{"id":"https://openalex.org/W2555069494","doi":"https://doi.org/10.1109/allerton.2013.6736546","title":"Decentralized decision-making on robotic networks with hybrid performance metrics","display_name":"Decentralized decision-making on robotic networks with hybrid performance metrics","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W2555069494","doi":"https://doi.org/10.1109/allerton.2013.6736546","mag":"2555069494"},"language":"en","primary_location":{"id":"doi:10.1109/allerton.2013.6736546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/allerton.2013.6736546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 51st Annual Allerton Conference on Communication, Control, and Computing (Allerton)","raw_type":"proceedings-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/A5065789205","display_name":"Federico Rossi","orcid":"https://orcid.org/0000-0002-8091-881X"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Federico Rossi","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050003000","display_name":"Marco Pavone","orcid":"https://orcid.org/0000-0002-0206-4337"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco Pavone","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford University, Stanford, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7545,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.78865039,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"358","last_page":"365"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9973999857902527,"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"}},{"id":"https://openalex.org/T10772","display_name":"Distributed systems and fault tolerance","score":0.9968000054359436,"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/computer-science","display_name":"Computer science","score":0.6808678507804871},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3632667660713196},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3558182120323181}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6808678507804871},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3632667660713196},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3558182120323181}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/allerton.2013.6736546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/allerton.2013.6736546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 51st Annual Allerton Conference on Communication, Control, and Computing (Allerton)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1555412307","https://openalex.org/W1582977901","https://openalex.org/W1739646785","https://openalex.org/W1970786657","https://openalex.org/W2053788000","https://openalex.org/W2077371116","https://openalex.org/W2092534058","https://openalex.org/W2099012404","https://openalex.org/W2106336977","https://openalex.org/W2137642864","https://openalex.org/W2153344006","https://openalex.org/W2153617912","https://openalex.org/W2165744313","https://openalex.org/W2611515161","https://openalex.org/W4247585886","https://openalex.org/W4297751445"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"The":[0],"past":[1],"decade":[2],"has":[3,51],"witnessed":[4],"a":[5,19,77,118,148,157,183,201,217],"rapidly":[6],"growing":[7],"interest":[8],"in":[9,15,86,136],"decentralized":[10,123],"algorithms":[11,70,90],"for":[12],"collective":[13],"decision-making":[14,196],"cyber-physical":[16],"networks.":[17],"For":[18],"large":[20,78],"variety":[21],"of":[22,45,57,83,94,121,139,188,216,227],"settings,":[23],"control":[24],"strategies":[25],"are":[26,71,101,232],"now":[27],"known":[28],"that":[29,192],"either":[30],"minimize":[31,91],"time":[32,63,178],"complexity":[33,40],"(i.e.,":[34,41],"convergence":[35],"time)":[36],"or":[37],"optimize":[38],"communication":[39,65,88],"number":[42,82],"and":[43,64,73,103,129,135,145,170,224,234],"size":[44],"exchanged":[46,84],"messages).":[47],"Yet,":[48],"little":[49],"attention":[50],"beed":[52],"paid":[53],"to":[54,105,162,180,198],"the":[55,59,92,98,122,137,153,172,177,195,221,225],"problem":[56,125,223],"studying":[58],"inherent":[60],"trade-off":[61],"between":[62,220],"complexity.":[66],"Generally":[67],"speaking,":[68],"time-optimal":[69,161],"fast":[72],"robust,":[74],"but":[75,100],"require":[76],"(and":[79],"sometimes":[80],"impractical)":[81],"messages;":[85],"contrast,":[87],"optimal":[89],"amount":[93],"information":[95,209],"routed":[96],"through":[97],"network,":[99],"slow":[102],"sensitive":[104],"link":[106,141],"failures.":[107,142],"In":[108],"this":[109,113],"paper":[110],"we":[111],"address":[112],"gap":[114],"by":[115],"focusing":[116],"on":[117,131],"generalized":[119],"version":[120],"consensus":[124,222],"(that":[126],"includes":[127],"voting":[128],"mediation)":[130],"undirected":[132],"network":[133],"topologies":[134],"presence":[138],"\u201cinfrequent\u201d":[140],"We":[143],"present":[144],"rigorously":[146],"analyze":[147],"tunable,":[149],"semi-hierarchical":[150,202],"algorithm,":[151],"where":[152],"tuning":[154],"parameter":[155],"allows":[156],"graceful":[158],"transition":[159],"from":[160,182],"communication-optimal":[163],"performance":[164,168],"(hence,":[165],"allowing":[166],"hybrid":[167],"metrics),":[169],"determines":[171],"algorithm's":[173],"robustness,":[174],"measured":[175],"as":[176],"required":[179],"recover":[181],"failure.":[184],"An":[185],"interesting":[186],"feature":[187],"our":[189],"algorithm":[190],"is":[191,210],"it":[193],"leads":[194],"agents":[197],"self-organize":[199],"into":[200],"structure":[203],"with":[204],"variable-size":[205],"clusters,":[206],"among":[207],"which":[208],"flooded.":[211],"Our":[212],"results":[213],"make":[214],"use":[215],"novel":[218],"connection":[219],"theory":[226],"gamma":[228],"synchronizers.":[229],"Simulation":[230],"experiments":[231],"presented":[233],"discussed.":[235]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
