{"id":"https://openalex.org/W2030026689","doi":"https://doi.org/10.1109/cdc.2011.6160632","title":"Distributed-infrastructure multi-robot routing using a Helmholtz-Hodge decomposition","display_name":"Distributed-infrastructure multi-robot routing using a Helmholtz-Hodge decomposition","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2030026689","doi":"https://doi.org/10.1109/cdc.2011.6160632","mag":"2030026689"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2011.6160632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160632","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","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/A5070048377","display_name":"Peter Kingston","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":"Peter Kingston","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, USA","School of Electrical and Computer Engineering, Georgia Institute of Technology, , USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, , USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091125105","display_name":"Magnus Egerstedt","orcid":"https://orcid.org/0000-0003-4213-5299"},"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":"Magnus Egerstedt","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, USA","School of Electrical and Computer Engineering, Georgia Institute of Technology, , USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, , USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":0.572,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.58231135,"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":"5281","last_page":"5286"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9983999729156494,"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":0.9983999729156494,"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/T12536","display_name":"Topological and Geometric Data Analysis","score":0.9969000220298767,"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"}},{"id":"https://openalex.org/T12056","display_name":"Markov Chains and Monte Carlo Methods","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2613","display_name":"Statistics and Probability"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.6305747032165527},{"id":"https://openalex.org/keywords/helmholtz-free-energy","display_name":"Helmholtz free energy","score":0.6040059328079224},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5720292329788208},{"id":"https://openalex.org/keywords/routing","display_name":"Routing (electronic design automation)","score":0.5679289102554321},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5464353561401367},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4878711700439453},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.46616464853286743},{"id":"https://openalex.org/keywords/compressibility","display_name":"Compressibility","score":0.4639233350753784},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3741971552371979},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.32479166984558105},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24547484517097473},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.161959707736969},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15017738938331604},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.11789366602897644},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10391685366630554},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08441200852394104},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.08297917246818542},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.08290320634841919},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0795537531375885}],"concepts":[{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.6305747032165527},{"id":"https://openalex.org/C27592594","wikidata":"https://www.wikidata.org/wiki/Q865821","display_name":"Helmholtz free energy","level":2,"score":0.6040059328079224},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5720292329788208},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.5679289102554321},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5464353561401367},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4878711700439453},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.46616464853286743},{"id":"https://openalex.org/C84655787","wikidata":"https://www.wikidata.org/wiki/Q8067817","display_name":"Compressibility","level":2,"score":0.4639233350753784},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3741971552371979},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.32479166984558105},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24547484517097473},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.161959707736969},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15017738938331604},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11789366602897644},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10391685366630554},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08441200852394104},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.08297917246818542},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.08290320634841919},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0795537531375885},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2011.6160632","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2011.6160632","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Conference on Decision and Control and European Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:smartech.gatech.edu:1853/42396","is_oa":false,"landing_page_url":"http://repository.gatech.edu/bitstreams/1ddd59db-3f0f-4a43-9d7f-9a90992167e6/download","pdf_url":null,"source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Proceedings"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.6299999952316284,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W310261224","https://openalex.org/W613360614","https://openalex.org/W1496383623","https://openalex.org/W1557324374","https://openalex.org/W2042581906","https://openalex.org/W2046090405","https://openalex.org/W2092929058","https://openalex.org/W2112097268","https://openalex.org/W2120103450","https://openalex.org/W2129488612","https://openalex.org/W2129691495","https://openalex.org/W2130406232","https://openalex.org/W2130458586","https://openalex.org/W2130461596","https://openalex.org/W2157068344","https://openalex.org/W2166496101","https://openalex.org/W2170628019","https://openalex.org/W2295821368","https://openalex.org/W2486762503","https://openalex.org/W2522713558","https://openalex.org/W2798588639","https://openalex.org/W3040586665","https://openalex.org/W4246047487","https://openalex.org/W4246185210","https://openalex.org/W6661380342","https://openalex.org/W6684510209"],"related_works":["https://openalex.org/W2012983134","https://openalex.org/W4388599312","https://openalex.org/W2053355289","https://openalex.org/W2092968426","https://openalex.org/W2368811332","https://openalex.org/W4205276374","https://openalex.org/W2090218458","https://openalex.org/W2540416959","https://openalex.org/W2390251251","https://openalex.org/W1992180138"],"abstract_inverted_index":{"Using":[0],"graphs":[1],"and":[2,54],"simplicial":[3],"complexes":[4],"as":[5],"models":[6],"for":[7,51],"an":[8],"environment":[9],"containing":[10],"a":[11,55,69],"large":[12],"number":[13],"of":[14],"agents,":[15,53],"we":[16],"provide":[17],"distributed":[18,70],"algorithms":[19],"based":[20],"on":[21,30],"the":[22,39,52,65],"Helmholtz-Hodge":[23],"decomposition":[24],"that,":[25],"given":[26],"desired":[27],"flow":[28],"rates":[29],"edges":[31],"or":[32],"across":[33],"faces,":[34],"produce":[35,48],"incompressible":[36],"approximations":[37],"to":[38,47],"specified":[40],"flows.":[41],"These":[42],"flows":[43],"are":[44],"then":[45],"\u201clifted\u201d":[46],"hybrid":[49],"controllers":[50],"related":[56],"algorithm":[57],"is":[58],"described":[59],"that":[60],"computes":[61],"continuous":[62],"streamfunctions":[63],"over":[64],"environment,":[66],"also":[67],"in":[68],"way.":[71]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}