{"id":"https://openalex.org/W2963552032","doi":"https://doi.org/10.1109/coase.2015.7294106","title":"DisCoF&lt;sup&gt;&amp;#x002B;&lt;/sup&gt;: Asynchronous DisCoF with flexible decoupling for cooperative pathfinding in distributed systems","display_name":"DisCoF&lt;sup&gt;&amp;#x002B;&lt;/sup&gt;: Asynchronous DisCoF with flexible decoupling for cooperative pathfinding in distributed systems","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W2963552032","doi":"https://doi.org/10.1109/coase.2015.7294106","mag":"2963552032"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2015.7294106","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2015.7294106","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Automation Science and Engineering (CASE)","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/A5036574492","display_name":"Kangjin Kim","orcid":"https://orcid.org/0000-0002-3966-3309"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kangjin Kim","raw_affiliation_strings":["Informatics and Decision Systems Engineering, Arizona State University, Tempe, AZ, USA"],"affiliations":[{"raw_affiliation_string":"Informatics and Decision Systems Engineering, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079598896","display_name":"Joe C. Campbell","orcid":"https://orcid.org/0000-0001-6812-7647"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joe Campbell","raw_affiliation_strings":["Informatics and Decision Systems Engineering, Arizona State University, Tempe, AZ, USA"],"affiliations":[{"raw_affiliation_string":"Informatics and Decision Systems Engineering, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039901172","display_name":"William Duong","orcid":null},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William Duong","raw_affiliation_strings":["Informatics and Decision Systems Engineering, Arizona State University, Tempe, AZ, USA"],"affiliations":[{"raw_affiliation_string":"Informatics and Decision Systems Engineering, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100433372","display_name":"Yu Zhang","orcid":"https://orcid.org/0000-0001-5728-7645"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["Informatics and Decision Systems Engineering, Arizona State University, Tempe, AZ, USA"],"affiliations":[{"raw_affiliation_string":"Informatics and Decision Systems Engineering, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058732387","display_name":"Georgios Fainekos","orcid":"https://orcid.org/0000-0002-0456-2129"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Georgios Fainekos","raw_affiliation_strings":["Informatics and Decision Systems Engineering, Arizona State University, Tempe, AZ, USA"],"affiliations":[{"raw_affiliation_string":"Informatics and Decision Systems Engineering, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5036574492"],"corresponding_institution_ids":["https://openalex.org/I55732556"],"apc_list":null,"apc_paid":null,"fwci":0.1841,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.64637701,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"369","last_page":"376"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/asynchronous-communication","display_name":"Asynchronous communication","score":0.8196920156478882},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.6717139482498169},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6634290218353271},{"id":"https://openalex.org/keywords/pathfinding","display_name":"Pathfinding","score":0.6629307270050049},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5777089595794678},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.43922722339630127},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37350934743881226},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.34318867325782776},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.17525354027748108},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.13110694289207458},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1035696268081665},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.08081987500190735}],"concepts":[{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.8196920156478882},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.6717139482498169},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6634290218353271},{"id":"https://openalex.org/C25321074","wikidata":"https://www.wikidata.org/wiki/Q1969601","display_name":"Pathfinding","level":4,"score":0.6629307270050049},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5777089595794678},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.43922722339630127},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37350934743881226},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.34318867325782776},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.17525354027748108},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.13110694289207458},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1035696268081665},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.08081987500190735},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2015.7294106","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2015.7294106","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W92902385","https://openalex.org/W119150805","https://openalex.org/W146776796","https://openalex.org/W1530765895","https://openalex.org/W1551299901","https://openalex.org/W1551562380","https://openalex.org/W1609676526","https://openalex.org/W1989407213","https://openalex.org/W1993436019","https://openalex.org/W1998058859","https://openalex.org/W2005600449","https://openalex.org/W2017332349","https://openalex.org/W2021431021","https://openalex.org/W2032175402","https://openalex.org/W2072839015","https://openalex.org/W2113832842","https://openalex.org/W2137651302","https://openalex.org/W2158883244","https://openalex.org/W2399153727","https://openalex.org/W2463574373","https://openalex.org/W2914296650","https://openalex.org/W2963309123","https://openalex.org/W6603757628","https://openalex.org/W6604858078","https://openalex.org/W6631783260","https://openalex.org/W6636494376","https://openalex.org/W6676976462","https://openalex.org/W6680701603","https://openalex.org/W6712589207","https://openalex.org/W6719131230","https://openalex.org/W6758754608"],"related_works":["https://openalex.org/W4285687848","https://openalex.org/W4289994039","https://openalex.org/W2240526870","https://openalex.org/W3100156731","https://openalex.org/W2623016776","https://openalex.org/W1967962134","https://openalex.org/W3128311703","https://openalex.org/W3101047024","https://openalex.org/W131718761","https://openalex.org/W2387449920"],"abstract_inverted_index":{"In":[0,128],"our":[1,159,168],"prior":[2,24],"work,":[3],"we":[4,131,157,177],"outlined":[5],"an":[6,79,90,142],"approach,":[7],"named":[8],"DisCoF,":[9,55],"for":[10,153],"cooperative":[11,27],"pathfinding":[12,28],"in":[13,54,71,89,111,172,185],"distributed":[14,72,125,169],"systems":[15],"with":[16,29,124,183],"limited":[17],"sensing":[18,100],"and":[19,38,101,190],"communication":[20,37,102],"range.":[21,103],"Contrasting":[22],"to":[23,35,113,122],"works":[25],"on":[26],"completeness":[30],"guarantees":[31],"which":[32,66,118,137],"assume":[33],"access":[34],"global":[36],"coordination,":[39],"DisCoF":[40,77,112,133,139,162,179,184],"does":[41],"not":[42,59],"make":[43],"this":[44,129],"assumption.":[45],"The":[46],"implication":[47],"is":[48,67],"that":[49,95],"at":[50],"any":[51],"given":[52],"time":[53],"the":[56,69,173],"robots":[57,94,152],"may":[58],"all":[60],"be":[61,87,120],"aware":[62],"of":[63,161,187],"each":[64,98],"other":[65],"often":[68],"case":[70],"systems.":[73],"As":[74],"a":[75,107,115],"result,":[76],"represents":[78],"inherently":[80],"online":[81],"approach":[82],"since":[83],"coordination":[84],"can":[85],"only":[86],"realized":[88],"opportunistic":[91],"manner":[92],"between":[93,151],"are":[96,106],"within":[97],"other's":[99],"However,":[104],"there":[105],"few":[108],"assumptions":[109],"made":[110],"facilitate":[114],"formal":[116],"analysis":[117],"must":[119],"removed":[121],"work":[123],"multi-robot":[126,170],"platforms.":[127],"paper,":[130],"present":[132],"<sup":[134,163,180],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[135,164,181],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">+</sup>":[136,165,182],"extends":[138],"by":[140,166],"enabling":[141],"asynchronous":[143],"solution,":[144],"as":[145,147],"well":[146],"providing":[148],"flexible":[149],"decoupling":[150],"performance":[154],"improvement.":[155],"Furthermore,":[156],"evaluate":[158],"implementation":[160],"implementing":[167],"algorithm":[171],"Webots":[174],"simulator.":[175],"Finally,":[176],"compare":[178],"terms":[186],"plan":[188],"quality":[189],"planning":[191],"performance.":[192]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
