{"id":"https://openalex.org/W2964211993","doi":"https://doi.org/10.1109/icra.2013.6631084","title":"Planning optimal paths for multiple robots on graphs","display_name":"Planning optimal paths for multiple robots on graphs","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2964211993","doi":"https://doi.org/10.1109/icra.2013.6631084","mag":"2964211993"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631084","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/1271413","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076210154","display_name":"Jingjin Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingjin Yu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Illinois, Urbana-Champaign, Urbana, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Illinois, Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065104734","display_name":"Steven M. LaValle","orcid":"https://orcid.org/0000-0003-4841-2584"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steven M. LaValle","raw_affiliation_strings":["Department of Computer Science, University of Illinois, Urbana-Champaign, Urbana, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Illinois, Urbana-Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":192,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3612","last_page":"3617"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12288","display_name":"Optimization and Search Problems","score":0.9952999949455261,"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/mathematical-optimization","display_name":"Mathematical optimization","score":0.6861244440078735},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.6764896512031555},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6678241491317749},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6048548817634583},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5988708734512329},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.5785921216011047},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.576791524887085},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5504534840583801},{"id":"https://openalex.org/keywords/longest-path-problem","display_name":"Longest path problem","score":0.4603523910045624},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.44672027230262756},{"id":"https://openalex.org/keywords/integer","display_name":"Integer (computer science)","score":0.4275834560394287},{"id":"https://openalex.org/keywords/time-complexity","display_name":"Time complexity","score":0.4226926565170288},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33242109417915344},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2853519320487976},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.25423169136047363},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.2200028896331787},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.1905437707901001},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1777576208114624}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6861244440078735},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.6764896512031555},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6678241491317749},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6048548817634583},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5988708734512329},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.5785921216011047},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.576791524887085},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5504534840583801},{"id":"https://openalex.org/C1465435","wikidata":"https://www.wikidata.org/wiki/Q2916352","display_name":"Longest path problem","level":4,"score":0.4603523910045624},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.44672027230262756},{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.4275834560394287},{"id":"https://openalex.org/C311688","wikidata":"https://www.wikidata.org/wiki/Q2393193","display_name":"Time complexity","level":2,"score":0.4226926565170288},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33242109417915344},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2853519320487976},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.25423169136047363},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.2200028896331787},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.1905437707901001},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1777576208114624},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2013.6631084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631084","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:zenodo.org:1271413","is_oa":true,"landing_page_url":"https://zenodo.org/record/1271413","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:1271413","is_oa":true,"landing_page_url":"https://zenodo.org/record/1271413","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W21814889","https://openalex.org/W93645818","https://openalex.org/W125001008","https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1588299616","https://openalex.org/W1595525953","https://openalex.org/W1753742327","https://openalex.org/W1969483458","https://openalex.org/W1997417333","https://openalex.org/W2007193228","https://openalex.org/W2032894041","https://openalex.org/W2034604437","https://openalex.org/W2086807633","https://openalex.org/W2105932936","https://openalex.org/W2117701425","https://openalex.org/W2119098384","https://openalex.org/W2119120935","https://openalex.org/W2128453677","https://openalex.org/W2135939055","https://openalex.org/W2139369541","https://openalex.org/W2152754876","https://openalex.org/W2153239294","https://openalex.org/W2157411165","https://openalex.org/W2163502413","https://openalex.org/W2166462345","https://openalex.org/W2167451681","https://openalex.org/W2169240708","https://openalex.org/W2169742265","https://openalex.org/W2399153727","https://openalex.org/W2914296650","https://openalex.org/W2963309123","https://openalex.org/W4242811155","https://openalex.org/W6603775515","https://openalex.org/W6635555861","https://openalex.org/W6635615786","https://openalex.org/W6684062045","https://openalex.org/W6712589207","https://openalex.org/W6758754608"],"related_works":["https://openalex.org/W1764572413","https://openalex.org/W2111158727","https://openalex.org/W1589381382","https://openalex.org/W961142965","https://openalex.org/W2963756941","https://openalex.org/W2020512977","https://openalex.org/W1980384232","https://openalex.org/W3043093646","https://openalex.org/W2337802594","https://openalex.org/W4321393115"],"abstract_inverted_index":{"In":[0,57],"this":[1],"paper,":[2],"we":[3,77],"study":[4],"the":[5,68,73,101],"problem":[6,96],"of":[7,67,103],"optimal":[8,55,75],"multi-robot":[9],"path":[10],"planning":[11],"(MPP)":[12],"on":[13,72],"graphs.":[14],"We":[15],"propose":[16],"two":[17],"multiflow":[18],"based":[19],"integer":[20],"linear":[21],"programming":[22],"(ILP)":[23],"models":[24,47],"that":[25],"compute":[26],"minimum":[27,32],"last":[28],"arrival":[29],"time":[30,74],"and":[31,50,87],"total":[33],"distance":[34],"solutions":[35],"for":[36,92],"our":[37,59,104],"MPP":[38,69],"formulation,":[39],"respectively.":[40],"The":[41],"resulting":[42],"algorithms":[43],"from":[44],"these":[45],"ILP":[46],"are":[48],"complete":[49],"guaranteed":[51],"to":[52],"yield":[53],"true":[54],"solutions.":[56],"addition,":[58],"flexible":[60],"framework":[61],"can":[62],"easily":[63],"accommodate":[64],"other":[65],"variants":[66],"problem.":[70],"Focusing":[71],"algorithm,":[76],"evaluate":[78],"its":[79],"performance,":[80],"both":[81],"as":[82,88],"a":[83,89],"stand":[84],"alone":[85],"algorithm":[86],"generic":[90],"heuristic":[91],"quickly":[93],"solving":[94],"large":[95],"instances.":[97],"Computational":[98],"results":[99],"confirm":[100],"effectiveness":[102],"method.":[105]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":34},{"year":2020,"cited_by_count":26},{"year":2019,"cited_by_count":20},{"year":2018,"cited_by_count":16},{"year":2017,"cited_by_count":19},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
