{"id":"https://openalex.org/W2899378701","doi":"https://doi.org/10.1109/ccta.2018.8511426","title":"Real-Time Distributed Motion Planning with Submodular Minimization","display_name":"Real-Time Distributed Motion Planning with Submodular Minimization","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2899378701","doi":"https://doi.org/10.1109/ccta.2018.8511426","mag":"2899378701"},"language":"en","primary_location":{"id":"doi:10.1109/ccta.2018.8511426","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2018.8511426","pdf_url":null,"source":{"id":"https://openalex.org/S4306498315","display_name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","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":"2018 IEEE Conference on Control Technology and Applications (CCTA)","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/A5079589088","display_name":"Hassan Jaleel","orcid":"https://orcid.org/0000-0002-6320-6685"},"institutions":[{"id":"https://openalex.org/I71920554","display_name":"King Abdullah University of Science and Technology","ror":"https://ror.org/01q3tbs38","country_code":"SA","type":"education","lineage":["https://openalex.org/I71920554"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Hassan Jaleel","raw_affiliation_strings":["King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi Arabia","institution_ids":["https://openalex.org/I71920554"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025932404","display_name":"Mohamed Abdelkader","orcid":"https://orcid.org/0000-0002-0518-852X"},"institutions":[{"id":"https://openalex.org/I71920554","display_name":"King Abdullah University of Science and Technology","ror":"https://ror.org/01q3tbs38","country_code":"SA","type":"education","lineage":["https://openalex.org/I71920554"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Mohamed Abdelkader","raw_affiliation_strings":["King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi Arabia","institution_ids":["https://openalex.org/I71920554"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028973855","display_name":"Jeff S. Shamma","orcid":"https://orcid.org/0000-0001-5638-9551"},"institutions":[{"id":"https://openalex.org/I71920554","display_name":"King Abdullah University of Science and Technology","ror":"https://ror.org/01q3tbs38","country_code":"SA","type":"education","lineage":["https://openalex.org/I71920554"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Jeff S. Shamma","raw_affiliation_strings":["King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi Arabia","institution_ids":["https://openalex.org/I71920554"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5879,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.83939394,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"885","last_page":"890"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9995999932289124,"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":0.9995999932289124,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9987000226974487,"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":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7059537172317505},{"id":"https://openalex.org/keywords/submodular-set-function","display_name":"Submodular set function","score":0.6202096939086914},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6082243919372559},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5214923620223999},{"id":"https://openalex.org/keywords/autopilot","display_name":"Autopilot","score":0.5192406177520752},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.465899795293808},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.4637352526187897},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3830556273460388},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35732483863830566},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3084731698036194},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2658810615539551},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21860277652740479},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11131620407104492},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10112932324409485}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7059537172317505},{"id":"https://openalex.org/C178621042","wikidata":"https://www.wikidata.org/wiki/Q7631710","display_name":"Submodular set function","level":2,"score":0.6202096939086914},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6082243919372559},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5214923620223999},{"id":"https://openalex.org/C18020424","wikidata":"https://www.wikidata.org/wiki/Q220858","display_name":"Autopilot","level":2,"score":0.5192406177520752},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.465899795293808},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.4637352526187897},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3830556273460388},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35732483863830566},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3084731698036194},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2658810615539551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21860277652740479},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11131620407104492},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10112932324409485},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ccta.2018.8511426","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2018.8511426","pdf_url":null,"source":{"id":"https://openalex.org/S4306498315","display_name":"2018 IEEE Conference on Control Technology and Applications (CCTA)","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":"2018 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.kaust.edu.sa:10754/630606","is_oa":false,"landing_page_url":"http://hdl.handle.net/10754/630606","pdf_url":null,"source":{"id":"https://openalex.org/S4306401596","display_name":"King Abdullah University of Science and Technology Repository (King Abdullah University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I71920554","host_organization_name":"King Abdullah University of Science and Technology","host_organization_lineage":["https://openalex.org/I71920554"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6299999952316284,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1498671329","https://openalex.org/W1530574003","https://openalex.org/W1563826663","https://openalex.org/W1777366632","https://openalex.org/W1910435774","https://openalex.org/W1971086298","https://openalex.org/W1983352678","https://openalex.org/W2070842753","https://openalex.org/W2087421501","https://openalex.org/W2098508993","https://openalex.org/W2110073061","https://openalex.org/W2114791779","https://openalex.org/W2161413792","https://openalex.org/W2757849639","https://openalex.org/W2759474254","https://openalex.org/W2890040388","https://openalex.org/W2963309123","https://openalex.org/W2963719189","https://openalex.org/W4297805498","https://openalex.org/W6631977524","https://openalex.org/W6637859625"],"related_works":["https://openalex.org/W2528333064","https://openalex.org/W2357122534","https://openalex.org/W2148668825","https://openalex.org/W2159456118","https://openalex.org/W4287557383","https://openalex.org/W2268481623","https://openalex.org/W2169677720","https://openalex.org/W2350405024","https://openalex.org/W2366123023","https://openalex.org/W2090743753"],"abstract_inverted_index":{"We":[0,67,89],"present":[1],"a":[2,6,48,69],"real-time":[3,35,166],"implementation":[4],"of":[5,37,56,120,169],"distributed":[7,39,139,167],"motion":[8,40,119,124],"planning":[9],"framework":[10],"that":[11,157],"is":[12,31,62,81,107,112,130],"based":[13],"on":[14,149],"model":[15],"predictive":[16],"control":[17,117,168],"with":[18,86,97],"one":[19],"step":[20],"prediction":[21],"horizon":[22],"and":[23,78,116,140],"submodular":[24,134],"function":[25],"minimization.":[26],"In":[27],"particular,":[28],"our":[29,145],"focus":[30],"to":[32,114],"evaluate":[33],"the":[34,53,58,79,91,100,105,108,118,127,138,158],"performance":[36,44],"this":[38],"coordination":[41],"framework.":[42],"For":[43],"evaluation,":[45],"we":[46,155],"develop":[47,90],"realistic":[49],"simulation":[50,92],"environment":[51],"for":[52,126,165],"challenging":[54],"setup":[55,93],"capture":[57],"flag":[59],"game,":[60],"which":[61,72,111],"played":[63,82],"between":[64],"two":[65],"teams.":[66],"consider":[68],"scenario":[70],"in":[71,83,95,99,104,144],"each":[73,121],"team":[74,129],"has":[75],"four":[76],"quadcopters":[77],"game":[80],"an":[84],"arena":[85],"multiple":[87],"obstacles.":[88],"primarily":[94],"Gazebo":[96],"software":[98,103],"loop.":[101],"The":[102,123],"loop":[106],"autopilot":[109],"software,":[110],"used":[113,163],"stabilize":[115],"quadcopter.":[122],"plan":[125],"defense":[128],"computed":[131],"by":[132],"minimizing":[133],"potential":[135],"functions":[136],"using":[137],"online":[141],"algorithm":[142],"presented":[143],"previous":[146],"work.":[147],"Based":[148],"extensive":[150],"simulations":[151],"under":[152],"various":[153],"conditions,":[154],"verify":[156],"proposed":[159],"approach":[160],"can":[161],"be":[162],"effectively":[164],"multiagent":[170],"systems":[171],"over":[172],"discrete":[173],"input":[174],"space.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
