{"id":"https://openalex.org/W2029870695","doi":"https://doi.org/10.1109/etfa.2013.6647973","title":"Distributed multi-level motion planning for autonomous vehicles in large scale industrial environments","display_name":"Distributed multi-level motion planning for autonomous vehicles in large scale industrial environments","publication_year":2013,"publication_date":"2013-09-01","ids":{"openalex":"https://openalex.org/W2029870695","doi":"https://doi.org/10.1109/etfa.2013.6647973","mag":"2029870695"},"language":"en","primary_location":{"id":"doi:10.1109/etfa.2013.6647973","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2013.6647973","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","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/A5052723791","display_name":"Lorenzo Cancemi","orcid":null},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Cancemi","raw_affiliation_strings":["Interdepart. Research Center E. Piaggio and Department of Information Engineering, University of Pisa, Italy","Department of Information Engineering, University of Pisa, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interdepart. Research Center E. Piaggio and Department of Information Engineering, University of Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Department of Information Engineering, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070192940","display_name":"Adriano Fagiolini","orcid":"https://orcid.org/0000-0001-9943-1975"},"institutions":[{"id":"https://openalex.org/I900890020","display_name":"University of Palermo","ror":"https://ror.org/044k9ta02","country_code":"IT","type":"education","lineage":["https://openalex.org/I900890020"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Adriano Fagiolini","raw_affiliation_strings":["Department of Energy, Information Engineering, and Mathematical Models, University of Palermo, Italy","Dept. of Energy, Inf. Eng. & Math. Models, Univ. of Palermo, Palermo, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Energy, Information Engineering, and Mathematical Models, University of Palermo, Italy","institution_ids":["https://openalex.org/I900890020"]},{"raw_affiliation_string":"Dept. of Energy, Inf. Eng. & Math. Models, Univ. of Palermo, Palermo, Italy","institution_ids":["https://openalex.org/I900890020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003804011","display_name":"Lucia Pallottino","orcid":"https://orcid.org/0000-0002-9480-8857"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lucia Pallottino","raw_affiliation_strings":["Interdepart. Research Center E. Piaggio and Department of Information Engineering, University of Pisa, Italy","Department of Information Engineering, University of Pisa, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interdepart. Research Center E. Piaggio and Department of Information Engineering, University of Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Department of Information Engineering, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"18","issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"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":0.9983000159263611,"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":0.9980999827384949,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9934999942779541,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7706899642944336},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.759766697883606},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6490370035171509},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6190449595451355},{"id":"https://openalex.org/keywords/deadlock","display_name":"Deadlock","score":0.6147226691246033},{"id":"https://openalex.org/keywords/resource","display_name":"Resource (disambiguation)","score":0.4629671573638916},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.44027137756347656},{"id":"https://openalex.org/keywords/resource-management","display_name":"Resource management (computing)","score":0.4364456534385681},{"id":"https://openalex.org/keywords/distributed-algorithm","display_name":"Distributed algorithm","score":0.4348664879798889},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4311586916446686},{"id":"https://openalex.org/keywords/resource-allocation","display_name":"Resource allocation","score":0.4215690493583679},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.418877512216568},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3615182042121887},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.2548956573009491},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21482151746749878}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7706899642944336},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.759766697883606},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6490370035171509},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6190449595451355},{"id":"https://openalex.org/C159023740","wikidata":"https://www.wikidata.org/wiki/Q623276","display_name":"Deadlock","level":2,"score":0.6147226691246033},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.4629671573638916},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.44027137756347656},{"id":"https://openalex.org/C2780609101","wikidata":"https://www.wikidata.org/wiki/Q17156588","display_name":"Resource management (computing)","level":2,"score":0.4364456534385681},{"id":"https://openalex.org/C130120984","wikidata":"https://www.wikidata.org/wiki/Q2835898","display_name":"Distributed algorithm","level":2,"score":0.4348664879798889},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4311586916446686},{"id":"https://openalex.org/C29202148","wikidata":"https://www.wikidata.org/wiki/Q287260","display_name":"Resource allocation","level":2,"score":0.4215690493583679},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.418877512216568},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3615182042121887},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2548956573009491},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21482151746749878},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"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/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/etfa.2013.6647973","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa.2013.6647973","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arpi.unipi.it:11568/529867","is_oa":false,"landing_page_url":"http://hdl.handle.net/11568/529867","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:iris.unipa.it:10447/80623","is_oa":false,"landing_page_url":"http://hdl.handle.net/10447/80623","pdf_url":null,"source":{"id":"https://openalex.org/S4306401065","display_name":"Nova Science Publishers (Nova Science Publishers, Inc.)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/bookPart"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1545946820","https://openalex.org/W1558057334","https://openalex.org/W1800549533","https://openalex.org/W1963884875","https://openalex.org/W1976634747","https://openalex.org/W1982672434","https://openalex.org/W2001922882","https://openalex.org/W2022907112","https://openalex.org/W2028022276","https://openalex.org/W2034182710","https://openalex.org/W2040029476","https://openalex.org/W2056549180","https://openalex.org/W2056740525","https://openalex.org/W2063060449","https://openalex.org/W2064378637","https://openalex.org/W2067730945","https://openalex.org/W2105060405","https://openalex.org/W2113952543","https://openalex.org/W2116873772","https://openalex.org/W2140013028","https://openalex.org/W2156537575","https://openalex.org/W2158546426","https://openalex.org/W2169591800","https://openalex.org/W2169742265","https://openalex.org/W2611243847","https://openalex.org/W4253331343","https://openalex.org/W6633569570"],"related_works":["https://openalex.org/W2012480683","https://openalex.org/W2384405520","https://openalex.org/W2136712919","https://openalex.org/W2149273136","https://openalex.org/W1485627940","https://openalex.org/W1568263432","https://openalex.org/W1871782314","https://openalex.org/W3146816606","https://openalex.org/W2287845356","https://openalex.org/W2029870695"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3,116],"propose":[4],"a":[5,30,35,44,81,99,146,158],"distributed":[6,31],"coordination":[7],"algorithm":[8,27,49,65,120],"for":[9,94],"safe":[10],"and":[11,60],"efficient":[12],"traffic":[13,52],"management":[14],"of":[15,29,54,69,106,113,161,171],"heterogeneous":[16],"robotic":[17],"agents,":[18,55],"moving":[19],"within":[20],"dynamic":[21],"large":[22,73],"scale":[23],"industrial":[24,96,181],"environments.":[25,97],"The":[26,64,131],"consists":[28],"resource-sharing":[32],"protocol":[33],"involving":[34],"re-planning":[36],"strategy.":[37],"Once":[38],"every":[39,153],"agent":[40,154],"is":[41,150],"assigned":[42],"with":[43,84,108,157,177],"desired":[45],"motion":[46],"path,":[47],"the":[48,70,91,103,111,114,119,169,172],"ensures":[50],"ordered":[51],"flows":[53],"that":[56,118],"avoid":[57],"inter-robot":[58,148],"collision":[59],"system":[61],"deadlock":[62],"(stalls).":[63],"allows":[66,122],"multi-level":[67],"representation":[68],"environment,":[71,115],"i.e.":[72,152],"or":[74,141],"complex":[75,95],"rooms":[76],"may":[77],"be":[78],"seen":[79],"as":[80],"unique":[82],"resource":[83],"given":[85],"capacity":[86,112],"at":[87],"convenience,":[88],"which":[89],"makes":[90],"approach":[92,174],"appealing":[93],"Under":[98],"suitable":[100],"condition":[101],"on":[102],"maximum":[104],"number":[105,160],"agents":[107],"respect":[109],"to":[110,125,179],"prove":[117],"correctly":[121],"mutual":[123],"access":[124],"shared":[126,139],"resources":[127],"while":[128],"avoiding":[129],"deadlocks.":[130],"proposed":[132,173],"solution":[133],"requires":[134],"no":[135,138],"centralized":[136],"mechanism,":[137],"memory":[140],"ground":[142],"infrastructure":[143],"support.":[144],"Only":[145],"local":[147],"communication":[149],"required,":[151],"must":[155],"communicate":[156],"limited":[159],"other":[162],"spatially":[163],"adjacent":[164],"robots.":[165],"We":[166],"finally":[167],"show":[168],"effectiveness":[170],"by":[175],"simulations,":[176],"application":[178],"an":[180],"scenario.":[182]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}