{"id":"https://openalex.org/W3333725","doi":"https://doi.org/10.48550/arxiv.1306.0785","title":"Robust multirobot coordination using priority encoded homotopic constraints","display_name":"Robust multirobot coordination using priority encoded homotopic constraints","publication_year":2013,"publication_date":"2013-06-04","ids":{"openalex":"https://openalex.org/W3333725","doi":"https://doi.org/10.48550/arxiv.1306.0785","mag":"3333725"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:1306.0785","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1306.0785","pdf_url":"https://arxiv.org/pdf/1306.0785","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"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1306.0785","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086538432","display_name":"Jean Gr\u00e9goire","orcid":null,"observed_orcids":[]},"institutions":[{"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":"Gregoire, Jean","raw_affiliation_strings":["MINES ParisTech , Center for Robotics 60 , boulevard Saint Michel 75272 PARIS Cedex 06 , FRANCE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MINES ParisTech , Center for Robotics 60 , boulevard Saint Michel 75272 PARIS Cedex 06 , FRANCE","institution_ids":["https://openalex.org/I70768539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037120106","display_name":"Silv\u00e8re Bonnabel","orcid":"https://orcid.org/0000-0002-6001-7766","observed_orcids":["https://orcid.org/0000-0002-6001-7766"]},"institutions":[{"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":"Bonnabel, Silv\u00e8re","raw_affiliation_strings":["MINES ParisTech , Center for Robotics 60 , boulevard Saint Michel 75272 PARIS Cedex 06 , FRANCE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MINES ParisTech , Center for Robotics 60 , boulevard Saint Michel 75272 PARIS Cedex 06 , FRANCE","institution_ids":["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":[],"countries":[],"is_corresponding":false,"raw_author_name":"de La Fortelle, Arnaud","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"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":0.9980000257492065,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.0006000000284984708,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.00039999998989515007,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/multi-robot-coordination","display_name":"multi-robot coordination","score":0.9990000128746033},{"id":"https://openalex.org/keywords/homotopy-classes","display_name":"homotopy classes","score":0.9200000166893005},{"id":"https://openalex.org/keywords/kinodynamic-constraints","display_name":"kinodynamic constraints","score":0.6970000267028809},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"collision avoidance","score":0.7459999918937683},{"id":"https://openalex.org/keywords/robust-control","display_name":"robust control","score":0.46000000834465027}],"concepts":[{"id":"https://openalex.org/C5961521","wikidata":"https://www.wikidata.org/wiki/Q746083","display_name":"Homotopy","level":2,"score":0.6802375316619873},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6415883898735046},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5322263836860657},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.49984216690063477},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4969315826892853},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.47166454792022705},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4637013375759125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.454177588224411},{"id":"https://openalex.org/C2779913896","wikidata":"https://www.wikidata.org/wiki/Q7063001","display_name":"Notice","level":2,"score":0.4439810812473297},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.42816030979156494},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35368257761001587},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3519335389137268},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29572921991348267},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.258737176656723},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.23245373368263245},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.22986847162246704},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15196660161018372},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:arXiv.org:1306.0785","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1306.0785","pdf_url":"https://arxiv.org/pdf/1306.0785","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":"mag:3333725","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1306.0785.pdf","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1306.0785","doi":"https://doi.org/10.48550/arxiv.1306.0785","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1306.0785","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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1306.0785","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1306.0785","pdf_url":"https://arxiv.org/pdf/1306.0785","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":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, justice, and strong institutions","score":0.8199999928474426}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W112464607","https://openalex.org/W1481457347","https://openalex.org/W1486957317","https://openalex.org/W1964703036","https://openalex.org/W1993999483","https://openalex.org/W2097856935","https://openalex.org/W2098803517","https://openalex.org/W2103929204","https://openalex.org/W2115537392","https://openalex.org/W2137514195","https://openalex.org/W2152358681","https://openalex.org/W2611243847","https://openalex.org/W4301723219"],"related_works":["https://openalex.org/W2293480436","https://openalex.org/W2772403059","https://openalex.org/W2738157923","https://openalex.org/W3003852458","https://openalex.org/W177118787","https://openalex.org/W2258235473","https://openalex.org/W2964489245","https://openalex.org/W569873154","https://openalex.org/W2964301018","https://openalex.org/W2611836105","https://openalex.org/W2338671965","https://openalex.org/W2466013727","https://openalex.org/W1914151578","https://openalex.org/W2952355470","https://openalex.org/W2884284953","https://openalex.org/W1479990946","https://openalex.org/W3133726103","https://openalex.org/W2906932812","https://openalex.org/W2203175939","https://openalex.org/W3099900209"],"abstract_inverted_index":{"We":[0],"study":[1],"the":[2,19,36,44,55,70,76,105,120,140],"problem":[3],"of":[4,22,38,83,107],"coordinating":[5],"multiple":[6],"robots":[7,39],"along":[8],"fixed":[9],"geometric":[10,46],"paths.":[11],"Our":[12],"contribution":[13],"is":[14],"threefold.":[15],"First":[16],"we":[17,49,87],"formalize":[18],"intuitive":[20],"concept":[21],"priorities":[23],"as":[24,111],"a":[25,30,89,112],"binary":[26],"relation":[27],"induced":[28],"by":[29],"feasible":[31],"coordination":[32,56,84],"solution,":[33],"without":[34,116,133],"excluding":[35],"case":[37],"following":[40],"each":[41,62],"other":[42,63],"on":[43],"same":[45],"path.":[47],"Then":[48],"prove":[50],"that":[51,74],"two":[52],"paths":[53],"in":[54,104],"space":[57],"are":[58],"continuously":[59],"deformable":[60],"into":[61,97],"if":[64,67],"and":[65],"only":[66],"they":[68],"induce":[69],"\\emph{same":[71],"priority":[72,77],"graph},":[73],"is,":[75],"graph":[78],"uniquely":[79],"encodes":[80],"homotopy":[81,98,123],"classes":[82,99,124],"solutions.":[85],"Finally,":[86],"give":[88],"simple":[90],"control":[91],"law":[92],"allowing":[93],"to":[94,126,138],"safely":[95],"navigate":[96],"\\emph{under":[100],"kinodynamic":[101],"constraints}":[102],"even":[103],"presence":[106],"unexpected":[108],"events,":[109],"such":[110],"sudden":[113],"robot":[114],"deceleration":[115],"notice.":[117],"It":[118],"appears":[119],"freedom":[121],"within":[122],"allows":[125],"much":[127],"deviate":[128],"from":[129],"any":[130],"pre-planned":[131],"trajectory":[132],"ever":[134],"colliding":[135],"nor":[136],"having":[137],"re-plan":[139],"assigned":[141],"priorities.":[142]},"counts_by_year":[{"year":2016,"cited_by_count":2}],"updated_date":"2026-09-30T09:27:27.532063","created_date":"2016-06-24T00:00:00"}
