{"id":"https://openalex.org/W4383720954","doi":"https://doi.org/10.1007/s10846-023-01878-3","title":"Coordination-free Multi-robot Path Planning for Congestion Reduction Using Topological Reasoning","display_name":"Coordination-free Multi-robot Path Planning for Congestion Reduction Using Topological Reasoning","publication_year":2023,"publication_date":"2023-07-01","ids":{"openalex":"https://openalex.org/W4383720954","doi":"https://doi.org/10.1007/s10846-023-01878-3"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-023-01878-3","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-023-01878-3","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-01878-3.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-01878-3.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100424261","display_name":"Xiaolong Wang","orcid":"https://orcid.org/0000-0002-5061-2529"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xiaolong Wang","raw_affiliation_strings":["Department of Mechanical Engineering and Mechanic, Lehigh University, 19 Memorial Drive West, Bethlehem, 18015, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Mechanic, Lehigh University, 19 Memorial Drive West, Bethlehem, 18015, PA, USA","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033598257","display_name":"Alp Sahin","orcid":"https://orcid.org/0000-0002-1111-5386"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alp Sahin","raw_affiliation_strings":["Department of Mechanical Engineering and Mechanic, Lehigh University, 19 Memorial Drive West, Bethlehem, 18015, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Mechanic, Lehigh University, 19 Memorial Drive West, Bethlehem, 18015, PA, USA","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101463763","display_name":"Subhrajit Bhattacharya","orcid":"https://orcid.org/0000-0001-9139-054X"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Subhrajit Bhattacharya","raw_affiliation_strings":["Department of Mechanical Engineering and Mechanic, Lehigh University, 19 Memorial Drive West, Bethlehem, 18015, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Mechanic, Lehigh University, 19 Memorial Drive West, Bethlehem, 18015, PA, USA","institution_ids":["https://openalex.org/I186143895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100424261"],"corresponding_institution_ids":["https://openalex.org/I186143895"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":0.7222,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.72112669,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"108","issue":"3","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":0.9994999766349792,"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":0.9994999766349792,"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":0.9955999851226807,"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/T12288","display_name":"Optimization and Search Problems","score":0.9937000274658203,"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/robot","display_name":"Robot","score":0.7772176265716553},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6451087594032288},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5829344391822815},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5676819682121277},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5594160556793213},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.5522046089172363},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5004973411560059},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49309203028678894},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4824824631214142},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3802855312824249},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3479241132736206},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32456421852111816},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.25370514392852783},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21885272860527039},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15215149521827698},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1326245367527008},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07754281163215637}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7772176265716553},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6451087594032288},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5829344391822815},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5676819682121277},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5594160556793213},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.5522046089172363},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5004973411560059},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49309203028678894},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4824824631214142},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3802855312824249},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3479241132736206},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32456421852111816},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.25370514392852783},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21885272860527039},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15215149521827698},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1326245367527008},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07754281163215637},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-023-01878-3","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-023-01878-3","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-01878-3.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10846-023-01878-3","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-023-01878-3","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-023-01878-3.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7200000286102295,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G3916623983","display_name":null,"funder_award_id":"CCF-2144246","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5027433353","display_name":"CAREER: Topological Abstraction for Robot Path Planning","funder_award_id":"2144246","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4383720954.pdf"},"referenced_works_count":42,"referenced_works":["https://openalex.org/W1521785144","https://openalex.org/W1935926926","https://openalex.org/W1989407213","https://openalex.org/W1992787855","https://openalex.org/W1996785616","https://openalex.org/W2017325967","https://openalex.org/W2022149436","https://openalex.org/W2028597523","https://openalex.org/W2037034267","https://openalex.org/W2046213647","https://openalex.org/W2047901468","https://openalex.org/W2101821104","https://openalex.org/W2102621601","https://openalex.org/W2104314621","https://openalex.org/W2113817457","https://openalex.org/W2124015815","https://openalex.org/W2142943472","https://openalex.org/W2150245779","https://openalex.org/W2151498646","https://openalex.org/W2160179157","https://openalex.org/W2161367212","https://openalex.org/W2167918262","https://openalex.org/W2226453522","https://openalex.org/W2227909145","https://openalex.org/W2772821814","https://openalex.org/W2790743156","https://openalex.org/W2801570062","https://openalex.org/W2809102580","https://openalex.org/W2903307938","https://openalex.org/W2914296650","https://openalex.org/W2963700156","https://openalex.org/W2965865771","https://openalex.org/W2998967952","https://openalex.org/W3006503952","https://openalex.org/W3037357983","https://openalex.org/W3040817486","https://openalex.org/W3090968476","https://openalex.org/W3178520728","https://openalex.org/W3195439150","https://openalex.org/W4225406314","https://openalex.org/W4250589301","https://openalex.org/W4310113038"],"related_works":["https://openalex.org/W1764572413","https://openalex.org/W2359600231","https://openalex.org/W3216757130","https://openalex.org/W2380019117","https://openalex.org/W2126380264","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3154539612"],"abstract_inverted_index":{"Abstract":[0],"We":[1,114],"consider":[2],"the":[3,15,22,81,87,104,112,116,131,137,159],"problem":[4,76],"of":[5,17,38,118,134],"multi-robot":[6],"path":[7,173],"planning":[8],"in":[9,21,86,93,111,122],"a":[10,64,123,144,168,177],"complex,":[11],"cluttered":[12],"environment":[13,88],"with":[14,58,154],"aim":[16],"reducing":[18],"overall":[19,105],"congestion":[20,102],"environment,":[23],"while":[24,157],"avoiding":[25],"any":[26],"inter-robot":[27],"communication":[28,39],"or":[29,40,56,61],"coordination.":[30],"Such":[31],"limitations":[32],"may":[33,49],"exist":[34],"due":[35,41],"to":[36,42,52,63,73,78,100,136,151],"lack":[37],"privacy":[43],"restrictions":[44],"(for":[45],"example,":[46],"autonomous":[47],"vehicles":[48,60],"not":[50],"want":[51],"share":[53],"their":[54],"locations":[55],"intents":[57],"other":[59],"even":[62],"central":[65],"server).":[66],"The":[67],"key":[68],"insight":[69],"that":[70],"allows":[71],"us":[72],"solve":[74],"this":[75],"is":[77],"stochastically":[79],"distribute":[80],"robots":[82,110,150],"across":[83],"different":[84,94],"routes":[85],"by":[89],"assigning":[90],"them":[91],"paths":[92,121,135],"topologically":[95,119],"distinct":[96,120],"classes,":[97],"so":[98],"as":[99],"lower":[101],"and":[103,127,143,164],"travel":[106],"time":[107],"for":[108,130],"all":[109],"environment.":[113],"outline":[115],"computation":[117],"spatio-temporal":[124],"configuration":[125],"space":[126],"propose":[128],"methods":[129],"stochastic":[132],"assignment":[133],"robots.":[138],"A":[139],"fast":[140],"replanning":[141],"algorithm":[142],"potential":[145],"field":[146],"based":[147],"controller":[148],"allow":[149],"avoid":[152],"collision":[153],"nearby":[155],"agents":[156],"following":[158,174],"assigned":[160],"path.":[161],"Our":[162],"simulation":[163],"experiment":[165],"results":[166],"show":[167],"significant":[169],"advantage":[170],"over":[171],"shortest":[172],"under":[175],"such":[176],"coordination-free":[178],"setup.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}