{"id":"https://openalex.org/W4378904785","doi":"https://doi.org/10.1007/s40747-023-01088-2","title":"A decoupling method for solving the multi-agent path finding problem","display_name":"A decoupling method for solving the multi-agent path finding problem","publication_year":2023,"publication_date":"2023-05-31","ids":{"openalex":"https://openalex.org/W4378904785","doi":"https://doi.org/10.1007/s40747-023-01088-2"},"language":"en","primary_location":{"id":"doi:10.1007/s40747-023-01088-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-023-01088-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-023-01088-2.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://link.springer.com/content/pdf/10.1007/s40747-023-01088-2.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008507615","display_name":"Bin Liao","orcid":"https://orcid.org/0000-0002-8993-9502"},"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":"Bin Liao","raw_affiliation_strings":["School of Aeronautics, Northwestern Polytechnical University, Xi\u2019an, 710072, China","School of Aeronautics, Northwestern Polytechnical University, Xi'an, 710072, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics, Northwestern Polytechnical University, Xi\u2019an, 710072, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Aeronautics, Northwestern Polytechnical University, Xi'an, 710072, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004863167","display_name":"Shenrui Zhu","orcid":"https://orcid.org/0000-0002-9688-9152"},"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":"Shenrui Zhu","raw_affiliation_strings":["School of Aeronautics, Northwestern Polytechnical University, Xi\u2019an, 710072, China","School of Aeronautics, Northwestern Polytechnical University, Xi'an, 710072, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics, Northwestern Polytechnical University, Xi\u2019an, 710072, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Aeronautics, Northwestern Polytechnical University, Xi'an, 710072, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009136223","display_name":"Yi Hua","orcid":"https://orcid.org/0000-0003-0660-7826"},"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":"Yi Hua","raw_affiliation_strings":["School of Aeronautics, Northwestern Polytechnical University, Xi\u2019an, 710072, China","School of Aeronautics, Northwestern Polytechnical University, Xi'an, 710072, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics, Northwestern Polytechnical University, Xi\u2019an, 710072, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Aeronautics, Northwestern Polytechnical University, Xi'an, 710072, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065120637","display_name":"Fangyi Wan","orcid":"https://orcid.org/0000-0002-4404-5820"},"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":"Fangyi Wan","raw_affiliation_strings":["School of Aeronautics, Northwestern Polytechnical University, Xi\u2019an, 710072, China","School of Aeronautics, Northwestern Polytechnical University, Xi'an, 710072, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics, Northwestern Polytechnical University, Xi\u2019an, 710072, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Aeronautics, Northwestern Polytechnical University, Xi'an, 710072, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057598786","display_name":"Xinlin Qing","orcid":"https://orcid.org/0000-0003-1189-3046"},"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"]},{"id":"https://openalex.org/I191208505","display_name":"Xiamen University","ror":"https://ror.org/00mcjh785","country_code":"CN","type":"education","lineage":["https://openalex.org/I191208505"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinlin Qing","raw_affiliation_strings":["School of Aeronautics, Northwestern Polytechnical University, Xi\u2019an, 710072, China","School of Aerospace Engineering, Xiamen University, Xiamen, 361005, China"],"affiliations":[{"raw_affiliation_string":"School of Aeronautics, Northwestern Polytechnical University, Xi\u2019an, 710072, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Aerospace Engineering, Xiamen University, Xiamen, 361005, China","institution_ids":["https://openalex.org/I191208505"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5008507615"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":{"value":1320,"currency":"GBP","value_usd":1619},"apc_paid":{"value":1320,"currency":"GBP","value_usd":1619},"fwci":0.2373,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.49797101,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"9","issue":"6","first_page":"6767","last_page":"6780"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9732999801635742,"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/T11220","display_name":"Water Systems and Optimization","score":0.9603999853134155,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/decoupling","display_name":"Decoupling (probability)","score":0.8456451892852783},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.677199125289917},{"id":"https://openalex.org/keywords/completeness","display_name":"Completeness (order theory)","score":0.6582006216049194},{"id":"https://openalex.org/keywords/vertex","display_name":"Vertex (graph theory)","score":0.5881181955337524},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5513432621955872},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5434593558311462},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4450332224369049},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32625970244407654},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3119584321975708},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2962099015712738},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.2156338393688202}],"concepts":[{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.8456451892852783},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.677199125289917},{"id":"https://openalex.org/C17231256","wikidata":"https://www.wikidata.org/wiki/Q5156540","display_name":"Completeness (order theory)","level":2,"score":0.6582006216049194},{"id":"https://openalex.org/C80899671","wikidata":"https://www.wikidata.org/wiki/Q1304193","display_name":"Vertex (graph theory)","level":3,"score":0.5881181955337524},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5513432621955872},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5434593558311462},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4450332224369049},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32625970244407654},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3119584321975708},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2962099015712738},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.2156338393688202},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"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":2,"locations":[{"id":"doi:10.1007/s40747-023-01088-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-023-01088-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-023-01088-2.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:bb4bc1ba2dca49b0bfe6866e1a9957a4","is_oa":true,"landing_page_url":"https://doaj.org/article/bb4bc1ba2dca49b0bfe6866e1a9957a4","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complex & Intelligent Systems, Vol 9, Iss 6, Pp 6767-6780 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s40747-023-01088-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-023-01088-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-023-01088-2.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3214160367","display_name":null,"funder_award_id":"No. 11","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3744313044","display_name":null,"funder_award_id":"Social","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5167091242","display_name":null,"funder_award_id":"No. 1","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7692457760","display_name":null,"funder_award_id":"11972314","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4378904785.pdf"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W125001008","https://openalex.org/W1495213888","https://openalex.org/W1551562380","https://openalex.org/W1914151578","https://openalex.org/W1969483458","https://openalex.org/W1973396716","https://openalex.org/W1986164452","https://openalex.org/W1989407213","https://openalex.org/W2007193228","https://openalex.org/W2007806954","https://openalex.org/W2070224057","https://openalex.org/W2124015815","https://openalex.org/W2152745641","https://openalex.org/W2155313135","https://openalex.org/W2166462345","https://openalex.org/W2167979940","https://openalex.org/W2407888013","https://openalex.org/W2744710093","https://openalex.org/W2903998385","https://openalex.org/W2998967952","https://openalex.org/W3000667810","https://openalex.org/W3034717938","https://openalex.org/W3084487819","https://openalex.org/W3090968476","https://openalex.org/W3175724379","https://openalex.org/W3196879608","https://openalex.org/W3198376353","https://openalex.org/W3206820044"],"related_works":["https://openalex.org/W2152950565","https://openalex.org/W4237277701","https://openalex.org/W1617565119","https://openalex.org/W2099777870","https://openalex.org/W160381218","https://openalex.org/W2512958550","https://openalex.org/W2121424666","https://openalex.org/W2329266651","https://openalex.org/W3103825105","https://openalex.org/W2186864281"],"abstract_inverted_index":{"Abstract":[0],"Many":[1],"existing":[2,189],"multi-agent":[3],"path":[4],"finding":[5],"(MAPF)":[6],"solvers":[7,191],"focus":[8],"on":[9,82],"completeness,":[10],"speed,":[11],"or":[12,147],"optimization.":[13],"However,":[14],"completeness":[15,129],"and":[16,71,100,150,171,185,226],"rapidity":[17],"are":[18,63,97,108],"usually":[19],"in":[20,32,168,196],"conflict":[21],"with":[22,192,202],"each":[23],"other,":[24],"which":[25,62,87],"makes":[26],"these":[27],"algorithms":[28],"far":[29],"from":[30],"satisfactory":[31],"practical":[33],"applications.":[34],"Motivated":[35],"by":[36,141,158],"this":[37],"realistic":[38],"requirement,":[39],"we":[40,55],"propose":[41],"an":[42],"efficient":[43],"decoupling":[44,79,115,179],"method":[45,180],"to":[46,66,74,92,103,222],"accelerate":[47],"the":[48,57,128,131,172,177,183,208,216,224],"solution":[49,197],"of":[50,59,130,152,188],"large":[51],"MAPF":[52,69,121,190],"problems.":[53,229],"First,":[54],"define":[56],"concept":[58],"\u2018non-essential":[60,83],"vertex\u2019-vertices":[61],"not":[64],"needed":[65],"solve":[67,223],"a":[68,72,78,142,159],"problem,":[70],"scheme":[73,80],"identify":[75],"them.":[76],"Then,":[77],"based":[81],"vertex\u2019":[84],"is":[85,220],"proposed,":[86],"will":[88],"assign":[89],"higher":[90],"priorities":[91,102],"agents":[93,104],"whose":[94,105],"goal":[95],"positions":[96,107],"non-essential":[98,109],"vertices":[99],"lower":[101],"start":[106],"vertices.":[110],"That":[111],"is,":[112],"invoking":[113],"our":[114],"algorithm":[116,219],"can":[117,137,154,211],"decouple":[118],"any":[119],"given":[120],"problem":[122],"into":[123],"three":[124,134],"subproblems":[125],"while":[126],"maintaining":[127],"solution.":[132],"All":[133],"sub-MAPF":[135,228],"problems":[136,201],"be":[138,156,212],"solved":[139,157],"sequentially":[140],"complete":[143],"solver":[144],"(e.g.,":[145],"CBS":[146],"EECBS,":[148],"etc.),":[149],"two":[151],"them":[153],"also":[155],"prioritized":[160,217],"planning":[161,218],"algorithm.":[162],"We":[163],"have":[164],"conducted":[165],"several":[166],"experiments":[167],"different":[169],"workspaces,":[170],"statistical":[173],"results":[174],"show":[175],"that":[176],"proposed":[178],"significantly":[181],"improves":[182],"speed":[184],"success":[186],"rate":[187],"almost":[193],"no":[194],"degradation":[195],"quality":[198],"when":[199],"solving":[200,209],"high":[203],"agent":[204],"density.":[205],"In":[206],"addition,":[207],"efficiency":[210],"further":[213],"improved":[214],"if":[215],"invoked":[221],"first":[225],"third":[227]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}
