{"id":"https://openalex.org/W2168606176","doi":"https://doi.org/10.1109/cdc.2007.4435031","title":"Stable multi-particle systems and application in multi-vehicle path planning and coverage","display_name":"Stable multi-particle systems and application in multi-vehicle path planning and coverage","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2168606176","doi":"https://doi.org/10.1109/cdc.2007.4435031","mag":"2168606176"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2007.4435031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4435031","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","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/A5041763869","display_name":"Ali Ahmadzadeh","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ali Ahmadzadeh","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078288116","display_name":"Ali Jadbabaie","orcid":"https://orcid.org/0000-0003-1122-3069"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali Jadbabaie","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102102279","display_name":"Vijay Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029243115","display_name":"George J. Pappas","orcid":"https://orcid.org/0000-0001-9081-0637"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George J. Pappas","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5041763869"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":1.3152,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.83520483,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"178","issue":null,"first_page":"1467","last_page":"1472"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9990000128746033,"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":0.9819999933242798,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.7223556637763977},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6707034707069397},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6637660264968872},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6593428254127502},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6128112077713013},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6084420680999756},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5986698865890503},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5972558259963989},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.585746705532074},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5853770971298218},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4707542061805725},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4253460168838501},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.42101913690567017},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.42075905203819275},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3688669204711914},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26387739181518555},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24797692894935608},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23006626963615417},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1544143259525299}],"concepts":[{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.7223556637763977},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6707034707069397},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6637660264968872},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6593428254127502},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6128112077713013},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6084420680999756},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5986698865890503},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5972558259963989},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.585746705532074},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5853770971298218},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4707542061805725},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4253460168838501},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.42101913690567017},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.42075905203819275},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3688669204711914},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26387739181518555},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24797692894935608},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23006626963615417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1544143259525299},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/cdc.2007.4435031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4435031","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.157.7463","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.157.7463","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.seas.upenn.edu/~pappasg/papers/CDC07-PathPlanning.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1549307772","https://openalex.org/W1565212980","https://openalex.org/W1592648094","https://openalex.org/W1908826674","https://openalex.org/W1960239420","https://openalex.org/W2074723184","https://openalex.org/W2126479355","https://openalex.org/W2127984952","https://openalex.org/W2148993855","https://openalex.org/W2160872403","https://openalex.org/W2167485994","https://openalex.org/W2313274380","https://openalex.org/W4238000550","https://openalex.org/W6640912469","https://openalex.org/W6819731828"],"related_works":["https://openalex.org/W2802540229","https://openalex.org/W2032198329","https://openalex.org/W1874066705","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W4381746183","https://openalex.org/W2135584875","https://openalex.org/W2383775285"],"abstract_inverted_index":{"We":[0,76],"present":[1],"a":[2,10,70,117],"path":[3],"planning":[4],"algorithm":[5,23],"for":[6,24],"cooperative":[7],"coverage":[8,32,122],"using":[9,59],"set":[11],"of":[12,27,54,57,61,103,111],"nonholonomic":[13],"autonomous":[14],"vehicles.":[15],"The":[16],"paper":[17],"describes":[18],"our":[19],"overall":[20],"framework":[21],"and":[22,41,45,64],"the":[25,55,74,81,85,93,97,101,104,112,121],"computation":[26],"trajectories":[28,56,94],"that":[29,84],"maximize":[30],"spatio-temporal":[31],"while":[33,115],"satisfying":[34],"hard":[35,113],"constraints":[36],"such":[37,83],"as":[38,69],"collision":[39],"avoidance":[40],"specifications":[42],"on":[43,52],"initial":[44],"final":[46],"positions.":[47],"Our":[48],"approach":[49],"is":[50],"based":[51],"approximation":[53],"vehicles":[58],"sequence":[60],"way":[62,67,98],"points":[63,99],"treating":[65],"each":[66],"point":[68],"moving":[71],"particle":[72,106],"in":[73,100],"space.":[75],"defines":[77],"interaction":[78],"forces":[79],"between":[80],"particles":[82],"resulting":[86],"multi-particle":[87],"system":[88,107],"will":[89,108],"be":[90],"stable,":[91],"moreover,":[92],"generated":[95],"by":[96],"equilibria":[102],"multi-":[105],"satisfy":[109],"all":[110],"constraint":[114],"generating":[116],"suboptimal":[118],"solution":[119],"to":[120],"problem.":[123]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
