{"id":"https://openalex.org/W2301019454","doi":"https://doi.org/10.1109/iros.2016.7759737","title":"Time-optimal coordination of mobile robots along specified paths","display_name":"Time-optimal coordination of mobile robots along specified paths","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2301019454","doi":"https://doi.org/10.1109/iros.2016.7759737","mag":"2301019454"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759737","doi":"https://doi.org/10.1109/iros.2016.7759737","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759737","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1603.04610","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008927786","display_name":"Florent Altch\u00e9","orcid":"https://orcid.org/0000-0001-6708-7903","observed_orcids":["https://orcid.org/0000-0001-6708-7903"]},"institutions":[{"id":"https://openalex.org/I4403386650","display_name":"Centre de Robotique","ror":"https://ror.org/0180r7w69","country_code":null,"type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4403386650","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Florent Altche","raw_affiliation_strings":["Cit\u00e9 Descartes, Champs-sur-Marne, France","MINES Paris Tech, Centre for robotics, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cit\u00e9 Descartes, Champs-sur-Marne, France","institution_ids":[]},{"raw_affiliation_string":"MINES Paris Tech, Centre for robotics, Paris, France","institution_ids":["https://openalex.org/I4403386650","https://openalex.org/I70768539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056892394","display_name":"Xiangjun Qian","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4403386650","display_name":"Centre de Robotique","ror":"https://ror.org/0180r7w69","country_code":null,"type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4403386650","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Xiangjun Qian","raw_affiliation_strings":["MINES Paris Tech, Centre for robotics, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MINES Paris Tech, Centre for robotics, Paris, France","institution_ids":["https://openalex.org/I4403386650","https://openalex.org/I70768539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109220063","display_name":"Arnaud de La Fortelle","orcid":"https://orcid.org/0000-0001-5570-0272","observed_orcids":["https://orcid.org/0000-0001-5570-0272"]},"institutions":[{"id":"https://openalex.org/I4403386650","display_name":"Centre de Robotique","ror":"https://ror.org/0180r7w69","country_code":null,"type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I4403386650","https://openalex.org/I70768539"]},{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Arnaud de La Fortelle","raw_affiliation_strings":["MINES Paris Tech, Centre for robotics, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MINES Paris Tech, Centre for robotics, Paris, France","institution_ids":["https://openalex.org/I4403386650","https://openalex.org/I70768539"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7623,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.93423626,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5020","last_page":"5026"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"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":0.9951000213623047,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.0032999999821186066,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.0008999999845400453,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/mobile-robots","display_name":"mobile robots","score":0.8479999899864197},{"id":"https://openalex.org/keywords/kinodynamic-constraints","display_name":"kinodynamic constraints","score":0.8730000257492065},{"id":"https://openalex.org/keywords/path-following","display_name":"path following","score":0.6100000143051147},{"id":"https://openalex.org/keywords/time-discretization","display_name":"time discretization","score":0.9819999933242798},{"id":"https://openalex.org/keywords/mixed-integer-linear-programming","display_name":"mixed-integer linear programming","score":0.9990000128746033},{"id":"https://openalex.org/keywords/multi-robot-coordination","display_name":"multi-robot coordination","score":0.6800000071525574}],"concepts":[{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.8602732419967651},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.7209962010383606},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6843472719192505},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.6346887946128845},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6322380304336548},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.5950725674629211},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5378398895263672},{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.4617268145084381},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45223894715309143},{"id":"https://openalex.org/C138268822","wikidata":"https://www.wikidata.org/wiki/Q1051925","display_name":"Resolution (logic)","level":2,"score":0.4121777415275574},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.332286536693573},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23141977190971375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14262375235557556},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2016.7759737","doi":"https://doi.org/10.1109/iros.2016.7759737","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759737","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1603.04610","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1603.04610","pdf_url":"https://arxiv.org/pdf/1603.04610","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:HAL:hal-01360141v1","doi":null,"is_oa":true,"landing_page_url":"https://minesparis-psl.hal.science/hal-01360141","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2016, Daejeon, South Korea","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.48550/arxiv.1603.04610","doi":"https://doi.org/10.48550/arxiv.1603.04610","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1603.04610","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1603.04610","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1603.04610","pdf_url":"https://arxiv.org/pdf/1603.04610","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W3333725","https://openalex.org/W101508493","https://openalex.org/W112464607","https://openalex.org/W1843966007","https://openalex.org/W1869778509","https://openalex.org/W1983359951","https://openalex.org/W1985398892","https://openalex.org/W2006455928","https://openalex.org/W2009923109","https://openalex.org/W2045403423","https://openalex.org/W2063738946","https://openalex.org/W2087366641","https://openalex.org/W2109932483","https://openalex.org/W2138308177","https://openalex.org/W2138361531","https://openalex.org/W2149811681","https://openalex.org/W2150500908","https://openalex.org/W2276242108","https://openalex.org/W6604613649","https://openalex.org/W6639086533"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2047683846","https://openalex.org/W2044902158","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"address":[4],"the":[5,61,72,85],"problem":[6,38],"of":[7,10,75,87],"time-optimal":[8],"coordination":[9],"mobile":[11],"robots":[12],"under":[13],"kinodynamic":[14],"constraints":[15],"along":[16],"specified":[17],"paths.":[18],"We":[19],"propose":[20],"a":[21,31,47,52],"novel":[22],"approach":[23],"based":[24],"on":[25],"time":[26],"discretization":[27,73],"that":[28],"leads":[29],"to":[30,71,83],"mixed-integer":[32],"linear":[33,68],"programming":[34],"(MILP)":[35],"formulation.":[36],"This":[37],"can":[39],"be":[40],"solved":[41],"using":[42],"general-purpose":[43],"MILP":[44],"solvers":[45],"in":[46,51,60],"reasonable":[48],"time,":[49],"resulting":[50],"resolution-optimal":[53],"solution.":[54],"Moreover,":[55],"unlike":[56],"previous":[57],"work":[58],"found":[59],"literature,":[62],"our":[63,88],"formulation":[64],"allows":[65],"an":[66],"exact":[67],"modeling":[69],"(up":[70],"resolution)":[74],"second-order":[76],"dynamic":[77],"constraints.":[78],"Extensive":[79],"simulations":[80],"are":[81],"performed":[82],"demonstrate":[84],"effectiveness":[86],"approach.":[89]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4}],"updated_date":"2026-10-14T16:39:01.820549","created_date":"2020-11-23T00:00:00"}
