{"id":"https://openalex.org/W2977324759","doi":"https://doi.org/10.1109/access.2019.2942966","title":"Multi-Robot Cooperative Task Allocation With Definite Path-Conflict-Free Handling","display_name":"Multi-Robot Cooperative Task Allocation With Definite Path-Conflict-Free Handling","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2977324759","doi":"https://doi.org/10.1109/access.2019.2942966","mag":"2977324759"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2942966","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2942966","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08846209.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08846209.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021619914","display_name":"Hongguang Zhang","orcid":"https://orcid.org/0000-0002-0724-0440"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongguang Zhang","raw_affiliation_strings":["School of Electronic Engineering, Beijing Key Laboratory of Work Safety Intelligent Monitoring, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-0724-0440","affiliations":[{"raw_affiliation_string":"School of Electronic Engineering, Beijing Key Laboratory of Work Safety Intelligent Monitoring, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053095588","display_name":"Han Luo","orcid":"https://orcid.org/0000-0002-3237-5785"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Luo","raw_affiliation_strings":["School of Electronic Engineering, Beijing Key Laboratory of Work Safety Intelligent Monitoring, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering, Beijing Key Laboratory of Work Safety Intelligent Monitoring, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100707449","display_name":"Zan Wang","orcid":"https://orcid.org/0000-0002-9809-5655"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zan Wang","raw_affiliation_strings":["School of Electronic Engineering, Beijing Key Laboratory of Work Safety Intelligent Monitoring, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering, Beijing Key Laboratory of Work Safety Intelligent Monitoring, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100324600","display_name":"Yuhong Liu","orcid":"https://orcid.org/0000-0002-3717-427X"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhong Liu","raw_affiliation_strings":["School of Electronic Engineering, Beijing Key Laboratory of Work Safety Intelligent Monitoring, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering, Beijing Key Laboratory of Work Safety Intelligent Monitoring, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020422392","display_name":"Yuanan Liu","orcid":"https://orcid.org/0000-0002-8076-1904"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanan Liu","raw_affiliation_strings":["School of Electronic Engineering, Beijing Key Laboratory of Work Safety Intelligent Monitoring, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering, Beijing Key Laboratory of Work Safety Intelligent Monitoring, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139759216"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.8933,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.79084436,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"7","issue":null,"first_page":"138495","last_page":"138511"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9976999759674072,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/computer-science","display_name":"Computer science","score":0.6982028484344482},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6498101949691772},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.6363270282745361},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6220172643661499},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6168251633644104},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.604169487953186},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5475486516952515},{"id":"https://openalex.org/keywords/schedule","display_name":"Schedule","score":0.5178406834602356},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.405616819858551},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.3417311906814575},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28070342540740967},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13659709692001343},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12163704633712769},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09692174196243286}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6982028484344482},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6498101949691772},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.6363270282745361},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6220172643661499},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6168251633644104},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.604169487953186},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5475486516952515},{"id":"https://openalex.org/C68387754","wikidata":"https://www.wikidata.org/wiki/Q7271585","display_name":"Schedule","level":2,"score":0.5178406834602356},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.405616819858551},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.3417311906814575},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28070342540740967},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13659709692001343},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12163704633712769},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09692174196243286},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2942966","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2942966","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08846209.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:a88d466eb81341cd9b52c97209c2d6f9","is_oa":true,"landing_page_url":"https://doaj.org/article/a88d466eb81341cd9b52c97209c2d6f9","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 138495-138511 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2942966","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2942966","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08846209.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Decent work and economic growth","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/8"}],"awards":[{"id":"https://openalex.org/G2224824131","display_name":null,"funder_award_id":"61876199","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":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2977324759.pdf","grobid_xml":"https://content.openalex.org/works/W2977324759.grobid-xml"},"referenced_works_count":59,"referenced_works":["https://openalex.org/W1430617670","https://openalex.org/W1542517726","https://openalex.org/W1588797187","https://openalex.org/W1648525405","https://openalex.org/W1707207708","https://openalex.org/W1969953660","https://openalex.org/W1972391046","https://openalex.org/W1991482882","https://openalex.org/W2002515846","https://openalex.org/W2010217028","https://openalex.org/W2013511016","https://openalex.org/W2017332349","https://openalex.org/W2024940818","https://openalex.org/W2030021468","https://openalex.org/W2042789177","https://openalex.org/W2047901468","https://openalex.org/W2052257324","https://openalex.org/W2086941966","https://openalex.org/W2088557785","https://openalex.org/W2089312859","https://openalex.org/W2093822576","https://openalex.org/W2135761505","https://openalex.org/W2138328817","https://openalex.org/W2139883176","https://openalex.org/W2140929789","https://openalex.org/W2144827113","https://openalex.org/W2154599989","https://openalex.org/W2156063776","https://openalex.org/W2157488300","https://openalex.org/W2219548420","https://openalex.org/W2232179526","https://openalex.org/W2293302471","https://openalex.org/W2327163782","https://openalex.org/W2345784978","https://openalex.org/W2403683192","https://openalex.org/W2411650265","https://openalex.org/W2514576092","https://openalex.org/W2522427587","https://openalex.org/W2525473247","https://openalex.org/W2541506105","https://openalex.org/W2581834436","https://openalex.org/W2587385967","https://openalex.org/W2587454910","https://openalex.org/W2591473830","https://openalex.org/W2601109552","https://openalex.org/W2766632227","https://openalex.org/W2768174095","https://openalex.org/W2779455732","https://openalex.org/W2801036921","https://openalex.org/W2900634301","https://openalex.org/W2963642217","https://openalex.org/W4300449797","https://openalex.org/W6628285262","https://openalex.org/W6672505113","https://openalex.org/W6683122765","https://openalex.org/W6689607723","https://openalex.org/W6727749081","https://openalex.org/W6733688006","https://openalex.org/W6735647534"],"related_works":["https://openalex.org/W2195904091","https://openalex.org/W3049557657","https://openalex.org/W3150915502","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":{"Modeling":[0],"and":[1,121,138,146,199,209],"solving":[2],"multi-robot":[3,32],"task":[4,33,70,87,97,109,119],"allocation":[5,110],"with":[6,53],"definite":[7,28,123],"path-conflict-free":[8,29],"handling":[9,149,154],"is":[10,114],"an":[11],"important":[12],"research,":[13],"especially":[14],"in":[15,41,164,180],"real":[16,192],"working":[17,193],"environments.":[18,201],"Some":[19],"of":[20,50,68,94,129],"the":[21,38,42,47,51,66,83,160,172,181],"research":[22],"lines":[23],"are":[24,61,212,217],"unable":[25],"to":[26,45,64,116,219],"obtain":[27],"solutions":[30,52,60,216],"for":[31],"allocations,":[34],"such":[35,132,195],"as":[36,133,196],"using":[37],"penalty-term":[39],"method":[40],"fitness":[43],"function":[44],"restrict":[46],"survival":[48],"probabilities":[49],"path":[54,125,147,152,162,173],"conflicts.":[55],"In":[56,89,151],"some":[57],"cases,":[58],"these":[59],"only":[62,158],"able":[63,115,218],"satisfy":[65],"objective":[67],"minimizing":[69],"time.":[71],"We":[72,105],"formulate":[73],"this":[74],"problem":[75],"based":[76,190],"on":[77,82,171,191],"grid":[78,166,183],"maps,":[79],"while":[80],"focusing":[81],"frequently":[84],"used":[85],"cooperative":[86,96],"allocation.":[88],"our":[90,188],"model,":[91],"two":[92,102],"subtasks":[93],"each":[95],"must":[98],"be":[99,220],"executed":[100],"by":[101],"robots,":[103],"simultaneously.":[104],"propose":[106],"vitality-driven":[107],"genetic":[108],"algorithm":[111],"(VGTA),":[112],"which":[113],"simultaneously":[117],"minimize":[118],"time":[120],"realize":[122],"conflict-free":[124],"planning.":[126],"VGTA":[127,142],"consists":[128],"local":[130],"operators,":[131],"random":[134],"mutations,":[135],"greedy":[136],"crossovers,":[137],"vitality":[139],"selection.":[140],"Meanwhile,":[141,214],"includes":[143],"schedule":[144],"conflict":[145,148,153],"strategies.":[150],"strategy,":[155],"we":[156,186],"not":[157],"consider":[159],"common":[161],"conflicts":[163,174],"a":[165],"cell,":[167],"but":[168],"also":[169],"focus":[170],"between":[175],"robots":[176],"when":[177],"exchanging":[178],"positions":[179],"adjacent":[182],"cells.":[184],"Besides,":[185],"construct":[187],"benchmarks":[189],"environments,":[194],"factory,":[197],"powerhouse,":[198],"airport":[200],"Experimental":[202],"results":[203],"indicate":[204],"that":[205],"VGTA's":[206],"search":[207],"capability":[208],"computation":[210],"cost":[211],"satisfactory.":[213],"its":[215],"really":[221],"executed.":[222]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
