{"id":"https://openalex.org/W2013112941","doi":"https://doi.org/10.1109/icif.2007.4408182","title":"A decentralized approach to space deconfliction","display_name":"A decentralized approach to space deconfliction","publication_year":2007,"publication_date":"2007-07-01","ids":{"openalex":"https://openalex.org/W2013112941","doi":"https://doi.org/10.1109/icif.2007.4408182","mag":"2013112941"},"language":"en","primary_location":{"id":"doi:10.1109/icif.2007.4408182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icif.2007.4408182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 10th International Conference on Information Fusion","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/A5017490568","display_name":"Paul Scerri","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Scerri","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University. Pittsburgh"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University. Pittsburgh","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110014639","display_name":"Sean Owens","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sean Owens","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University. Pittsburgh"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University. Pittsburgh","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100659381","display_name":"Bin Yu","orcid":"https://orcid.org/0000-0002-9171-5743"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bin Yu","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University. Pittsburgh"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University. Pittsburgh","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087505541","display_name":"Katia Sycara","orcid":"https://orcid.org/0000-0001-5635-1406"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katia Sycara","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","Carnegie Mellon University. Pittsburgh"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University. Pittsburgh","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"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":0.9993000030517578,"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/T10761","display_name":"Vehicular Ad Hoc Networks (VANETs)","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10772","display_name":"Distributed systems and fault tolerance","score":0.9900000095367432,"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":0.7442561388015747},{"id":"https://openalex.org/keywords/operationalization","display_name":"Operationalization","score":0.6789685487747192},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.6288435459136963},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6193649172782898},{"id":"https://openalex.org/keywords/security-token","display_name":"Security token","score":0.6170568466186523},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.60234534740448},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5523920655250549},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5032653212547302},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4519188702106476},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.2766519784927368},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.23014900088310242},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22771260142326355},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19382792711257935}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7442561388015747},{"id":"https://openalex.org/C9354725","wikidata":"https://www.wikidata.org/wiki/Q286017","display_name":"Operationalization","level":2,"score":0.6789685487747192},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.6288435459136963},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6193649172782898},{"id":"https://openalex.org/C48145219","wikidata":"https://www.wikidata.org/wiki/Q1335365","display_name":"Security token","level":2,"score":0.6170568466186523},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.60234534740448},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5523920655250549},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5032653212547302},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4519188702106476},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.2766519784927368},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.23014900088310242},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22771260142326355},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19382792711257935},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icif.2007.4408182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icif.2007.4408182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 10th International Conference on Information Fusion","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7599999904632568,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W8369482","https://openalex.org/W1506012254","https://openalex.org/W1514107797","https://openalex.org/W1758936897","https://openalex.org/W1872994409","https://openalex.org/W2006356879","https://openalex.org/W2009796613","https://openalex.org/W2010728604","https://openalex.org/W2024771876","https://openalex.org/W2069926050","https://openalex.org/W2097446513","https://openalex.org/W2114510811","https://openalex.org/W2118993621","https://openalex.org/W2143082482","https://openalex.org/W2145187070","https://openalex.org/W2152475379","https://openalex.org/W2165036656","https://openalex.org/W2914296650","https://openalex.org/W3104753760","https://openalex.org/W3172131697","https://openalex.org/W6600356965","https://openalex.org/W6630727257","https://openalex.org/W6639354359","https://openalex.org/W6677878811","https://openalex.org/W6681507942","https://openalex.org/W6682302528","https://openalex.org/W6758754608","https://openalex.org/W6796843626"],"related_works":["https://openalex.org/W2944277854","https://openalex.org/W2258359646","https://openalex.org/W2493324121","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,102,128],"decentralized":[4],"approach":[5,31,147],"to":[6,37,46,50,76,79,101,116],"path":[7],"planning":[8],"for":[9,118,157],"large":[10,33,158],"numbers":[11,34,159],"of":[12,35,62,88,105,152,160],"autonomous":[13],"vehicles":[14,36,65,78,161],"in":[15,53,162],"sparse":[16,54],"environments.":[17,167],"Unlike":[18],"existing":[19],"approaches,":[20],"which":[21],"are":[22,57],"either":[23],"computationally":[24],"expensive":[25],"or":[26],"communication":[27,42],"intensive,":[28],"the":[29,47,63,85,146],"presented":[30],"allows":[32],"plan":[38,80],"independently":[39,81],"with":[40],"low":[41],"overhead.":[43],"The":[44],"key":[45],"algorithm":[48],"is":[49,74,114,137],"observe":[51],"that,":[52],"environments,":[55],"collisions":[56,156],"exceptional":[58],"and":[59,82,130,141,165],"that":[60,121,145],"most":[61],"time":[64],"will":[66],"simply":[67],"not":[68],"hit":[69],"each":[70,95],"other.":[71],"Hence,":[72],"it":[73],"reasonable":[75],"allow":[77],"then":[83],"resolve":[84],"small":[86,103],"number":[87,104],"conflicts.":[89],"We":[90],"operationalize":[91],"this":[92],"by":[93],"having":[94],"vehicle":[96],"send":[97],"their":[98,106],"planned":[99],"paths":[100,120],"team":[107,112],"mates":[108],"via":[109,127],"tokens.":[110],"Each":[111],"member":[113],"required":[115],"check":[117],"conflicting":[119],"they":[122],"have":[123],"been":[124],"informed":[125],"about":[126],"token":[129],"inform":[131],"those":[132],"involved":[133],"when":[134],"any":[135],"conflict":[136],"detected.":[138],"Both":[139],"analytic":[140],"empirical":[142],"results":[143],"show":[144],"has":[148],"very":[149],"high":[150],"probability":[151],"detecting":[153],"all":[154],"potential":[155],"both":[163],"2D":[164],"3D":[166]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}