{"id":"https://openalex.org/W1541707492","doi":"https://doi.org/10.1109/icra.2015.7139465","title":"Decentralized control of free ranging AGVs in warehouse environments","display_name":"Decentralized control of free ranging AGVs in warehouse environments","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1541707492","doi":"https://doi.org/10.1109/icra.2015.7139465","mag":"1541707492"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139465","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5032168116","display_name":"Antonio Krnjak","orcid":null},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Antonio Krnjak","raw_affiliation_strings":["Department of Control and Computer Engineering, University of Zagreb, Zagreb, Croatia","Robotics and Intelligent Control Systems (LARICS), Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, University of Zagreb, 10000, Croatia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Computer Engineering, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"Robotics and Intelligent Control Systems (LARICS), Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, University of Zagreb, 10000, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042401839","display_name":"Ivica Draganjac","orcid":"https://orcid.org/0000-0002-3005-278X"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Ivica Draganjac","raw_affiliation_strings":["Department of Control and Computer Engineering, University of Zagreb, Zagreb, Croatia","Robotics and Intelligent Control Systems (LARICS), Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, University of Zagreb, 10000, Croatia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Computer Engineering, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"Robotics and Intelligent Control Systems (LARICS), Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, University of Zagreb, 10000, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071197011","display_name":"Stjepan Bogdan","orcid":"https://orcid.org/0000-0003-2636-3216"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Stjepan Bogdan","raw_affiliation_strings":["Department of Control and Computer Engineering, University of Zagreb, Zagreb, Croatia","Robotics and Intelligent Control Systems (LARICS), Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, University of Zagreb, 10000, Croatia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Computer Engineering, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"Robotics and Intelligent Control Systems (LARICS), Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, University of Zagreb, 10000, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072518688","display_name":"Tamara Petrovi\u0107","orcid":"https://orcid.org/0000-0003-4279-303X"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Tamara Petrovic","raw_affiliation_strings":["Department of Control and Computer Engineering, University of Zagreb, Zagreb, Croatia","Robotics and Intelligent Control Systems (LARICS), Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, University of Zagreb, 10000, Croatia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Computer Engineering, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"Robotics and Intelligent Control Systems (LARICS), Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, University of Zagreb, 10000, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069206737","display_name":"Damjan Mikli\u0107","orcid":"https://orcid.org/0000-0002-0173-5573"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Damjan Miklic","raw_affiliation_strings":["Department of Control and Computer Engineering, University of Zagreb, Zagreb, Croatia","Robotics and Intelligent Control Systems (LARICS), Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, University of Zagreb, 10000, Croatia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Computer Engineering, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"Robotics and Intelligent Control Systems (LARICS), Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, University of Zagreb, 10000, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041092709","display_name":"Zdenko Kova\u010di\u0107","orcid":"https://orcid.org/0000-0003-3987-4576"},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Zdenko Kovacic","raw_affiliation_strings":["Department of Control and Computer Engineering, University of Zagreb, Zagreb, Croatia","Robotics and Intelligent Control Systems (LARICS), Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, University of Zagreb, 10000, Croatia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Computer Engineering, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]},{"raw_affiliation_string":"Robotics and Intelligent Control Systems (LARICS), Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, University of Zagreb, 10000, Croatia","institution_ids":["https://openalex.org/I181343428"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.4566,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.9164774,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2034","last_page":"2041"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9994000196456909,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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/T12288","display_name":"Optimization and Search Problems","score":0.9901000261306763,"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":0.7516320943832397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6868695020675659},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6730179190635681},{"id":"https://openalex.org/keywords/deadlock","display_name":"Deadlock","score":0.6240467429161072},{"id":"https://openalex.org/keywords/automaton","display_name":"Automaton","score":0.5927621126174927},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5736233592033386},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.5358368754386902},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4757104516029358},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4678885042667389},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4540860652923584},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.42870843410491943},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4253154695034027},{"id":"https://openalex.org/keywords/automated-guided-vehicle","display_name":"Automated guided vehicle","score":0.4197273850440979},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4131758511066437},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39075416326522827},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38208967447280884},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35147541761398315},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34190624952316284},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.2981288433074951},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20826447010040283},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20397517085075378},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.13287827372550964}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7516320943832397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6868695020675659},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6730179190635681},{"id":"https://openalex.org/C159023740","wikidata":"https://www.wikidata.org/wiki/Q623276","display_name":"Deadlock","level":2,"score":0.6240467429161072},{"id":"https://openalex.org/C112505250","wikidata":"https://www.wikidata.org/wiki/Q787116","display_name":"Automaton","level":2,"score":0.5927621126174927},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5736233592033386},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.5358368754386902},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4757104516029358},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4678885042667389},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4540860652923584},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42870843410491943},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4253154695034027},{"id":"https://openalex.org/C2776068756","wikidata":"https://www.wikidata.org/wiki/Q1368584","display_name":"Automated guided vehicle","level":2,"score":0.4197273850440979},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4131758511066437},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39075416326522827},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38208967447280884},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35147541761398315},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34190624952316284},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.2981288433074951},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20826447010040283},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20397517085075378},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.13287827372550964},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139465","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7400000095367432}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W138833385","https://openalex.org/W1424654272","https://openalex.org/W1592070411","https://openalex.org/W1867918210","https://openalex.org/W1967181601","https://openalex.org/W1992157405","https://openalex.org/W2001922882","https://openalex.org/W2017332349","https://openalex.org/W2037933704","https://openalex.org/W2040029476","https://openalex.org/W2108666666","https://openalex.org/W2120179083","https://openalex.org/W2121143180","https://openalex.org/W2136445059","https://openalex.org/W2139421067","https://openalex.org/W2145493798","https://openalex.org/W2145895103","https://openalex.org/W2158677173","https://openalex.org/W2171982865","https://openalex.org/W2583740673","https://openalex.org/W2611243847","https://openalex.org/W2901136733","https://openalex.org/W4231761304","https://openalex.org/W6651141555","https://openalex.org/W6654926340","https://openalex.org/W6678081342","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2896869552","https://openalex.org/W1975263927","https://openalex.org/W1995636907","https://openalex.org/W1604883287","https://openalex.org/W2314549357","https://openalex.org/W2155408409","https://openalex.org/W2314667017","https://openalex.org/W2109111450","https://openalex.org/W1923339267","https://openalex.org/W1826285939"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"propose":[4],"an":[5],"algorithm":[6,26,49,62,74],"for":[7,31],"decentralized":[8],"control":[9,61],"of":[10,24,47,66,72],"Automated":[11],"Guided":[12],"Vehicles":[13],"(AGVs)":[14],"operating":[15],"in":[16],"automated":[17],"warehouse":[18],"environments.":[19],"The":[20,43,59],"motion":[21,33],"planning":[22,34],"part":[23,46],"the":[25,48,73],"provides":[27],"vehicles":[28,98],"with":[29],"capabilities":[30],"autonomous":[32],"considering":[35],"nonholonomic":[36],"vehicle":[37,52],"constraints":[38],"and":[39,54,68],"collision-free":[40],"path":[41],"execution.":[42],"decision":[44],"making":[45],"ensures":[50],"safe":[51],"motions":[53],"reliable":[55],"conflict":[56],"situation":[57],"resolution.":[58],"proposed":[60],"also":[63],"prevents":[64],"occurrence":[65],"deadlock":[67],"livelock":[69],"situations.":[70],"Stability":[71],"has":[75,88],"been":[76,89],"proven":[77],"by":[78,91],"its":[79,86],"analysis":[80],"based":[81],"on":[82,93,103],"automata":[83],"theory,":[84],"while":[85],"performance":[87],"validated":[90],"simulation":[92],"a":[94,104],"system":[95],"comprising":[96,107],"twenty":[97],"as":[99,101],"well":[100],"experimentally":[102],"laboratory":[105],"setup":[106],"five":[108],"Pioneer":[109],"3DX":[110],"vehicles.":[111]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}