{"id":"https://openalex.org/W4312453053","doi":"https://doi.org/10.1109/case49997.2022.9926658","title":"Reactive Task Allocation and Planning for Quadrupedal and Wheeled Robot Teaming","display_name":"Reactive Task Allocation and Planning for Quadrupedal and Wheeled Robot Teaming","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W4312453053","doi":"https://doi.org/10.1109/case49997.2022.9926658"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926658","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926658","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5062633180","display_name":"Ziyi Zhou","orcid":"https://orcid.org/0000-0003-1589-0598"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ziyi Zhou","raw_affiliation_strings":["Georgia Institute of Technology,Laboratory for Intelligent Decision and Autonomous Robots,Woodruff School of Mechanical Engineering","Woodruff School of Mechanical Engineering, Laboratory for Intelligent Decision and Autonomous Robots, Georgia Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Laboratory for Intelligent Decision and Autonomous Robots,Woodruff School of Mechanical Engineering","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Laboratory for Intelligent Decision and Autonomous Robots, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022913791","display_name":"Dong Jae Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dong Jae Lee","raw_affiliation_strings":["Georgia Institute of Technology,Laboratory for Intelligent Decision and Autonomous Robots,Woodruff School of Mechanical Engineering","Woodruff School of Mechanical Engineering, Laboratory for Intelligent Decision and Autonomous Robots, Georgia Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Laboratory for Intelligent Decision and Autonomous Robots,Woodruff School of Mechanical Engineering","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Laboratory for Intelligent Decision and Autonomous Robots, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036044119","display_name":"Yuki Yoshinaga","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuki Yoshinaga","raw_affiliation_strings":["Georgia Institute of Technology,Laboratory for Intelligent Decision and Autonomous Robots,Woodruff School of Mechanical Engineering","Woodruff School of Mechanical Engineering, Laboratory for Intelligent Decision and Autonomous Robots, Georgia Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Laboratory for Intelligent Decision and Autonomous Robots,Woodruff School of Mechanical Engineering","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Laboratory for Intelligent Decision and Autonomous Robots, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039353529","display_name":"Stephen Balakirsky","orcid":"https://orcid.org/0000-0003-0757-6152"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4388482740","display_name":"Georgia Tech Research Institute","ror":"https://ror.org/04qfrh333","country_code":null,"type":"facility","lineage":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen Balakirsky","raw_affiliation_strings":["Georgia Tech Research Institute,Atlanta,GA,30318"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Tech Research Institute,Atlanta,GA,30318","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Dejun Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dejun Guo","raw_affiliation_strings":["UBTECH North America Research and Development Center Corporation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UBTECH North America Research and Development Center Corporation","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023643969","display_name":"Ye Zhao","orcid":"https://orcid.org/0000-0001-6402-5416"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ye Zhao","raw_affiliation_strings":["Georgia Institute of Technology,Laboratory for Intelligent Decision and Autonomous Robots,Woodruff School of Mechanical Engineering","Woodruff School of Mechanical Engineering, Laboratory for Intelligent Decision and Autonomous Robots, Georgia Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Laboratory for Intelligent Decision and Autonomous Robots,Woodruff School of Mechanical Engineering","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Woodruff School of Mechanical Engineering, Laboratory for Intelligent Decision and Autonomous Robots, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2110","last_page":"2117"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9983000159263611,"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/T10142","display_name":"Formal Methods in Verification","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/robot","display_name":"Robot","score":0.7807475328445435},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.736547589302063},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.703417181968689},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6121611595153809},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.5163344144821167},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5020408630371094},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4864904284477234},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4827248752117157},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4611762762069702},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4103408753871918},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4044872224330902},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33648115396499634},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31569892168045044},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1850823163986206},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09696504473686218}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7807475328445435},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.736547589302063},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.703417181968689},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6121611595153809},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.5163344144821167},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5020408630371094},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4864904284477234},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4827248752117157},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4611762762069702},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4103408753871918},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4044872224330902},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33648115396499634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31569892168045044},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1850823163986206},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09696504473686218},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case49997.2022.9926658","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926658","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W2004620590","https://openalex.org/W2023808162","https://openalex.org/W2035134636","https://openalex.org/W2077245982","https://openalex.org/W2077578897","https://openalex.org/W2086807633","https://openalex.org/W2094467916","https://openalex.org/W2117211893","https://openalex.org/W2151958719","https://openalex.org/W2169240708","https://openalex.org/W2267863633","https://openalex.org/W2343223723","https://openalex.org/W2517787242","https://openalex.org/W2537236083","https://openalex.org/W2548961765","https://openalex.org/W2737109631","https://openalex.org/W2737617799","https://openalex.org/W2753034999","https://openalex.org/W2784322399","https://openalex.org/W2789239344","https://openalex.org/W2803090783","https://openalex.org/W2804655496","https://openalex.org/W2890809012","https://openalex.org/W2899953468","https://openalex.org/W2909331752","https://openalex.org/W2963352580","https://openalex.org/W2972598790","https://openalex.org/W2972810470","https://openalex.org/W2984964364","https://openalex.org/W3021964239","https://openalex.org/W3045619341","https://openalex.org/W3089553867","https://openalex.org/W3090071260","https://openalex.org/W3100516791","https://openalex.org/W3109424835","https://openalex.org/W3118767158","https://openalex.org/W3119321206","https://openalex.org/W3201690334","https://openalex.org/W3207251292","https://openalex.org/W4300802441","https://openalex.org/W4320059730","https://openalex.org/W6658321654","https://openalex.org/W6668959476","https://openalex.org/W6744292694","https://openalex.org/W6754729781","https://openalex.org/W6767349745","https://openalex.org/W6783244561","https://openalex.org/W6788131053"],"related_works":["https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W56933075","https://openalex.org/W2381278952","https://openalex.org/W2146449547","https://openalex.org/W618994464","https://openalex.org/W2118356379","https://openalex.org/W2147214437"],"abstract_inverted_index":{"This":[0],"paper":[1],"takes":[2],"the":[3,50,75,98,101,110,120,138],"first":[4],"step":[5],"towards":[6],"a":[7,17,34,39,115,126,156,161],"reactive,":[8],"hierarchical":[9],"multi-robot":[10],"task":[11,105,121],"allocation":[12],"and":[13,28,43,72,85,136,168],"planning":[14,149],"framework":[15],"given":[16],"global":[18,86],"Linear":[19],"Temporal":[20],"Logic":[21],"specification.":[22],"The":[23],"capabilities":[24],"of":[25,41,61,100,134,166],"both":[26],"quadrupedal":[27],"wheeled":[29,169],"robots":[30,54,170],"are":[31,153],"leveraged":[32],"via":[33],"heterogeneous":[35,162],"team":[36,164],"to":[37,58,67,89,141],"accomplish":[38],"variety":[40],"navigation":[42],"delivery":[44,172],"tasks.":[45,173],"However,":[46],"when":[47],"deployed":[48],"in":[49,155],"real":[51],"world,":[52],"all":[53],"can":[55],"be":[56],"susceptible":[57],"different":[59,132],"types":[60,133],"disturbances,":[62,80],"including":[63],"but":[64],"not":[65],"limited":[66],"locomotion":[68],"failures,":[69],"human":[70],"interventions,":[71],"obstructions":[73],"from":[74],"environment.":[76],"To":[77,118,146],"address":[78],"these":[79],"we":[81],"propose":[82],"task-level":[83],"local":[84],"reallocation":[87,106,139],"strategies":[88],"efficiently":[90],"generate":[91],"updated":[92],"action-state":[93],"sequences":[94],"online":[95],"while":[96],"guaranteeing":[97],"completion":[99],"original":[102],"task.":[103,117],"These":[104],"approaches":[107],"eliminate":[108],"reconstructing":[109],"entire":[111],"plan":[112],"or":[113],"resynthesizing":[114],"new":[116],"integrate":[119],"planner":[122],"with":[123,160],"low-level":[124],"inputs,":[125],"Behavior":[127],"Tree":[128],"execution":[129],"layer":[130],"monitors":[131],"disturbances":[135],"employs":[137],"methods":[140],"make":[142],"corresponding":[143],"recovery":[144],"strategies.":[145],"evaluate":[147],"this":[148],"framework,":[150],"dynamic":[151],"simulations":[152],"conducted":[154],"realistic":[157],"hospital":[158],"environment":[159],"robot":[163],"consisting":[165],"quadrupeds":[167],"for":[171]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
