{"id":"https://openalex.org/W7131109390","doi":"https://doi.org/10.1109/access.2026.3665825","title":"Robust <i>k</i> -Maintained Multi Agent Path Replanning Under Fault Conditions","display_name":"Robust <i>k</i> -Maintained Multi Agent Path Replanning Under Fault Conditions","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7131109390","doi":"https://doi.org/10.1109/access.2026.3665825"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3665825","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3665825","pdf_url":null,"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://doi.org/10.1109/access.2026.3665825","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5126654268","display_name":"Xiang Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I111599522","display_name":"Jiangnan University","ror":"https://ror.org/04mkzax54","country_code":"CN","type":"education","lineage":["https://openalex.org/I111599522"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Liu","raw_affiliation_strings":["School of Internet of Things Engineering, Jiangnan University, Binhu District, Wuxi, Jiangsu, China"],"raw_orcid":"https://orcid.org/0000-0001-5416-2265","affiliations":[{"raw_affiliation_string":"School of Internet of Things Engineering, Jiangnan University, Binhu District, Wuxi, Jiangsu, China","institution_ids":["https://openalex.org/I111599522"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5095840338","display_name":"Yingjie Hua","orcid":"https://orcid.org/0000-0003-0027-0222"},"institutions":[{"id":"https://openalex.org/I111599522","display_name":"Jiangnan University","ror":"https://ror.org/04mkzax54","country_code":"CN","type":"education","lineage":["https://openalex.org/I111599522"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingjie Hua","raw_affiliation_strings":["School of Internet of Things Engineering, Jiangnan University, Binhu District, Wuxi, Jiangsu, China"],"raw_orcid":"https://orcid.org/0000-0003-0027-0222","affiliations":[{"raw_affiliation_string":"School of Internet of Things Engineering, Jiangnan University, Binhu District, Wuxi, Jiangsu, China","institution_ids":["https://openalex.org/I111599522"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126655131","display_name":"Yan Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I111599522","display_name":"Jiangnan University","ror":"https://ror.org/04mkzax54","country_code":"CN","type":"education","lineage":["https://openalex.org/I111599522"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Wang","raw_affiliation_strings":["School of Internet of Things Engineering, Jiangnan University, Binhu District, Wuxi, Jiangsu, China"],"raw_orcid":"https://orcid.org/0000-0002-7700-8719","affiliations":[{"raw_affiliation_string":"School of Internet of Things Engineering, Jiangnan University, Binhu District, Wuxi, Jiangsu, China","institution_ids":["https://openalex.org/I111599522"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077329074","display_name":"Zhicheng Ji","orcid":"https://orcid.org/0000-0002-9457-4704"},"institutions":[{"id":"https://openalex.org/I111599522","display_name":"Jiangnan University","ror":"https://ror.org/04mkzax54","country_code":"CN","type":"education","lineage":["https://openalex.org/I111599522"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhicheng Ji","raw_affiliation_strings":["School of Internet of Things Engineering, Jiangnan University, Binhu District, Wuxi, Jiangsu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Internet of Things Engineering, Jiangnan University, Binhu District, Wuxi, Jiangsu, China","institution_ids":["https://openalex.org/I111599522"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I111599522"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20511756,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"38805","last_page":"38815"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.2240000069141388,"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"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.2240000069141388,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.08959999680519104,"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/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.08209999650716782,"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/robustness","display_name":"Robustness (evolution)","score":0.8180000185966492},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5706999897956848},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.375900000333786},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.3361000120639801},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3287999927997589},{"id":"https://openalex.org/keywords/unexpected-events","display_name":"Unexpected events","score":0.2842999994754791},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.27480000257492065}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8180000185966492},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7447999715805054},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5706999897956848},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.375900000333786},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3720000088214874},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.3361000120639801},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.33559998869895935},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3287999927997589},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.2842999994754791},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.27480000257492065},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.2667999863624573},{"id":"https://openalex.org/C146380142","wikidata":"https://www.wikidata.org/wiki/Q1137726","display_name":"Directed graph","level":2,"score":0.260699987411499},{"id":"https://openalex.org/C2779145032","wikidata":"https://www.wikidata.org/wiki/Q191494","display_name":"Digraph","level":2,"score":0.26019999384880066},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.2590999901294708},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.25859999656677246},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2554999887943268},{"id":"https://openalex.org/C110251889","wikidata":"https://www.wikidata.org/wiki/Q1569697","display_name":"Model checking","level":2,"score":0.2540000081062317},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.25110000371932983}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3665825","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3665825","pdf_url":null,"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:f59db4909339486ab575558b70004d51","is_oa":true,"landing_page_url":"https://doaj.org/article/f59db4909339486ab575558b70004d51","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 14, Pp 38805-38815 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3665825","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3665825","pdf_url":null,"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":[{"score":0.7608868479728699,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G6392432774","display_name":null,"funder_award_id":"BK20231037","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"}],"funders":[{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1989407213","https://openalex.org/W2403254675","https://openalex.org/W2728614645","https://openalex.org/W2809708768","https://openalex.org/W2903837854","https://openalex.org/W2907234288","https://openalex.org/W2913211223","https://openalex.org/W2964945728","https://openalex.org/W2964997335","https://openalex.org/W2966291835","https://openalex.org/W2966875457","https://openalex.org/W3011643348","https://openalex.org/W3037164939","https://openalex.org/W3038106444","https://openalex.org/W3127454018","https://openalex.org/W3133180063","https://openalex.org/W3158757609","https://openalex.org/W3174967682","https://openalex.org/W3175724379","https://openalex.org/W3190828211","https://openalex.org/W4283795314","https://openalex.org/W4323020967","https://openalex.org/W4382866896","https://openalex.org/W4389879569","https://openalex.org/W4390969248","https://openalex.org/W4391549658","https://openalex.org/W4391620784","https://openalex.org/W4393157093","https://openalex.org/W4395017742","https://openalex.org/W4399176191","https://openalex.org/W4408859542","https://openalex.org/W4409348245","https://openalex.org/W4409362842","https://openalex.org/W4414050413","https://openalex.org/W7084148992","https://openalex.org/W7124267257"],"related_works":[],"abstract_inverted_index":{"This":[0,128],"paper":[1],"introduces":[2],"Robustk-Maintained":[3],"Multi-Agent":[4,14,101],"Path":[5,15,102],"Replanning":[6,16],"(RkM-MAPR)":[7],"algorithm,":[8,137],"designed":[9],"to":[10,32,41,83],"address":[11],"robustness":[12,123],"in":[13,61],"(MAPR)":[17],"when":[18,34],"agents":[19,33],"encounter":[20],"faults.":[21],"First,":[22],"we":[23,48,116],"introduce":[24],"the":[25,35,42,50,68,73,78,87,91,94,100,112,118,125,131,135],"temporary":[26],"destination,":[27],"which":[28,53],"dynamically":[29],"reassign":[30],"goals":[31],"primary":[36],"destinations":[37],"are":[38],"inaccessible":[39],"due":[40],"failure":[43],"of":[44,93,124,134],"other":[45],"agents.":[46],"Then,":[47],"propose":[49],"RkM-MAPR":[51,136],"algorithm":[52,105],"replans":[54],"paths":[55,70,89],"and":[56,85,121,144],"ensures":[57],"safety":[58],"while":[59],"consideringkdelays":[60],"MAPR":[62],"under":[63],"fault":[64],"conditions.":[65],"We":[66],"delineate":[67],"replanned":[69,126],"by":[71],"giving":[72],"initialksteps":[74,92],"special":[75],"consideration,":[76],"using":[77],"Action":[79],"Dependency":[80],"Graph":[81],"(ADG)":[82],"simulate":[84],"establish":[86],"simulated":[88],"as":[90],"paths.":[95,114,127],"Beyond":[96],"this":[97],"critical":[98],"phase,":[99],"Finding":[103],"(MAPF)":[104],"takes":[106],"over,":[107],"ensuring":[108],"collision":[109],"avoidance":[110],"for":[111],"subsequent":[113],"Furthermore,":[115],"prove":[117],"collision-free":[119],"nature":[120],"thek-step":[122],"analysis":[129],"underpins":[130],"practical":[132],"applicability":[133],"demonstrating":[138],"its":[139],"effectiveness":[140],"through":[141],"both":[142],"simulations":[143],"real-world":[145],"experiments.":[146]},"counts_by_year":[],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2026-02-24T00:00:00"}