{"id":"https://openalex.org/W2976266262","doi":"https://doi.org/10.1109/icra40945.2020.9197313","title":"Efficient Large-Scale Multi-Drone Delivery Using Transit Networks","display_name":"Efficient Large-Scale Multi-Drone Delivery Using Transit Networks","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W2976266262","doi":"https://doi.org/10.1109/icra40945.2020.9197313","mag":"2976266262"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197313","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197313","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite","doaj"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://jair.org/index.php/jair/article/download/12450/26661","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000095866","display_name":"Shushman Choudhury","orcid":"https://orcid.org/0000-0003-4829-8806"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shushman Choudhury","raw_affiliation_strings":["Stanford University, CA, USA"],"affiliations":[{"raw_affiliation_string":"Stanford University, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000480439","display_name":"Kiril Solovey","orcid":"https://orcid.org/0000-0003-0254-0572"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kiril Solovey","raw_affiliation_strings":["Stanford University, CA, USA"],"affiliations":[{"raw_affiliation_string":"Stanford University, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068326377","display_name":"Mykel J. Kochenderfer","orcid":"https://orcid.org/0000-0002-7238-9663"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mykel J. Kochenderfer","raw_affiliation_strings":["Stanford University, CA, USA"],"affiliations":[{"raw_affiliation_string":"Stanford University, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050003000","display_name":"Marco Pavone","orcid":"https://orcid.org/0000-0002-0206-4337"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco Pavone","raw_affiliation_strings":["Stanford University, CA, USA"],"affiliations":[{"raw_affiliation_string":"Stanford University, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5000095866"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":1.0796,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.79228078,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"70","issue":null,"first_page":"4543","last_page":"4550"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9968000054359436,"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":0.9968000054359436,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.9926999807357788,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/drone","display_name":"Drone","score":0.9548643827438354},{"id":"https://openalex.org/keywords/transit","display_name":"Transit (satellite)","score":0.6626779437065125},{"id":"https://openalex.org/keywords/routing","display_name":"Routing (electronic design automation)","score":0.6563423275947571},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6202445030212402},{"id":"https://openalex.org/keywords/public-transport","display_name":"Public transport","score":0.6058456897735596},{"id":"https://openalex.org/keywords/pathfinding","display_name":"Pathfinding","score":0.5766809582710266},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5341246128082275},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.4536459147930145},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.45291659235954285},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45257091522216797},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.3956713080406189},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.36115747690200806},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.22596657276153564},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18629190325737},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.17487254738807678},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.14028480648994446},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.11252263188362122},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10400012135505676},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08694294095039368}],"concepts":[{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.9548643827438354},{"id":"https://openalex.org/C2778022998","wikidata":"https://www.wikidata.org/wiki/Q651136","display_name":"Transit (satellite)","level":3,"score":0.6626779437065125},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.6563423275947571},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6202445030212402},{"id":"https://openalex.org/C539828613","wikidata":"https://www.wikidata.org/wiki/Q178512","display_name":"Public transport","level":2,"score":0.6058456897735596},{"id":"https://openalex.org/C25321074","wikidata":"https://www.wikidata.org/wiki/Q1969601","display_name":"Pathfinding","level":4,"score":0.5766809582710266},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5341246128082275},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.4536459147930145},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.45291659235954285},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45257091522216797},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.3956713080406189},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.36115747690200806},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.22596657276153564},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18629190325737},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.17487254738807678},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.14028480648994446},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.11252263188362122},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10400012135505676},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08694294095039368},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra40945.2020.9197313","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197313","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"doi:10.1613/jair.1.12450","is_oa":true,"landing_page_url":"https://doi.org/10.1613/jair.1.12450","pdf_url":"https://jair.org/index.php/jair/article/download/12450/26661","source":{"id":"https://openalex.org/S139930977","display_name":"Journal of Artificial Intelligence Research","issn_l":"1076-9757","issn":["1076-9757","1943-5037"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310315760","host_organization_name":"AI Access Foundation","host_organization_lineage":["https://openalex.org/P4310315760"],"host_organization_lineage_names":["AI Access Foundation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Artificial Intelligence Research","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1909.11840","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.11840","pdf_url":"https://arxiv.org/pdf/1909.11840","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2976266262","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1909.11840.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1909.11840","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1909.11840","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.1613/jair.1.12450","is_oa":true,"landing_page_url":"https://doi.org/10.1613/jair.1.12450","pdf_url":"https://jair.org/index.php/jair/article/download/12450/26661","source":{"id":"https://openalex.org/S139930977","display_name":"Journal of Artificial Intelligence Research","issn_l":"1076-9757","issn":["1076-9757","1943-5037"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310315760","host_organization_name":"AI Access Foundation","host_organization_lineage":["https://openalex.org/P4310315760"],"host_organization_lineage_names":["AI Access Foundation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Artificial Intelligence Research","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G6954744121","display_name":"NRI: INT: COLLAB: Synergetic Drone Delivery Network in Metropolis","funder_award_id":"1830554","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320307103","display_name":"Ford Motor Company","ror":"https://ror.org/00g2tkw06"},{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2976266262.pdf","grobid_xml":"https://content.openalex.org/works/W2976266262.grobid-xml"},"referenced_works_count":90,"referenced_works":["https://openalex.org/W3359552","https://openalex.org/W1488757178","https://openalex.org/W1587851010","https://openalex.org/W1964915778","https://openalex.org/W1969483458","https://openalex.org/W1977319619","https://openalex.org/W1977545325","https://openalex.org/W1989407213","https://openalex.org/W2011039300","https://openalex.org/W2017001763","https://openalex.org/W2036900823","https://openalex.org/W2042872950","https://openalex.org/W2049287714","https://openalex.org/W2049864887","https://openalex.org/W2050819731","https://openalex.org/W2081444009","https://openalex.org/W2082040042","https://openalex.org/W2090220859","https://openalex.org/W2096305430","https://openalex.org/W2104317982","https://openalex.org/W2106841911","https://openalex.org/W2112094258","https://openalex.org/W2138358085","https://openalex.org/W2156036190","https://openalex.org/W2161879374","https://openalex.org/W2166462345","https://openalex.org/W2168148394","https://openalex.org/W2191404279","https://openalex.org/W2241553860","https://openalex.org/W2251882317","https://openalex.org/W2342478160","https://openalex.org/W2345135050","https://openalex.org/W2511296220","https://openalex.org/W2574186214","https://openalex.org/W2580733212","https://openalex.org/W2582670358","https://openalex.org/W2617152051","https://openalex.org/W2620774153","https://openalex.org/W2622453669","https://openalex.org/W2730530972","https://openalex.org/W2751778703","https://openalex.org/W2752885492","https://openalex.org/W2766924810","https://openalex.org/W2792557859","https://openalex.org/W2798852930","https://openalex.org/W2808475207","https://openalex.org/W2896380987","https://openalex.org/W2899355344","https://openalex.org/W2909524299","https://openalex.org/W2912698532","https://openalex.org/W2914296650","https://openalex.org/W2921144603","https://openalex.org/W2945286829","https://openalex.org/W2946610785","https://openalex.org/W2962969317","https://openalex.org/W2963689411","https://openalex.org/W2964328868","https://openalex.org/W2965414970","https://openalex.org/W2965701451","https://openalex.org/W2969933057","https://openalex.org/W2970212496","https://openalex.org/W2971416225","https://openalex.org/W2976266262","https://openalex.org/W2990166756","https://openalex.org/W3006581593","https://openalex.org/W3090650657","https://openalex.org/W3121222462","https://openalex.org/W3125377832","https://openalex.org/W3145128584","https://openalex.org/W4246153096","https://openalex.org/W6600116910","https://openalex.org/W6610072603","https://openalex.org/W6629161821","https://openalex.org/W6660982047","https://openalex.org/W6662667363","https://openalex.org/W6675622114","https://openalex.org/W6684062045","https://openalex.org/W6684928874","https://openalex.org/W6732555561","https://openalex.org/W6738126737","https://openalex.org/W6740638739","https://openalex.org/W6743577145","https://openalex.org/W6755289804","https://openalex.org/W6758754608","https://openalex.org/W6763034266","https://openalex.org/W6763121698","https://openalex.org/W6767067914","https://openalex.org/W6768075928","https://openalex.org/W6992951189","https://openalex.org/W7029321148"],"related_works":["https://openalex.org/W2977433423","https://openalex.org/W2982548518","https://openalex.org/W3132961492","https://openalex.org/W2899462042","https://openalex.org/W3010610756","https://openalex.org/W3128023699","https://openalex.org/W3112876101","https://openalex.org/W2914830997","https://openalex.org/W2617499418","https://openalex.org/W2888558626","https://openalex.org/W2936641013","https://openalex.org/W52175431","https://openalex.org/W3031444486","https://openalex.org/W3006581593","https://openalex.org/W3093571944","https://openalex.org/W2996429565","https://openalex.org/W324658144","https://openalex.org/W2157250389","https://openalex.org/W2908443817","https://openalex.org/W3085145549"],"abstract_inverted_index":{"We":[0,32,49],"consider":[1],"the":[2,42,51,55,62,79,83,88,91,107,139],"problem":[3,56],"of":[4,9,54,109,163],"controlling":[5],"a":[6,34,58,72,144],"large":[7],"fleet":[8,89],"drones":[10,22,66,158],"to":[11,40,45,67,102,116,126,148,161],"deliver":[12],"packages":[13],"simultaneously":[14],"across":[15],"broad":[16],"urban":[17],"areas.":[18],"To":[19],"conserve":[20],"energy,":[21],"hop":[23],"between":[24],"public":[25,168],"transit":[26,92,122],"vehicles":[27],"(e.g.,":[28],"buses":[29],"and":[30,121,132,156],"trams).":[31],"design":[33],"comprehensive":[35],"algorithmic":[36],"framework":[37,140],"that":[38,138,157],"strives":[39],"minimize":[41],"maximum":[43],"time":[44],"complete":[46],"any":[47],"delivery.":[48],"address":[50],"multifaceted":[52],"complexity":[53],"through":[57],"two-layer":[59],"approach.":[60],"First,":[61],"upper":[63],"layer":[64,81],"assigns":[65],"package":[68],"delivery":[69],"sequences":[70],"with":[71,114,124,167],"near-optimal":[73],"polynomial-time":[74],"task":[75],"allocation":[76,84],"algorithm.":[77],"Then,":[78],"lower":[80],"executes":[82],"by":[85],"periodically":[86],"routing":[87],"over":[90],"network":[93],"while":[94],"employing":[95],"efficient":[96],"bounded-suboptimal":[97],"multi-agent":[98],"pathfinding":[99],"techniques":[100],"tailored":[101],"our":[103,110],"setting.":[104],"Experiments":[105],"demonstrate":[106],"efficiency":[108],"approach":[111],"on":[112,153],"settings":[113],"up":[115,125,160],"200":[117],"drones,":[118],"5000":[119],"packages,":[120],"networks":[123],"8000":[127],"stops":[128],"in":[129],"San":[130],"Francisco":[131],"Washington":[133],"DC.":[134],"Our":[135],"results":[136],"show":[137],"computes":[141],"solutions":[142],"within":[143],"few":[145],"seconds":[146],"(up":[147],"2":[149],"minutes":[150],"at":[151],"most)":[152],"commodity":[154],"hardware,":[155],"travel":[159],"450%":[162],"their":[164],"flight":[165],"range":[166],"transit.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}