{"id":"https://openalex.org/W4407555873","doi":"https://doi.org/10.1007/s10846-025-02229-0","title":"Multi-agent Path Planning Based on Conflict-Based Search (CBS) Variations for Heterogeneous Robots","display_name":"Multi-agent Path Planning Based on Conflict-Based Search (CBS) Variations for Heterogeneous Robots","publication_year":2025,"publication_date":"2025-02-13","ids":{"openalex":"https://openalex.org/W4407555873","doi":"https://doi.org/10.1007/s10846-025-02229-0"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-025-02229-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02229-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02229-0.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 &amp; 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/s10846-025-02229-0.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062797747","display_name":"Yifan Bai","orcid":"https://orcid.org/0000-0001-6762-7172"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Yifan Bai","raw_affiliation_strings":["Department of Computer Science, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, 797187, Sweden"],"raw_orcid":"https://orcid.org/0000-0001-6762-7172","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, 797187, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010553447","display_name":"Shruti Kotpalliwar","orcid":"https://orcid.org/0000-0002-2173-6039"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Shruti Kotpalliwar","raw_affiliation_strings":["Department of Computer Science, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, 797187, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, 797187, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039277979","display_name":"Christoforos Kanellakis","orcid":"https://orcid.org/0000-0001-8870-6718"},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Christoforos Kanellakis","raw_affiliation_strings":["Department of Computer Science, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, 797187, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, 797187, Sweden","institution_ids":["https://openalex.org/I190632392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032260126","display_name":"George Nikolakopoulos","orcid":null},"institutions":[{"id":"https://openalex.org/I190632392","display_name":"Lule\u00e5 University of Technology","ror":"https://ror.org/016st3p78","country_code":"SE","type":"education","lineage":["https://openalex.org/I190632392"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"George Nikolakopoulos","raw_affiliation_strings":["Department of Computer Science, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, 797187, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Electrical and Space Engineering, Lule\u00e5 University of Technology, Lule\u00e5, 797187, Sweden","institution_ids":["https://openalex.org/I190632392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5062797747"],"corresponding_institution_ids":["https://openalex.org/I190632392"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":11.5401,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.98528463,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"111","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":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9907000064849854,"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":0.5654267072677612},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5642926096916199},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5492916703224182},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.500206708908081},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4104149341583252},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.11338365077972412}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5654267072677612},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5642926096916199},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5492916703224182},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.500206708908081},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4104149341583252},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11338365077972412}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-025-02229-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02229-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02229-0.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 &amp; Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:DiVA.org:ltu-112025","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-112025","pdf_url":"https://ltu.diva-portal.org/smash/get/diva2:1945599/FULLTEXT01","source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.1007/s10846-025-02229-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02229-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02229-0.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 &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1167201657","display_name":"Autonomous Exploration and Extraction of Deep Mineral Deposits","funder_award_id":"101138451","funder_id":"https://openalex.org/F4320338444","funder_display_name":"HORIZON EUROPE Digital, Industry and Space"}],"funders":[{"id":"https://openalex.org/F4320338444","display_name":"HORIZON EUROPE Digital, Industry and Space","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4407555873.pdf","grobid_xml":"https://content.openalex.org/works/W4407555873.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1488757178","https://openalex.org/W1551562380","https://openalex.org/W1971998222","https://openalex.org/W1989407213","https://openalex.org/W2123030512","https://openalex.org/W2191404279","https://openalex.org/W2406007181","https://openalex.org/W2579451340","https://openalex.org/W2809708768","https://openalex.org/W2903837854","https://openalex.org/W2904716179","https://openalex.org/W2914296650","https://openalex.org/W2949549388","https://openalex.org/W2965125400","https://openalex.org/W2973794469","https://openalex.org/W3091239670","https://openalex.org/W3095606244","https://openalex.org/W3096656822","https://openalex.org/W3112239567","https://openalex.org/W3158757609","https://openalex.org/W3187649900","https://openalex.org/W3195869562","https://openalex.org/W4288320301","https://openalex.org/W4309793447","https://openalex.org/W4313005818"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"Abstract":[0],"This":[1,158],"article":[2],"introduces":[3],"a":[4,31,47,63,116],"novel":[5],"Multi-agent":[6],"path":[7,78],"planning":[8,79,119],"scheme":[9],"based":[10],"on":[11,122],"Conflict":[12],"Based":[13],"Search":[14,97,103],"(CBS)":[15],"for":[16,42,58],"heterogeneous":[17],"holonomic":[18,59],"and":[19,46,99,114,125,135,175],"non-holonomic":[20,43],"agents,":[21],"designated":[22],"as":[23],"Heterogeneous":[24],"CBS":[25],"(HCBS).":[26],"The":[27,137],"proposed":[28,111,164],"methodology":[29],"employs":[30],"hybrid":[32],"$$A^*$$":[33,49],"<mml:math":[34,50],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\">":[35,51],"<mml:msup>":[36,52],"<mml:mi>A</mml:mi>":[37,53],"<mml:mo>\u2217</mml:mo>":[38,54],"</mml:msup>":[39,55],"</mml:math>":[40,56],"algorithm":[41,57],"car-like":[44],"robots":[45],"conventional":[48],"robots.":[60],"Following":[61],"this,":[62],"body":[64],"conflict":[65,73],"detection":[66],"strategy":[67],"is":[68],"utilized":[69],"to":[70],"construct":[71],"the":[72,76,81,94,100,107,160,170],"tree,":[74],"bridging":[75],"initial":[77],"with":[80,130],"resolution":[82],"of":[83,92,109,133,162,173],"conflicts":[84],"among":[85],"agents.":[86],"Moreover,":[87],"we":[88],"present":[89],"two":[90],"variants":[91],"HCBS:":[93],"Enhanced":[95],"Conflict-Based":[96,102],"(EHCBS)":[98],"Depth-First":[101],"(DFHCBS).":[104],"We":[105],"evaluate":[106],"efficacy":[108],"our":[110,163],"algorithms\u2014HCBS,":[112],"EHCBS,":[113],"DFHCBS\u2014against":[115],"standard":[117],"prioritized":[118],"algorithm,":[120],"focusing":[121],"success":[123],"rates":[124],"computational":[126,145,171],"efficiency":[127,146],"in":[128,147,155,166],"environments":[129],"varying":[131],"numbers":[132],"agents":[134],"obstacles.":[136],"empirical":[138],"results":[139],"demonstrate":[140],"that":[141],"EHCBS":[142,174],"exhibits":[143],"superior":[144],"small,":[148],"dense":[149],"environments,":[150],"while":[151],"DFHCBS":[152,176],"performs":[153],"well":[154],"larger-scale":[156],"environments.":[157],"highlights":[159],"adaptability":[161],"approaches":[165],"various":[167],"settings,":[168],"proving":[169],"advantage":[172],"over":[177],"traditional":[178],"methods.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10}],"updated_date":"2026-05-13T08:25:38.343686","created_date":"2025-10-10T00:00:00"}