{"id":"https://openalex.org/W4410087525","doi":"https://doi.org/10.1109/icara64554.2025.10977707","title":"Experimental Evaluation of Roadmap-Based Map Generation with Continuous-Time Conflict-Based Search for Multi-Agent Pathfinding","display_name":"Experimental Evaluation of Roadmap-Based Map Generation with Continuous-Time Conflict-Based Search for Multi-Agent Pathfinding","publication_year":2025,"publication_date":"2025-02-12","ids":{"openalex":"https://openalex.org/W4410087525","doi":"https://doi.org/10.1109/icara64554.2025.10977707"},"language":"en","primary_location":{"id":"doi:10.1109/icara64554.2025.10977707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara64554.2025.10977707","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 11th International Conference on Automation, Robotics, and Applications (ICARA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/398288","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5095828840","display_name":"Emmanouil Maroulis","orcid":null},"institutions":[{"id":"https://openalex.org/I150517870","display_name":"Royal Military Academy","ror":"https://ror.org/02vmnye06","country_code":"BE","type":"education","lineage":["https://openalex.org/I150517870"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Emmanouil Maroulis","raw_affiliation_strings":["Royal Military Academy,Department of Mechanics,Brussels,Belgium"],"affiliations":[{"raw_affiliation_string":"Royal Military Academy,Department of Mechanics,Brussels,Belgium","institution_ids":["https://openalex.org/I150517870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5095828842","display_name":"Danial Hawari","orcid":null},"institutions":[{"id":"https://openalex.org/I150517870","display_name":"Royal Military Academy","ror":"https://ror.org/02vmnye06","country_code":"BE","type":"education","lineage":["https://openalex.org/I150517870"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Danial Hawari","raw_affiliation_strings":["Royal Military Academy,Department of Mechanic,Brussels,Belgium"],"affiliations":[{"raw_affiliation_string":"Royal Military Academy,Department of Mechanic,Brussels,Belgium","institution_ids":["https://openalex.org/I150517870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022215429","display_name":"Ken Hasselmann","orcid":"https://orcid.org/0000-0002-8196-9889"},"institutions":[{"id":"https://openalex.org/I150517870","display_name":"Royal Military Academy","ror":"https://ror.org/02vmnye06","country_code":"BE","type":"education","lineage":["https://openalex.org/I150517870"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Ken Hasselmann","raw_affiliation_strings":["Royal Military Academy,Department of Mechanics,Brussels,Belgium"],"affiliations":[{"raw_affiliation_string":"Royal Military Academy,Department of Mechanics,Brussels,Belgium","institution_ids":["https://openalex.org/I150517870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053145303","display_name":"Emile Le Fl\u00e9cher","orcid":"https://orcid.org/0000-0002-2683-8675"},"institutions":[{"id":"https://openalex.org/I150517870","display_name":"Royal Military Academy","ror":"https://ror.org/02vmnye06","country_code":"BE","type":"education","lineage":["https://openalex.org/I150517870"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Emile Le Flecher","raw_affiliation_strings":["Royal Military Academy,Department of Mechanics,Brussels,Belgium"],"affiliations":[{"raw_affiliation_string":"Royal Military Academy,Department of Mechanics,Brussels,Belgium","institution_ids":["https://openalex.org/I150517870"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040935964","display_name":"Geert De Cubber","orcid":"https://orcid.org/0000-0001-7772-0258"},"institutions":[{"id":"https://openalex.org/I150517870","display_name":"Royal Military Academy","ror":"https://ror.org/02vmnye06","country_code":"BE","type":"education","lineage":["https://openalex.org/I150517870"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Geert De Cubber","raw_affiliation_strings":["Royal Military Academy,Department of Mechanics,Brussels,Belgium"],"affiliations":[{"raw_affiliation_string":"Royal Military Academy,Department of Mechanics,Brussels,Belgium","institution_ids":["https://openalex.org/I150517870"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5095828840"],"corresponding_institution_ids":["https://openalex.org/I150517870"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09737609,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"380","last_page":"387"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9977999925613403,"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":0.9977999925613403,"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/T11106","display_name":"Data Management and Algorithms","score":0.9776999950408936,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T12290","display_name":"Human Motion and Animation","score":0.9538000226020813,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/pathfinding","display_name":"Pathfinding","score":0.8437758684158325},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6548996567726135},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4172937572002411},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35687971115112305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29730933904647827},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.13090717792510986},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.09926232695579529}],"concepts":[{"id":"https://openalex.org/C25321074","wikidata":"https://www.wikidata.org/wiki/Q1969601","display_name":"Pathfinding","level":4,"score":0.8437758684158325},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6548996567726135},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4172937572002411},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35687971115112305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29730933904647827},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.13090717792510986},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.09926232695579529},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icara64554.2025.10977707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icara64554.2025.10977707","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 11th International Conference on Automation, Robotics, and Applications (ICARA)","raw_type":"proceedings-article"},{"id":"pmh:oai:dipot.ulb.ac.be:2013/398288","is_oa":true,"landing_page_url":"http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/398288","pdf_url":null,"source":{"id":"https://openalex.org/S4306401063","display_name":"D\u00e9p\u00f4t institutionnel de l'Universit\u00e9 libre de Bruxelles (Universit\u00e9 Libre de Bruxelles)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I132053463","host_organization_name":"Universit\u00e9 Libre de Bruxelles","host_organization_lineage":["https://openalex.org/I132053463"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the International Conference on Automation, Robotics and Applications, ICARA (2025","raw_type":"info:ulb-repo/semantics/openurl/article"}],"best_oa_location":{"id":"pmh:oai:dipot.ulb.ac.be:2013/398288","is_oa":true,"landing_page_url":"http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/398288","pdf_url":null,"source":{"id":"https://openalex.org/S4306401063","display_name":"D\u00e9p\u00f4t institutionnel de l'Universit\u00e9 libre de Bruxelles (Universit\u00e9 Libre de Bruxelles)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I132053463","host_organization_name":"Universit\u00e9 Libre de Bruxelles","host_organization_lineage":["https://openalex.org/I132053463"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the International Conference on Automation, Robotics and Applications, ICARA (2025","raw_type":"info:ulb-repo/semantics/openurl/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W571818863","https://openalex.org/W1837828826","https://openalex.org/W1967005434","https://openalex.org/W1971639106","https://openalex.org/W1989407213","https://openalex.org/W2012680538","https://openalex.org/W2032114043","https://openalex.org/W2039204626","https://openalex.org/W2108363901","https://openalex.org/W2121029369","https://openalex.org/W2128990851","https://openalex.org/W2129412583","https://openalex.org/W2137901512","https://openalex.org/W2167557857","https://openalex.org/W2168210109","https://openalex.org/W2168424616","https://openalex.org/W2169745284","https://openalex.org/W2191404279","https://openalex.org/W2211977492","https://openalex.org/W2397164792","https://openalex.org/W2406007181","https://openalex.org/W2886374915","https://openalex.org/W2954066513","https://openalex.org/W2964945728","https://openalex.org/W2964997335","https://openalex.org/W2966794612","https://openalex.org/W2971167581","https://openalex.org/W2990235102","https://openalex.org/W3024286373","https://openalex.org/W3108277992","https://openalex.org/W3123674811","https://openalex.org/W3126834919","https://openalex.org/W3210937503","https://openalex.org/W4205985266","https://openalex.org/W4220743041","https://openalex.org/W4282978153","https://openalex.org/W4285178132","https://openalex.org/W4385741291","https://openalex.org/W4399157086","https://openalex.org/W4399426392","https://openalex.org/W4401415264","https://openalex.org/W6632662516","https://openalex.org/W6732454287"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","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"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"an":[3,39],"experimental":[4,163],"evaluation":[5],"of":[6,26,55,133],"a":[7,167],"Multi-Agent":[8],"Pathfinding":[9],"(MAPF)":[10],"approach":[11],"for":[12,158,170],"large-scale":[13],"robotic":[14],"fleets":[15],"operating":[16],"in":[17,89,118],"diverse":[18],"outdoor":[19],"environments.":[20,120],"We":[21,145],"generated":[22],"three":[23,65],"distinct":[24],"types":[25],"roadmap":[27,80,155],"graphs:":[28],"Constrained":[29],"Delaunay":[30],"Triangulation":[31],"(CDT),":[32],"Voronoi":[33],"Diagram":[34],"(VD),":[35],"and":[36,42,75,105,130,142,153],"Grid-derived":[37],"from":[38,49],"obstacle":[40],"file,":[41],"assessed":[43],"their":[44],"quality":[45],"using":[46,92],"metrics":[47,72,117,141],"obtained":[48],"graph":[50,116],"theory.":[51],"Then,":[52],"the":[53,56,79,93,114,131,150],"performance":[54,71,88,123],"Continuous-time":[57],"Conflict-Based":[58],"Search":[59],"(CCBS)":[60],"algorithm":[61],"was":[62],"evaluated":[63],"across":[64],"different":[66],"environmental":[67],"maps,":[68,107],"considering":[69],"practical":[70],"including":[73],"makespan":[74],"failure":[76],"rate.":[77],"Subsequently,":[78],"generation":[81,156],"methods":[82],"were":[83],"ranked":[84],"based":[85],"on":[86],"CCBS":[87],"similar":[90],"scenarios":[91],"Friedman":[94],"statistical":[95],"test.":[96],"The":[97],"results":[98],"indicate":[99],"that":[100,147],"CDT":[101,148],"outperforms":[102],"both":[103],"VD":[104],"Grid":[106],"even":[108],"though":[109],"it":[110,166],"does":[111],"not":[112],"exhibit":[113],"best":[115],"many":[119],"CDT's":[121],"superior":[122],"is":[124,149],"attributed":[125],"to":[126],"its":[127,139],"enhanced":[128],"interconnectedness":[129],"availability":[132],"multiple":[134],"pathways,":[135],"as":[136],"evidenced":[137],"by":[138],"balanced":[140],"structural":[143],"properties.":[144],"show":[146],"most":[151],"efficient":[152],"reliable":[154],"technique":[157],"multiagent":[159],"systems":[160],"under":[161],"our":[162],"conditions":[164],"making":[165],"preferred":[168],"choice":[169],"robust":[171],"pathfinding.":[172]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}