab), Computer Science Department, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Computer Vision and Robotic Laboratory (VeRlab), Computer Science Department, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil#TAB#","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015111328","display_name":"M\u00e1rio F. M. Campos","orcid":"https://orcid.org/0000-0002-8336-9190"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Mario F. M. Campos","raw_affiliation_strings":["Computer Vision and Robotic Laboratory (VeRlab), Computer Science Department, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","Computer Vision and Robotic Laboratory (VeRlab), Computer Science Department, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Robotic Laboratory (VeRlab), Computer Science Department, Universidade Federal de Minas Gerais, Belo Horizonte, Minas Gerais, Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Computer Vision and Robotic Laboratory (VeRlab), Computer Science Department, Universidade Federal de Minas Gerais, Belo Horizonte, Brazil#TAB#","institution_ids":["https://openalex.org/I110200422"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5083656237"],"corresponding_institution_ids":["https://openalex.org/I110200422"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":null,"fwci":3.54,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.92422385,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"57","issue":"1-4","first_page":"123","last_page":"141"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T11574","display_name":"Artificial Intelligence in Games","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/smoothness","display_name":"Smoothness","score":0.6349211931228638},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5695464015007019},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5565189123153687},{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.5441809892654419},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5308027863502502},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.528360903263092},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5174006223678589},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5104609727859497},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4407842457294464},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.436451256275177},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4153471291065216},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.378830224275589},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2731330394744873},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2516111135482788},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23502486944198608},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.13001075387001038}],"concepts":[{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.6349211931228638},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5695464015007019},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5565189123153687},{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.5441809892654419},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5308027863502502},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.528360903263092},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5174006223678589},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5104609727859497},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4407842457294464},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.436451256275177},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4153471291065216},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.378830224275589},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2731330394744873},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2516111135482788},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23502486944198608},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.13001075387001038},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/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/s10846-009-9365-3","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-009-9365-3","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent and Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W186368422","https://openalex.org/W1424654272","https://openalex.org/W1484387568","https://openalex.org/W1501018688","https://openalex.org/W1555623254","https://openalex.org/W1926863402","https://openalex.org/W1990195556","https://openalex.org/W1992620155","https://openalex.org/W2052315621","https://openalex.org/W2098508993","https://openalex.org/W2107501891","https://openalex.org/W2118425327","https://openalex.org/W2129215875","https://openalex.org/W2134638269","https://openalex.org/W2139199006","https://openalex.org/W2151609251","https://openalex.org/W2162267564","https://openalex.org/W2167054949","https://openalex.org/W2313274380","https://openalex.org/W2317355406","https://openalex.org/W2317713946","https://openalex.org/W2334897604","https://openalex.org/W2611243847","https://openalex.org/W2913692918","https://openalex.org/W3140158754","https://openalex.org/W3144630973","https://openalex.org/W4242804520","https://openalex.org/W6811224608"],"related_works":["https://openalex.org/W2056060483","https://openalex.org/W2055233249","https://openalex.org/W2943251607","https://openalex.org/W2379128895","https://openalex.org/W2393022482","https://openalex.org/W192619126","https://openalex.org/W2157744697","https://openalex.org/W2109445039","https://openalex.org/W1654807447","https://openalex.org/W2359993292"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":4}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
