{"id":"https://openalex.org/W2046431055","doi":"https://doi.org/10.1109/icra.2011.5980392","title":"Decentralized path planning for multi-agent teams in complex environments using rapidly-exploring random trees","display_name":"Decentralized path planning for multi-agent teams in complex environments using rapidly-exploring random trees","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2046431055","doi":"https://doi.org/10.1109/icra.2011.5980392","mag":"2046431055"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980392","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980392","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5086731595","display_name":"Vishnu R. Desaraju","orcid":"https://orcid.org/0000-0001-8326-7648"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vishnu R. Desaraju","raw_affiliation_strings":["Department of Aeronautics and Astronautics, MIT, Cambridge, MA, USA","Department of Aeronautics and Astronautics, MIT, Cambridge MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, MIT, Cambridge, MA, USA","institution_ids":["https://openalex.org/I46020346"]},{"raw_affiliation_string":"Department of Aeronautics and Astronautics, MIT, Cambridge MA 02139, USA","institution_ids":["https://openalex.org/I46020346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011665886","display_name":"Jonathan P. How","orcid":"https://orcid.org/0000-0001-8576-1930"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan P. How","raw_affiliation_strings":["Department of Aeronautics and Astronautics, MIT, Cambridge, MA, USA","Department of Aeronautics and Astronautics, MIT, Cambridge MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, MIT, Cambridge, MA, USA","institution_ids":["https://openalex.org/I46020346"]},{"raw_affiliation_string":"Department of Aeronautics and Astronautics, MIT, Cambridge MA 02139, USA","institution_ids":["https://openalex.org/I46020346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5086731595"],"corresponding_institution_ids":["https://openalex.org/I46020346"],"apc_list":null,"apc_paid":null,"fwci":2.0927,"has_fulltext":false,"cited_by_count":76,"citation_normalized_percentile":{"value":0.89284978,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4956","last_page":"4961"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9886000156402588,"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":0.6649156212806702},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5523812770843506},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5490472912788391},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.5453197360038757},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.545174777507782},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5418655872344971},{"id":"https://openalex.org/keywords/security-token","display_name":"Security token","score":0.4997689723968506},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.450354665517807},{"id":"https://openalex.org/keywords/random-tree","display_name":"Random tree","score":0.446486234664917},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4400363862514496},{"id":"https://openalex.org/keywords/incentive","display_name":"Incentive","score":0.4170078635215759},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.38452139496803284},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24455377459526062},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1426773965358734},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.09372231364250183}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6649156212806702},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5523812770843506},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5490472912788391},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.5453197360038757},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.545174777507782},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5418655872344971},{"id":"https://openalex.org/C48145219","wikidata":"https://www.wikidata.org/wiki/Q1335365","display_name":"Security token","level":2,"score":0.4997689723968506},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.450354665517807},{"id":"https://openalex.org/C2776839635","wikidata":"https://www.wikidata.org/wiki/Q14942679","display_name":"Random tree","level":4,"score":0.446486234664917},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4400363862514496},{"id":"https://openalex.org/C29122968","wikidata":"https://www.wikidata.org/wiki/Q1414816","display_name":"Incentive","level":2,"score":0.4170078635215759},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.38452139496803284},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24455377459526062},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1426773965358734},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.09372231364250183},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C175444787","wikidata":"https://www.wikidata.org/wiki/Q39072","display_name":"Microeconomics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2011.5980392","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980392","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.208.4551","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.208.4551","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://acl.mit.edu/papers/Desaraju11_ICRA.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W139529264","https://openalex.org/W1601512022","https://openalex.org/W1602410440","https://openalex.org/W1604514097","https://openalex.org/W1969483458","https://openalex.org/W1977801775","https://openalex.org/W1978956894","https://openalex.org/W1983352678","https://openalex.org/W1991425199","https://openalex.org/W2003835006","https://openalex.org/W2009419188","https://openalex.org/W2013112941","https://openalex.org/W2023526688","https://openalex.org/W2023832127","https://openalex.org/W2031249239","https://openalex.org/W2053407718","https://openalex.org/W2070735679","https://openalex.org/W2073787051","https://openalex.org/W2074070730","https://openalex.org/W2098432798","https://openalex.org/W2103120971","https://openalex.org/W2103639171","https://openalex.org/W2104602289","https://openalex.org/W2107457089","https://openalex.org/W2110144538","https://openalex.org/W2113286054","https://openalex.org/W2115202002","https://openalex.org/W2120108324","https://openalex.org/W2124525679","https://openalex.org/W2124651605","https://openalex.org/W2128081836","https://openalex.org/W2128990851","https://openalex.org/W2135671912","https://openalex.org/W2138158112","https://openalex.org/W2139264545","https://openalex.org/W2143361975","https://openalex.org/W2150500908","https://openalex.org/W2154256781","https://openalex.org/W2157555474","https://openalex.org/W2160643434","https://openalex.org/W2165216595","https://openalex.org/W2166344854","https://openalex.org/W2294319407","https://openalex.org/W2317713946","https://openalex.org/W2326206646","https://openalex.org/W2333318233","https://openalex.org/W2611243847","https://openalex.org/W2613173048","https://openalex.org/W2751555667","https://openalex.org/W2913241063","https://openalex.org/W3141547040","https://openalex.org/W3141667684","https://openalex.org/W6605295560","https://openalex.org/W6635932078","https://openalex.org/W6646150489","https://openalex.org/W6683361017","https://openalex.org/W6758591943"],"related_works":["https://openalex.org/W1991478428","https://openalex.org/W3158818664","https://openalex.org/W4388720133","https://openalex.org/W2372633663","https://openalex.org/W2863424594","https://openalex.org/W2564325388","https://openalex.org/W2108906364","https://openalex.org/W2371294653","https://openalex.org/W1660309994","https://openalex.org/W2118356379"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,53,69,83,89,151],"novel":[4],"approach":[5],"to":[6,38,45,61,75,114,120,142],"address":[7],"the":[8,33,39,64,79,93,100,108],"challenge":[9],"of":[10,32,71,92,107,153],"planning":[11,65],"paths":[12,122,135],"for":[13],"multi-agent":[14,40],"systems":[15],"operating":[16],"in":[17,99,118],"complex":[18,50],"environments.":[19],"The":[20,134],"algorithm":[21,37],"developed,":[22],"Decentralized":[23],"Multi-Agent":[24],"Rapidly-exploring":[25],"Random":[26],"Tree":[27],"(DMA-RRT),":[28],"is":[29,59],"an":[30],"extension":[31],"Closed-loop":[34],"RRT":[35],"(CL-RRT)":[36],"case,":[41],"retaining":[42],"its":[43],"ability":[44],"plan":[46,86],"quickly":[47],"even":[48],"with":[49,82],"constraints.":[51],"Moreover,":[52],"merit-based":[54],"token":[55],"passing":[56],"coordination":[57],"strategy":[58],"developed":[60],"dynamically":[62],"update":[63],"order":[66,119],"based":[67],"on":[68],"measure":[70],"each":[72],"agent's":[73],"incentive":[74,85],"replan,":[76],"derived":[77],"from":[78],"CL-RRT.":[80],"Agents":[81],"greater":[84,90,97],"sooner,":[87],"yielding":[88],"reduction":[91],"global":[94,132],"cost":[95,127],"and":[96,128,150,155],"improvement":[98],"team's":[101],"overall":[102],"performance.":[103,133,159],"An":[104],"extended":[105],"version":[106],"algorithm,":[109],"Cooperative":[110],"DMA-RRT,":[111],"allows":[112],"agents":[113],"modify":[115],"others'":[116],"plans":[117],"select":[121],"that":[123],"reduce":[124],"their":[125],"combined":[126],"thus":[129],"further":[130],"improve":[131],"generated":[136],"by":[137],"both":[138],"algorithms":[139],"are":[140],"proven":[141],"satisfy":[143],"inter-agent":[144],"constraints,":[145],"such":[146],"as":[147],"collision":[148],"avoidance,":[149],"set":[152],"simulation":[154],"experimental":[156],"results":[157],"verify":[158]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
