{"id":"https://openalex.org/W2973719077","doi":"https://doi.org/10.1109/coase.2019.8842978","title":"Optimal Control of a Fleet of AGVs on a Rectangular Grid: a MILP-based Approach","display_name":"Optimal Control of a Fleet of AGVs on a Rectangular Grid: a MILP-based Approach","publication_year":2019,"publication_date":"2019-08-01","ids":{"openalex":"https://openalex.org/W2973719077","doi":"https://doi.org/10.1109/coase.2019.8842978","mag":"2973719077"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2019.8842978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2019.8842978","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","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/A5033448563","display_name":"Jingjie Jiang","orcid":"https://orcid.org/0000-0002-2199-0301"},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jingjie Jiang","raw_affiliation_strings":["Future of Automation Department at Corporate Technology, Siemens AG in Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Future of Automation Department at Corporate Technology, Siemens AG in Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036364390","display_name":"Dragan Obradovi\u0107","orcid":"https://orcid.org/0000-0001-5871-6958"},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dragan Obradovic","raw_affiliation_strings":["Future of Automation Department at Corporate Technology, Siemens AG in Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Future of Automation Department at Corporate Technology, Siemens AG in Munich, Germany","institution_ids":["https://openalex.org/I1325886976"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1325886976"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1054","last_page":"1059"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.9854999780654907,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/mathematical-optimization","display_name":"Mathematical optimization","score":0.7325128316879272},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6041769981384277},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5865452885627747},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5809632539749146},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.5809140205383301},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5529678463935852},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.5418283939361572},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.505352795124054},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4930824935436249},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4900866746902466},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.48551082611083984},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.4582348167896271},{"id":"https://openalex.org/keywords/parametric-programming","display_name":"Parametric programming","score":0.41857436299324036},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2654620409011841},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07774844765663147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07011890411376953}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.7325128316879272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6041769981384277},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5865452885627747},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5809632539749146},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.5809140205383301},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5529678463935852},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.5418283939361572},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.505352795124054},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4930824935436249},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4900866746902466},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.48551082611083984},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.4582348167896271},{"id":"https://openalex.org/C2776045410","wikidata":"https://www.wikidata.org/wiki/Q25111241","display_name":"Parametric programming","level":3,"score":0.41857436299324036},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2654620409011841},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07774844765663147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07011890411376953},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2019.8842978","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2019.8842978","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"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":20,"referenced_works":["https://openalex.org/W1519191737","https://openalex.org/W1549280300","https://openalex.org/W1551562380","https://openalex.org/W1970350087","https://openalex.org/W1994650215","https://openalex.org/W2001922882","https://openalex.org/W2025582715","https://openalex.org/W2084729186","https://openalex.org/W2123030512","https://openalex.org/W2136644454","https://openalex.org/W2145493798","https://openalex.org/W2147541698","https://openalex.org/W2169742265","https://openalex.org/W2241553860","https://openalex.org/W2399153727","https://openalex.org/W2416787247","https://openalex.org/W2522427587","https://openalex.org/W2783605797","https://openalex.org/W2792991645","https://openalex.org/W2795890315"],"related_works":["https://openalex.org/W4285278887","https://openalex.org/W2365237642","https://openalex.org/W2995925505","https://openalex.org/W3116484972","https://openalex.org/W2941986668","https://openalex.org/W4232431455","https://openalex.org/W2090839948","https://openalex.org/W1990380242","https://openalex.org/W2772367608","https://openalex.org/W2047956094"],"abstract_inverted_index":{"Path":[0],"planning":[1,23,163],"for":[2,9,26],"Automated":[3],"Guided":[4],"Vehicles":[5],"(AGVs)":[6],"is":[7,40,167],"crucial":[8],"transportation":[10],"efficiency":[11],"in":[12],"modern":[13],"ware-houses.":[14],"This":[15],"paper":[16],"focuses":[17],"on":[18,31,169],"the":[19,73,79,84,87,94,111,114,139],"problem":[20,60,91,120,128,145,160],"of":[21,29,37,56,96,113,134,157,164],"simultaneously":[22],"minimum-time":[24],"paths":[25],"a":[27,32,43,68,122,131],"fleet":[28],"AGVs":[30,166],"two-dimensional":[33],"grid.":[34],"The":[35,143,155],"dynamics":[36,82],"each":[38],"AGV":[39,81],"modeled":[41],"as":[42,121],"double":[44],"integrator":[45],"with":[46],"finite":[47],"acceleration":[48],"and":[49,83],"limited":[50],"maximum":[51],"speed.":[52],"Since":[53],"analytic":[54],"solution":[55],"this":[57,119],"optimal":[58,153],"control":[59,140],"does":[61],"not":[62],"exist,":[63],"we":[64,117],"transform":[65],"it":[66],"into":[67],"parametric":[69,89],"optimization":[70,90,159],"by":[71,129],"applying":[72],"Zero-Order-Hold":[74],"(ZOH)":[75],"control.":[76],"Due":[77],"to":[78,93,105,109,151,161],"continuous":[80],"nonlinear":[85],"constraints,":[86],"obtained":[88],"belongs":[92],"class":[95],"Nonlinear":[97],"Programming":[98,126],"(NLP)":[99],"problems":[100],"which":[101],"are":[102],"very":[103],"difficult":[104],"solve.":[106],"In":[107],"order":[108],"circumvent":[110],"pitfalls":[112],"NLP-problem":[115],"formulation,":[116,146],"reformulate":[118],"Mixed":[123],"Integer":[124],"Linear":[125],"(MILP)":[127],"introducing":[130],"necessary":[132],"number":[133],"discrete":[135],"variables":[136,141],"while":[137],"keeping":[138],"continuous.":[142],"MILP":[144,158],"if":[147],"feasible,":[148],"always":[149],"leads":[150],"an":[152,170],"solution.":[154],"application":[156],"path":[162],"several":[165],"illustrated":[168],"appropriate":[171],"example.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}