{"id":"https://openalex.org/W4409797073","doi":"https://doi.org/10.1109/icarsc65809.2025.10970166","title":"Parallel Path Planning for Multi-Robot Coordination","display_name":"Parallel Path Planning for Multi-Robot Coordination","publication_year":2025,"publication_date":"2025-04-02","ids":{"openalex":"https://openalex.org/W4409797073","doi":"https://doi.org/10.1109/icarsc65809.2025.10970166"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc65809.2025.10970166","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc65809.2025.10970166","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","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/A5050747538","display_name":"Jorge Ribeiro","orcid":"https://orcid.org/0000-0002-9609-339X"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jorge Ribeiro","raw_affiliation_strings":["INESC TEC - Institute for Systems and Computer Engineering, Technology and Science,CRIIS - Centre of Robotics in Industry and Intelligent Systems,Porto,Portugal,4200\u2013465"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC - Institute for Systems and Computer Engineering, Technology and Science,CRIIS - Centre of Robotics in Industry and Intelligent Systems,Porto,Portugal,4200\u2013465","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5095907123","display_name":"Marina Brilhante","orcid":"https://orcid.org/0009-0008-9508-0379"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Marina Brilhante","raw_affiliation_strings":["INESC TEC - Institute for Systems and Computer Engineering, Technology and Science,CRIIS - Centre of Robotics in Industry and Intelligent Systems,Porto,Portugal,4200\u2013465"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC - Institute for Systems and Computer Engineering, Technology and Science,CRIIS - Centre of Robotics in Industry and Intelligent Systems,Porto,Portugal,4200\u2013465","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036866772","display_name":"Diogo Matos","orcid":"https://orcid.org/0000-0002-5422-2122"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Diogo Miguel Matos","raw_affiliation_strings":["INESC TEC - Institute for Systems and Computer Engineering, Technology and Science,CRIIS - Centre of Robotics in Industry and Intelligent Systems,Porto,Portugal,4200\u2013465"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC - Institute for Systems and Computer Engineering, Technology and Science,CRIIS - Centre of Robotics in Industry and Intelligent Systems,Porto,Portugal,4200\u2013465","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063057337","display_name":"Carlos A. Silva","orcid":"https://orcid.org/0000-0002-1015-5095"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Carlos A. Silva","raw_affiliation_strings":["Flowbotic Mobile Systems, S.A,Viseu,Portugal,3530\u2013259"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Flowbotic Mobile Systems, S.A,Viseu,Portugal,3530\u2013259","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016906041","display_name":"H\u00e9ber Sobreira","orcid":"https://orcid.org/0000-0002-8055-1093"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"H\u00e9ber Sobreira","raw_affiliation_strings":["INESC TEC - Institute for Systems and Computer Engineering, Technology and Science,CRIIS - Centre of Robotics in Industry and Intelligent Systems,Porto,Portugal,4200\u2013465"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC - Institute for Systems and Computer Engineering, Technology and Science,CRIIS - Centre of Robotics in Industry and Intelligent Systems,Porto,Portugal,4200\u2013465","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022725672","display_name":"Pedro Costa","orcid":"https://orcid.org/0000-0002-0435-8419"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Pedro Costa","raw_affiliation_strings":["INESC TEC - Institute for Systems and Computer Engineering, Technology and Science,CRIIS - Centre of Robotics in Industry and Intelligent Systems,Porto,Portugal,4200\u2013465"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INESC TEC - Institute for Systems and Computer Engineering, Technology and Science,CRIIS - Centre of Robotics in Industry and Intelligent Systems,Porto,Portugal,4200\u2013465","institution_ids":["https://openalex.org/I4210166615"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06027308,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"78","last_page":"85"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.9993000030517578,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.930400013923645,"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"}},{"id":"https://openalex.org/T12203","display_name":"Mobile Agent-Based Network Management","score":0.9169999957084656,"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/motion-planning","display_name":"Motion planning","score":0.68135666847229},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5987139344215393},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5127133131027222},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4920348823070526},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4240746796131134},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33475083112716675},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1826513707637787}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.68135666847229},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5987139344215393},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5127133131027222},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4920348823070526},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4240746796131134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33475083112716675},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1826513707637787}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarsc65809.2025.10970166","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc65809.2025.10970166","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1560261045","https://openalex.org/W1577349145","https://openalex.org/W1969483458","https://openalex.org/W1973396716","https://openalex.org/W1976953317","https://openalex.org/W1989407213","https://openalex.org/W2202983866","https://openalex.org/W2807604366","https://openalex.org/W2938278435","https://openalex.org/W2942307437","https://openalex.org/W3130631955","https://openalex.org/W3152770304","https://openalex.org/W4402508308"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W3114279067","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2359600231"],"abstract_inverted_index":{"Multi-robot":[0],"coordination":[1,93],"aims":[2],"to":[3,43,72],"synchronize":[4],"robots":[5],"for":[6],"optimized,":[7],"collision-free":[8],"paths":[9,82],"in":[10,46,83],"shared":[11],"environments,":[12],"addressing":[13],"task":[14],"allocation,":[15],"collision":[16],"avoidance,":[17],"and":[18,34,57,62,75,98,112,125],"path":[19],"planning":[20],"challenges.":[21],"The":[22,86],"Time":[23],"Enhanced":[24],"A*":[25],"(TEA*)":[26],"algorithm":[27],"addresses":[28],"multi-robot":[29],"pathfinding":[30],"offering":[31],"a":[32,63],"centralized":[33],"sequential":[35,39],"approach.":[36],"However,":[37],"its":[38],"nature":[40],"can":[41],"lead":[42],"order-dependent":[44],"variability":[45],"solutions.":[47],"This":[48],"study":[49],"enhances":[50],"TEA*":[51],"through":[52],"multi-threading,":[53],"using":[54],"thread":[55],"pooling":[56],"parallelization":[58],"techniques":[59],"via":[60],"OpenMP,":[61],"sensitivity":[64,103],"analysis":[65,104],"enabling":[66],"parallel":[67],"exploration":[68],"of":[69,78,114,127],"robot-solving":[70],"orders":[71],"improve":[73],"robustness":[74],"the":[76,102,123,128],"likelihood":[77],"finding":[79],"efficient,":[80],"feasible":[81],"complex":[84],"environments.":[85],"results":[87],"show":[88],"that":[89],"this":[90],"approach":[91],"improved":[92],"efficiency,":[94],"reducing":[95],"replanning":[96],"needs":[97],"simulation":[99],"time.":[100],"Additionally,":[101],"assesses":[105],"TEA*'s":[106],"scalability":[107],"across":[108],"various":[109],"graph":[110],"sizes":[111],"number":[113],"robots,":[115],"providing":[116],"insights":[117],"into":[118],"how":[119],"these":[120],"factors":[121],"influence":[122],"efficiency":[124],"performance":[126],"algorithm.":[129]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}