{"id":"https://openalex.org/W2113105635","doi":"https://doi.org/10.1017/s0263574700000576","title":"Motion planning for multiple robots with multi-mode operations via disjunctive graphs","display_name":"Motion planning for multiple robots with multi-mode operations via disjunctive graphs","publication_year":1991,"publication_date":"1991-12-01","ids":{"openalex":"https://openalex.org/W2113105635","doi":"https://doi.org/10.1017/s0263574700000576","mag":"2113105635"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700000576","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700000576","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007395818","display_name":"Chi-Fang Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210147455","display_name":"Institute of Information Science","ror":"https://ror.org/055q8rh54","country_code":"SI","type":"education","lineage":["https://openalex.org/I4210147455"]},{"id":"https://openalex.org/I4210155092","display_name":"Czech Academy of Sciences, Institute of Computer Science","ror":"https://ror.org/0496n6574","country_code":"CZ","type":"facility","lineage":["https://openalex.org/I202391551","https://openalex.org/I4210155092"]}],"countries":["CZ","SI"],"is_corresponding":false,"raw_author_name":"Chi-Fang Lin","raw_affiliation_strings":["Institute of Computer Science and Information Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science and Information Engineering","institution_ids":["https://openalex.org/I4210147455","https://openalex.org/I4210155092"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102160275","display_name":"Wen\u2010Hsiang Tsai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wen-Hsiang Tsai","raw_affiliation_strings":["\u8cc7\u8a0a\u5de5\u7a0b\u5b78\u7cfb"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u8cc7\u8a0a\u5de5\u7a0b\u5b78\u7cfb","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1516,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.82048369,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"9","issue":"4","first_page":"393","last_page":"408"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10551","display_name":"Scheduling and Optimization Algorithms","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10551","display_name":"Scheduling and Optimization Algorithms","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973000288009644,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/robot","display_name":"Robot","score":0.8066226243972778},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6966381669044495},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6745338439941406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6548919081687927},{"id":"https://openalex.org/keywords/gantt-chart","display_name":"Gantt chart","score":0.6425684690475464},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.6371538043022156},{"id":"https://openalex.org/keywords/schedule","display_name":"Schedule","score":0.4260652959346771},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3825080990791321},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33389613032341003},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32561585307121277},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.320675253868103},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30223262310028076},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18039074540138245},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14246731996536255}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8066226243972778},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6966381669044495},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6745338439941406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6548919081687927},{"id":"https://openalex.org/C95981495","wikidata":"https://www.wikidata.org/wiki/Q192847","display_name":"Gantt chart","level":2,"score":0.6425684690475464},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.6371538043022156},{"id":"https://openalex.org/C68387754","wikidata":"https://www.wikidata.org/wiki/Q7271585","display_name":"Schedule","level":2,"score":0.4260652959346771},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3825080990791321},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33389613032341003},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32561585307121277},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.320675253868103},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30223262310028076},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18039074540138245},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14246731996536255},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574700000576","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700000576","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5600000023841858,"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1602132814","https://openalex.org/W1970725837","https://openalex.org/W1970949506","https://openalex.org/W1991461030","https://openalex.org/W2004815408","https://openalex.org/W2015034115","https://openalex.org/W2024403195","https://openalex.org/W2059796104","https://openalex.org/W2069642733","https://openalex.org/W2077090901","https://openalex.org/W2077091230","https://openalex.org/W2111244700","https://openalex.org/W2111328745","https://openalex.org/W2115416448","https://openalex.org/W2132114646","https://openalex.org/W2150500908","https://openalex.org/W2157129925","https://openalex.org/W2157846217","https://openalex.org/W2166462345","https://openalex.org/W2333535550","https://openalex.org/W2743045177","https://openalex.org/W2763160685","https://openalex.org/W6635907565","https://openalex.org/W6669904750","https://openalex.org/W6670141633"],"related_works":["https://openalex.org/W4243588371","https://openalex.org/W4390491522","https://openalex.org/W1975353161","https://openalex.org/W2365977346","https://openalex.org/W2387613053","https://openalex.org/W2583094790","https://openalex.org/W2380772227","https://openalex.org/W2353847028","https://openalex.org/W2031530648","https://openalex.org/W2364419604"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1],"new":[2],"approach":[3,131],"to":[4,27,35,45,107,184],"motion":[5,38,61],"planning":[6,59,158],"for":[7,62,87,148],"multiple":[8],"robots":[9,24,42,54,89],"with":[10,55,90,134],"multi-mode":[11],"operations":[12],"is":[13,34,70,79,105,132],"proposed":[14,190],"in":[15,72,114],"this":[16,130],"paper.":[17],"Although":[18],"sharing":[19],"a":[20,67,98,111,115,169],"common":[21],"workspace,":[22],"the":[23,37,41,53,88,103,124,151,186,189],"are":[25,154,181],"assumed":[26],"perform":[28],"periodical":[29],"tasks":[30],"independently.":[31],"The":[32,127,157],"goal":[33],"schedule":[36],"trajectories":[39],"of":[40,100,109,123,129,188],"so":[43],"as":[44,69,97],"avoid":[46],"collisions":[47],"among":[48],"them.":[49],"Rather":[50],"than":[51],"assigning":[52],"different":[56,177],"priorities":[57],"and":[58,118,142,166],"safe":[60],"only":[63],"one":[64],"robot":[65,136,178],"at":[66],"time,":[68],"done":[71],"most":[73],"previous":[74],"studies,":[75],"an":[76,121],"efficient":[77],"method":[78],"developed":[80],"that":[81,108],"can":[82,160],"simultaneously":[83],"generate":[84],"collision-free":[85],"motions":[86],"or":[91],"without":[92],"priority":[93],"assignment.":[94],"Being":[95],"regarded":[96],"type":[99],"job-shop":[101],"scheduling,":[102],"problem":[104],"reduced":[106],"finding":[110],"minimaximal":[112],"path":[113],"disjunctive":[116],"graph":[117],"solved":[119],"by":[120,163,168],"extension":[122],"Balas":[125],"algorithm.":[126],"superiority":[128],"demonstrated":[133],"various":[135],"operation":[137,144,179],"requirements,":[138],"including":[139],"\u201cnon-priority\u201d,":[140],"\u201cwith-priority\u201d,":[141],"\u201cmulticycle\u201d":[143],"modes.":[145],"Some":[146],"techniques":[147],"speeding":[149],"up":[150],"scheduling":[152],"process":[153],"also":[155,182],"presented.":[156],"results":[159,175],"be":[161],"described":[162],"Gantt":[164],"charts":[165],"executed":[167],"simple":[170],"\u201cstop-and-go\u201d":[171],"control":[172],"scheme.":[173],"Simulation":[174],"on":[176],"modes":[180],"presented":[183],"show":[185],"feasibility":[187],"approach.":[191]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
