{"id":"https://openalex.org/W4391511603","doi":"https://doi.org/10.1007/s10846-024-02060-z","title":"Optimal Transport and Model Predictive Control-based Simultaneous Task Assignment and Trajectory Planning for Unmanned System Swarm","display_name":"Optimal Transport and Model Predictive Control-based Simultaneous Task Assignment and Trajectory Planning for Unmanned System Swarm","publication_year":2024,"publication_date":"2024-02-03","ids":{"openalex":"https://openalex.org/W4391511603","doi":"https://doi.org/10.1007/s10846-024-02060-z"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-024-02060-z","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1007/s10846-024-02060-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02060-z.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/s10846-024-02060-z.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006819681","display_name":"Xiwei Wu","orcid":"https://orcid.org/0000-0002-3638-4195"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiwei Wu","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi\u2019an, 710072, China","School of Automation, Northwestern Polytechnical University, Xi'an, 710072, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi\u2019an, 710072, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, 710072, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005847333","display_name":"Bing Xiao","orcid":"https://orcid.org/0000-0002-6983-7349"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bing Xiao","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi\u2019an, 710072, China","School of Automation, Northwestern Polytechnical University, Xi'an, 710072, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi\u2019an, 710072, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, 710072, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102709321","display_name":"Lu Cao","orcid":"https://orcid.org/0000-0001-5893-5085"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu Cao","raw_affiliation_strings":["National Innovation Institute of Defense Technology, Chinese Academy of Military Science, Beijing, 100071, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Innovation Institute of Defense Technology, Chinese Academy of Military Science, Beijing, 100071, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101795030","display_name":"Haibin Huang","orcid":"https://orcid.org/0000-0001-9963-5089"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibin Huang","raw_affiliation_strings":["School of Information Science and Engineering, Harbin Institute of Technology, Weihai, 264209, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Harbin Institute of Technology, Weihai, 264209, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5005847333"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":{"value":2990,"currency":"USD","value_usd":2990},"fwci":0.4929,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.56921584,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"110","issue":"1","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":0.9980999827384949,"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":0.9980999827384949,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T12288","display_name":"Optimization and Search Problems","score":0.9801999926567078,"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/model-predictive-control","display_name":"Model predictive control","score":0.7516987323760986},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7185648679733276},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6714017391204834},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4918358325958252},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.47646021842956543},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.45913392305374146},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4443919360637665},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43991440534591675},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.4262910485267639},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4236142635345459},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40904951095581055},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3334583044052124},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24539801478385925},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.1442839503288269},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.11587801575660706},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07880154252052307}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7516987323760986},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7185648679733276},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6714017391204834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4918358325958252},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.47646021842956543},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.45913392305374146},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4443919360637665},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43991440534591675},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.4262910485267639},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4236142635345459},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40904951095581055},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3334583044052124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24539801478385925},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1442839503288269},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.11587801575660706},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07880154252052307},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/s10846-024-02060-z","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1007/s10846-024-02060-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02060-z.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/s10846-024-02060-z","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1007/s10846-024-02060-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02060-z.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":[],"awards":[{"id":"https://openalex.org/G1236139071","display_name":"\u5fae\u7eb3\u7ef3\u7cfb\u536b\u661f\u7f16\u961f\u590d\u6742\u52a8\u529b\u5b66\u4e0e\u72b6\u6001\u53c2\u6570\u4f30\u8ba1\u65b9\u6cd5\u7814\u7a76","funder_award_id":"11972373","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1282092989","display_name":null,"funder_award_id":"ZR2021ME155","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G431933090","display_name":null,"funder_award_id":"ZR2020ME265","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"}],"funders":[{"id":"https://openalex.org/F4320308724","display_name":"Texas Space Grant Consortium","ror":"https://ror.org/05k1jx057"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4391511603.pdf"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1018525745","https://openalex.org/W1964462572","https://openalex.org/W1981276685","https://openalex.org/W2012902352","https://openalex.org/W2077831477","https://openalex.org/W2164233554","https://openalex.org/W2168819089","https://openalex.org/W2331714173","https://openalex.org/W2345644119","https://openalex.org/W2404144440","https://openalex.org/W2611792769","https://openalex.org/W2804655496","https://openalex.org/W2806510819","https://openalex.org/W2897364024","https://openalex.org/W2911977803","https://openalex.org/W2981856456","https://openalex.org/W2999803973","https://openalex.org/W3012489941","https://openalex.org/W3090344418","https://openalex.org/W3091127607","https://openalex.org/W3127201411","https://openalex.org/W3161114626","https://openalex.org/W3195562275","https://openalex.org/W3204625264","https://openalex.org/W3213781462","https://openalex.org/W4206299066","https://openalex.org/W4206471589","https://openalex.org/W4281396443","https://openalex.org/W4285160676","https://openalex.org/W4293062772","https://openalex.org/W4313414482","https://openalex.org/W4318309718","https://openalex.org/W4327630167","https://openalex.org/W4353034002","https://openalex.org/W4387790029"],"related_works":["https://openalex.org/W4288714711","https://openalex.org/W3200708550","https://openalex.org/W2771637876","https://openalex.org/W2736680465","https://openalex.org/W4294093918","https://openalex.org/W4240853094","https://openalex.org/W2810496283","https://openalex.org/W2170656329","https://openalex.org/W3131977017","https://openalex.org/W3205823858"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"paper":[2],"presents":[3],"a":[4,48],"simultaneous":[5],"task":[6,38,56],"assignment":[7,29,39,57],"and":[8,20,30,40,58,78,118],"trajectory":[9,41,59,87],"planning":[10,42,60,88],"method":[11,107],"for":[12],"unmanned":[13,79,112],"system":[14,80],"swarm":[15],"by":[16,67,91],"using":[17,68,92],"optimal":[18,69,74],"transport":[19],"model":[21,93],"predictive":[22,94],"control":[23],"(OT-MPC).":[24],"Unlike":[25],"the":[26,32,37,63,105,111,124,127],"conventional":[27],"hierarchical":[28],"planning,":[31],"proposed":[33,106,128],"approach":[34],"addresses":[35],"both":[36],"subproblems":[43],"concurrently.":[44],"To":[45],"be":[46],"specific,":[47],"unified":[49],"cost":[50],"function":[51],"is":[52,89,108],"designed":[53],"to":[54,110,122],"solve":[55],"problem.":[61],"Moreover,":[62],"multi-tasks":[64],"are":[65],"assigned":[66],"transport,":[70],"which":[71,96],"establishes":[72],"an":[73],"mapping":[75],"between":[76],"tasks":[77],"vehicles":[81,114],"based":[82],"on":[83],"transportation":[84],"cost.":[85],"The":[86],"achieved":[90],"control,":[95],"generates":[97],"high-quality":[98],"navigation":[99],"trajectories":[100],"considering":[101],"obstacle":[102],"avoidance.":[103],"Finally,":[104],"applied":[109],"surface":[113],"swarm.":[115],"Numerical":[116],"simulations":[117],"experiments":[119],"were":[120],"conducted":[121],"validate":[123],"effectiveness":[125],"of":[126],"method.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}