{"id":"https://openalex.org/W4295101984","doi":"https://doi.org/10.1080/01691864.2022.2117996","title":"Decentralized navigation and collision avoidance for robotic swarm with heterogeneous abilities","display_name":"Decentralized navigation and collision avoidance for robotic swarm with heterogeneous abilities","publication_year":2022,"publication_date":"2022-09-08","ids":{"openalex":"https://openalex.org/W4295101984","doi":"https://doi.org/10.1080/01691864.2022.2117996"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2022.2117996","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2022.2117996","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repository.kulib.kyoto-u.ac.jp/dspace/bitstream/2433/278964/1/01691864.2022.2117996.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021264583","display_name":"Yoshinori Sano","orcid":null},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshinori Sano","raw_affiliation_strings":["Dept. of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057938506","display_name":"Takahiro Endo","orcid":"https://orcid.org/0000-0002-2231-5359"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takahiro Endo","raw_affiliation_strings":["Dept. of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035087514","display_name":"Takumi Shibuya","orcid":null},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takumi Shibuya","raw_affiliation_strings":["Dept. of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015434555","display_name":"Fumitoshi Matsuno","orcid":"https://orcid.org/0000-0001-9685-3267"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumitoshi Matsuno","raw_affiliation_strings":["Dept. of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5057938506"],"corresponding_institution_ids":["https://openalex.org/I22299242"],"apc_list":null,"apc_paid":null,"fwci":1.4273,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.82547792,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"37","issue":"1-2","first_page":"25","last_page":"36"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9970999956130981,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/collision-avoidance","display_name":"Collision avoidance","score":0.8656268119812012},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7530717849731445},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6722970008850098},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.671640932559967},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.6204578876495361},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5925328135490417},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5533860325813293},{"id":"https://openalex.org/keywords/connection","display_name":"Connection (principal bundle)","score":0.5355290174484253},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.413972407579422},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3985973298549652},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37198930978775024},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33193492889404297},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23394009470939636},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.09131887555122375},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.056516945362091064}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.8656268119812012},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7530717849731445},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6722970008850098},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.671640932559967},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.6204578876495361},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5925328135490417},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5533860325813293},{"id":"https://openalex.org/C13355873","wikidata":"https://www.wikidata.org/wiki/Q2920850","display_name":"Connection (principal bundle)","level":2,"score":0.5355290174484253},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.413972407579422},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3985973298549652},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37198930978775024},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33193492889404297},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23394009470939636},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.09131887555122375},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.056516945362091064},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/01691864.2022.2117996","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2022.2117996","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:repository.kulib.kyoto-u.ac.jp:2433/278964","is_oa":true,"landing_page_url":"http://hdl.handle.net/2433/278964","pdf_url":"https://repository.kulib.kyoto-u.ac.jp/dspace/bitstream/2433/278964/1/01691864.2022.2117996.pdf","source":{"id":"https://openalex.org/S4306401454","display_name":"Kyoto University Research Information Repository (Kyoto University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I22299242","host_organization_name":"Kyoto University","host_organization_lineage":["https://openalex.org/I22299242"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"}],"best_oa_location":{"id":"pmh:oai:repository.kulib.kyoto-u.ac.jp:2433/278964","is_oa":true,"landing_page_url":"http://hdl.handle.net/2433/278964","pdf_url":"https://repository.kulib.kyoto-u.ac.jp/dspace/bitstream/2433/278964/1/01691864.2022.2117996.pdf","source":{"id":"https://openalex.org/S4306401454","display_name":"Kyoto University Research Information Repository (Kyoto University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I22299242","host_organization_name":"Kyoto University","host_organization_lineage":["https://openalex.org/I22299242"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8973719895","display_name":null,"funder_award_id":"JPMJSC18E4","funder_id":"https://openalex.org/F4320338124","funder_display_name":"Strategic International Collaborative Research Program"}],"funders":[{"id":"https://openalex.org/F4320338124","display_name":"Strategic International Collaborative Research Program","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4295101984.pdf"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1060861436","https://openalex.org/W1969785549","https://openalex.org/W1996542214","https://openalex.org/W2026508670","https://openalex.org/W2040298974","https://openalex.org/W2063801303","https://openalex.org/W2070842753","https://openalex.org/W2091775628","https://openalex.org/W2105850748","https://openalex.org/W2108556117","https://openalex.org/W2118331730","https://openalex.org/W2126745741","https://openalex.org/W2152244994","https://openalex.org/W2505781211","https://openalex.org/W2575668667","https://openalex.org/W2603752963","https://openalex.org/W2619823627","https://openalex.org/W2808422230","https://openalex.org/W2890234957","https://openalex.org/W2898697466","https://openalex.org/W2899015589","https://openalex.org/W2963655524","https://openalex.org/W2964306184","https://openalex.org/W2969141318","https://openalex.org/W3122842902","https://openalex.org/W3128214224"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W1988876749","https://openalex.org/W65954170","https://openalex.org/W2518382144","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166","https://openalex.org/W2787547275","https://openalex.org/W1966857494"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,11,35,64],"decentralized":[4],"navigation":[5],"method":[6,108],"with":[7,39,93],"collision":[8],"avoidance":[9],"for":[10],"robotic":[12],"swarm":[13,73],"whose":[14],"individuals":[15],"possess":[16],"heterogeneous":[17],"abilities,":[18],"such":[19],"as":[20],"sensing":[21],"range":[22],"and":[23,33,79,90,100,112],"maximum":[24],"speed.":[25],"In":[26],"this":[27],"method,":[28],"each":[29],"agent":[30,41],"distributedly":[31],"constructs":[32],"maintains":[34],"local":[36,44],"directed":[37],"connection":[38],"another":[40],"using":[42],"only":[43],"information,":[45],"which":[46],"is":[47],"relative":[48],"distance.":[49],"Moreover,":[50],"all":[51],"agents":[52,59],"always":[53],"maintain":[54],"some":[55],"distance":[56],"from":[57],"other":[58,81],"to":[60,76],"avoid":[61],"collision.":[62],"As":[63],"result,":[65],"one":[66],"leader":[67,86],"robot":[68],"can":[69,83],"guide":[70],"an":[71],"entire":[72],"of":[74,105],"robots":[75,82],"their":[77],"destination,":[78],"the":[80,85,97,103,106],"follow":[84],"while":[87],"maintaining":[88],"connectivity":[89],"not":[91],"colliding":[92],"others.":[94],"We":[95],"prove":[96],"above":[98],"mathematically,":[99],"we":[101],"demonstrate":[102],"validity":[104],"proposed":[107],"by":[109],"numerical":[110],"simulation":[111],"experimentation.":[113]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
