{"id":"https://openalex.org/W2913325211","doi":"https://doi.org/10.1109/cdc.2018.8618922","title":"Temporal Logic Optimal Control for Large-Scale Multi-Robot Systems: 10<sup>400</sup> States and Beyond","display_name":"Temporal Logic Optimal Control for Large-Scale Multi-Robot Systems: 10<sup>400</sup> States and Beyond","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2913325211","doi":"https://doi.org/10.1109/cdc.2018.8618922","mag":"2913325211"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2018.8618922","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2018.8618922","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Conference on Decision and Control (CDC)","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/A5014874021","display_name":"Yiannis Kantaros","orcid":"https://orcid.org/0000-0002-0257-7378"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yiannis Kantaros","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080808780","display_name":"Michael M. Zavlanos","orcid":"https://orcid.org/0000-0003-1748-8228"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael M. Zavlanos","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, Duke University, Durham, NC, USA","institution_ids":["https://openalex.org/I170897317"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I170897317"],"apc_list":null,"apc_paid":null,"fwci":1.9299,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.88316074,"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":"2519","last_page":"2524"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9998999834060669,"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/T11450","display_name":"Model-Driven Software Engineering Techniques","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/automaton","display_name":"Automaton","score":0.6205032467842102},{"id":"https://openalex.org/keywords/temporal-logic","display_name":"Temporal logic","score":0.6168222427368164},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6065394282341003},{"id":"https://openalex.org/keywords/b\u00fcchi-automaton","display_name":"B\u00fcchi automaton","score":0.5984666347503662},{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.5880900025367737},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5333103537559509},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.4887950122356415},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.46825796365737915},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4497131109237671},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4214451014995575},{"id":"https://openalex.org/keywords/product","display_name":"Product (mathematics)","score":0.41341403126716614},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3858166038990021},{"id":"https://openalex.org/keywords/deterministic-automaton","display_name":"Deterministic automaton","score":0.2676530182361603},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24928799271583557},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2284495234489441}],"concepts":[{"id":"https://openalex.org/C112505250","wikidata":"https://www.wikidata.org/wiki/Q787116","display_name":"Automaton","level":2,"score":0.6205032467842102},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.6168222427368164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6065394282341003},{"id":"https://openalex.org/C165753454","wikidata":"https://www.wikidata.org/wiki/Q1020380","display_name":"B\u00fcchi automaton","level":4,"score":0.5984666347503662},{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.5880900025367737},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5333103537559509},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.4887950122356415},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.46825796365737915},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4497131109237671},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4214451014995575},{"id":"https://openalex.org/C90673727","wikidata":"https://www.wikidata.org/wiki/Q901718","display_name":"Product (mathematics)","level":2,"score":0.41341403126716614},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3858166038990021},{"id":"https://openalex.org/C194525867","wikidata":"https://www.wikidata.org/wiki/Q5265707","display_name":"Deterministic automaton","level":3,"score":0.2676530182361603},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24928799271583557},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2284495234489441},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2018.8618922","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2018.8618922","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.47999998927116394,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W233122475","https://openalex.org/W1489391022","https://openalex.org/W1498432697","https://openalex.org/W1499948104","https://openalex.org/W2019881090","https://openalex.org/W2077245982","https://openalex.org/W2607319504","https://openalex.org/W2798923485","https://openalex.org/W2963117388","https://openalex.org/W6609061849","https://openalex.org/W6655221434","https://openalex.org/W6739554287"],"related_works":["https://openalex.org/W2108751562","https://openalex.org/W2153551293","https://openalex.org/W2110468917","https://openalex.org/W1513159096","https://openalex.org/W2338673411","https://openalex.org/W1604890813","https://openalex.org/W2359102888","https://openalex.org/W1967076997","https://openalex.org/W2283260145","https://openalex.org/W2362494442"],"abstract_inverted_index":{"This":[0,105],"paper":[1],"proposes":[2],"a":[3,31,45],"new":[4],"optimal":[5,110],"control":[6],"synthesis":[7],"algorithm":[8,49,135],"for":[9],"multi-robot":[10],"systems":[11],"with":[12,21,116],"Linear":[13],"Temporal":[14],"Logic":[15],"(LTL)":[16],"specifications.":[17],"Existing":[18],"planning":[19],"approaches":[20],"LTL":[22],"specifications":[23],"rely":[24],"on":[25],"graph":[26,70],"search":[27,71],"techniques":[28],"applied":[29],"to":[30,97,101,108],"product":[32,63,114],"automaton":[33,64,94],"constructed":[34],"among":[35],"the":[36,56,61,83,92,98,102,133],"robots.":[37],"In":[38],"our":[39,76],"previous":[40,77],"work,":[41],"we":[42,74],"have":[43],"proposed":[44,134],"more":[46,120],"tractable":[47],"sampling-based":[48],"that":[50,54,95,124,132],"builds":[51],"incrementally":[52],"trees":[53],"approximate":[55],"state-space":[57],"and":[58,65,139],"transitions":[59,90],"of":[60,118],"synchronous":[62],"does":[66],"not":[67],"require":[68],"sophisticated":[69],"techniques.":[72],"Here,":[73],"extend":[75],"work":[78],"by":[79,89],"introducing":[80],"bias":[81],"in":[82,91],"sampling":[84],"process":[85],"which":[86],"is":[87,136],"guided":[88],"B\u00fcchi":[93],"belong":[96],"shortest":[99],"path":[100],"accepting":[103],"states.":[104],"allows":[106],"us":[107],"synthesize":[109],"motion":[111],"plans":[112],"from":[113],"automata":[115],"hundreds":[117],"orders":[119],"states":[121],"than":[122],"those":[123],"state-of-the-art":[125],"methods":[126],"can":[127],"manipulate.":[128],"We":[129],"also":[130],"show":[131],"probabilistically":[137],"complete":[138],"asymptotically":[140],"optimal.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}