{"id":"https://openalex.org/W4226309445","doi":"https://doi.org/10.1109/icra46639.2022.9811678","title":"Stackelberg Strategic Guidance for Heterogeneous Robots Collaboration","display_name":"Stackelberg Strategic Guidance for Heterogeneous Robots Collaboration","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4226309445","doi":"https://doi.org/10.1109/icra46639.2022.9811678"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811678","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2202.01877","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101650698","display_name":"Yuhan Zhao","orcid":"https://orcid.org/0000-0002-1427-4139"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuhan Zhao","raw_affiliation_strings":["New York University,Department of Electrical and Computer Engineering","Department of Electrical and Computer Engineering, New York University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New York University,Department of Electrical and Computer Engineering","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, New York University","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031296968","display_name":"Baichuan Huang","orcid":"https://orcid.org/0000-0002-9658-6071"},"institutions":[{"id":"https://openalex.org/I4210096112","display_name":"Rutgers Sexual and Reproductive Health and Rights","ror":"https://ror.org/00rcvgx40","country_code":"NL","type":"other","lineage":["https://openalex.org/I4210096112"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Baichuan Huang","raw_affiliation_strings":["Rutgers University,Department of Computer Science","Department of Computer Science, Rutgers University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Department of Computer Science","institution_ids":["https://openalex.org/I4210096112"]},{"raw_affiliation_string":"Department of Computer Science, Rutgers University","institution_ids":["https://openalex.org/I4210096112"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076210154","display_name":"Jingjin Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096112","display_name":"Rutgers Sexual and Reproductive Health and Rights","ror":"https://ror.org/00rcvgx40","country_code":"NL","type":"other","lineage":["https://openalex.org/I4210096112"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jingjin Yu","raw_affiliation_strings":["Rutgers University,Department of Computer Science","Department of Computer Science, Rutgers University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Department of Computer Science","institution_ids":["https://openalex.org/I4210096112"]},{"raw_affiliation_string":"Department of Computer Science, Rutgers University","institution_ids":["https://openalex.org/I4210096112"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081500464","display_name":"Quanyan Zhu","orcid":"https://orcid.org/0000-0002-0008-2953"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Quanyan Zhu","raw_affiliation_strings":["New York University,Department of Electrical and Computer Engineering","Department of Electrical and Computer Engineering, New York University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"New York University,Department of Electrical and Computer Engineering","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, New York University","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4922","last_page":"4928"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9987999796867371,"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":0.9980000257492065,"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"}},{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9950000047683716,"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/stackelberg-competition","display_name":"Stackelberg competition","score":0.9722493886947632},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7060325145721436},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6894638538360596},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6435898542404175},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6120467782020569},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.559333086013794},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.5524977445602417},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4332472085952759},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3555939495563507},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34830737113952637},{"id":"https://openalex.org/keywords/operations-research","display_name":"Operations research","score":0.3446495532989502},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32712942361831665},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.1776764690876007},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15935024619102478},{"id":"https://openalex.org/keywords/mathematical-economics","display_name":"Mathematical economics","score":0.13414934277534485},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09868142008781433},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08962687849998474}],"concepts":[{"id":"https://openalex.org/C199510392","wikidata":"https://www.wikidata.org/wiki/Q1184602","display_name":"Stackelberg competition","level":2,"score":0.9722493886947632},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7060325145721436},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6894638538360596},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6435898542404175},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6120467782020569},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.559333086013794},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.5524977445602417},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4332472085952759},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3555939495563507},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34830737113952637},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.3446495532989502},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32712942361831665},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.1776764690876007},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15935024619102478},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.13414934277534485},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09868142008781433},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08962687849998474},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra46639.2022.9811678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811678","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2202.01877","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2202.01877","pdf_url":"https://arxiv.org/pdf/2202.01877","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":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2202.01877","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2202.01877","pdf_url":"https://arxiv.org/pdf/2202.01877","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":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.699999988079071}],"awards":[{"id":"https://openalex.org/G1357483747","display_name":null,"funder_award_id":"IIS-1845888,IIS-2132972,ECCS-1847056,W911NF-19-1-0041","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/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W586722081","https://openalex.org/W1578630563","https://openalex.org/W2110504778","https://openalex.org/W2119562960","https://openalex.org/W2159230854","https://openalex.org/W2465476709","https://openalex.org/W2585588704","https://openalex.org/W2727450595","https://openalex.org/W2912551019","https://openalex.org/W2927112657","https://openalex.org/W2962872943","https://openalex.org/W2963150697","https://openalex.org/W2980380321","https://openalex.org/W3022180142","https://openalex.org/W3046896135","https://openalex.org/W3099688079","https://openalex.org/W3122676440","https://openalex.org/W3125172959","https://openalex.org/W3129762550","https://openalex.org/W3131254153","https://openalex.org/W3164978030","https://openalex.org/W3186239158","https://openalex.org/W3205918749","https://openalex.org/W3210327237","https://openalex.org/W4253730333","https://openalex.org/W6676131375","https://openalex.org/W6719481026"],"related_works":["https://openalex.org/W1987562536","https://openalex.org/W4383533535","https://openalex.org/W2375814310","https://openalex.org/W4380353856","https://openalex.org/W2347216446","https://openalex.org/W1995212308","https://openalex.org/W2605497830","https://openalex.org/W3169439878","https://openalex.org/W2062756478","https://openalex.org/W2948291551"],"abstract_inverted_index":{"In":[0],"this":[1],"study,":[2],"we":[3,39],"explore":[4],"the":[5,16,34,62,68,73,86,97,102],"application":[6],"of":[7,18,36,53,67,75,83],"game":[8],"theory,":[9],"in":[10,100,112],"particular":[11],"Stackelberg":[12,78],"games,":[13],"to":[14,109],"address":[15],"issue":[17],"effective":[19],"coordination":[20],"strategy":[21],"generation":[22],"for":[23,50],"heterogeneous":[24],"robots":[25],"with":[26],"one-way":[27],"communication.":[28],"To":[29],"that":[30,46],"end,":[31],"focusing":[32],"on":[33],"task":[35],"multi-object":[37],"rearrangement,":[38],"develop":[40],"a":[41,51,56,59,65,76],"theoretical":[42],"and":[43,58],"algorithmic":[44],"framework":[45],"provides":[47],"strategic":[48,87],"guidance":[49,88],"pair":[52],"robot":[54],"arms,":[55],"leader":[57,63],"follower":[60],"where":[61],"has":[64],"model":[66,84],"follower's":[69],"decision-making":[70],"process,":[71],"through":[72],"computation":[74],"feedback":[77],"equilibrium.":[79],"With":[80],"built-in":[81],"tolerance":[82],"uncertainty,":[85],"generated":[89],"by":[90],"our":[91],"planning":[92],"algorithm":[93],"not":[94],"only":[95],"improves":[96],"overall":[98],"efficiency":[99],"solving":[101],"rearrangement":[103],"tasks,":[104],"but":[105],"is":[106],"also":[107],"robust":[108],"common":[110],"pitfalls":[111],"collaboration,":[113],"e.g.,":[114],"chattering.":[115]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
