{"id":"https://openalex.org/W4413917119","doi":"https://doi.org/10.1109/icra55743.2025.11127952","title":"HULK: Large-Scale Hierarchical Coordination Under Continual and Uncertain Temporal Tasks","display_name":"HULK: Large-Scale Hierarchical Coordination Under Continual and Uncertain Temporal Tasks","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413917119","doi":"https://doi.org/10.1109/icra55743.2025.11127952"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2605.08722","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078293976","display_name":"Qingyuan Luo","orcid":"https://orcid.org/0009-0005-3452-5416"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingyuan Luo","raw_affiliation_strings":["Peking University,Department of Mechanics and Engineering Science, College of Engineering,Beijing,China,100871"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University,Department of Mechanics and Engineering Science, College of Engineering,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100762685","display_name":"Jie Li","orcid":"https://orcid.org/0000-0002-7072-7817"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Li","raw_affiliation_strings":["National University of Defense Technology,Hunan,China,410073"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Defense Technology,Hunan,China,410073","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032581175","display_name":"Meng Guo","orcid":"https://orcid.org/0000-0003-4562-854X"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meng Guo","raw_affiliation_strings":["Peking University,Department of Mechanics and Engineering Science, College of Engineering,Beijing,China,100871"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University,Department of Mechanics and Engineering Science, College of Engineering,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.0075,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.89643304,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"10201","last_page":"10207"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12592","display_name":"Opinion Dynamics and Social Influence","score":0.6139000058174133,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12592","display_name":"Opinion Dynamics and Social Influence","score":0.6139000058174133,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12805","display_name":"Cognitive Science and Mapping","score":0.5766000151634216,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6773641705513},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.6654678583145142},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3925546705722809},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07713496685028076},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.06483578681945801}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6773641705513},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.6654678583145142},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3925546705722809},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07713496685028076},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.06483578681945801}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra55743.2025.11127952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2605.08722","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2605.08722","pdf_url":"https://arxiv.org/pdf/2605.08722","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2605.08722","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.08722","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2605.08722","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2605.08722","pdf_url":"https://arxiv.org/pdf/2605.08722","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4413917119.pdf","grobid_xml":"https://content.openalex.org/works/W4413917119.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W132615951","https://openalex.org/W1430617670","https://openalex.org/W1471578414","https://openalex.org/W1707207708","https://openalex.org/W1980392184","https://openalex.org/W2041252124","https://openalex.org/W2077578897","https://openalex.org/W2090939903","https://openalex.org/W2096796578","https://openalex.org/W2120617969","https://openalex.org/W2124339220","https://openalex.org/W2185446978","https://openalex.org/W2291201195","https://openalex.org/W2343223723","https://openalex.org/W2560346987","https://openalex.org/W2604199381","https://openalex.org/W2605051224","https://openalex.org/W2735437747","https://openalex.org/W2768636722","https://openalex.org/W2798923485","https://openalex.org/W2804655496","https://openalex.org/W2808947987","https://openalex.org/W2998208410","https://openalex.org/W3021964239","https://openalex.org/W3119321206","https://openalex.org/W4205677764","https://openalex.org/W4210278090","https://openalex.org/W4213030681","https://openalex.org/W4387993858","https://openalex.org/W4388819745","https://openalex.org/W4391996271"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Multi-agent":[0],"systems":[1,211],"can":[2,63],"be":[3,64],"extremely":[4],"efficient":[5],"when":[6],"working":[7],"concurrently":[8],"and":[9,16,56,66,83,100,120,137,171,194,202,216],"collaboratively,":[10],"e.g.,":[11],"for":[12,30,116],"delivery,":[13],"surveillance,":[14],"search":[15],"rescue.":[17],"Coordination":[18],"of":[19,86,96,155,162],"such":[20],"teams":[21],"often":[22,49],"involves":[23],"two":[24,156],"aspects:":[25],"(i)":[26],"selecting":[27],"appropriate":[28],"subteams":[29,41,166],"different":[31,192],"tasks":[32,53,75,164,215],"in":[33,39,70],"various":[34,213],"areas;":[35],"(ii)":[36],"coordinating":[37],"agents":[38],"the":[40,44,52,73,84,94,117,125,131,159,172,179,186,199],"to":[42,98,102,123,165,197],"execute":[43],"associated":[45],"subtasks.":[46],"Existing":[47],"work":[48,129],"assumes":[50],"that":[51],"are":[54,76],"static":[55],"known":[57],"beforehand,":[58],"where":[59],"an":[60],"integer":[61],"program":[62],"formulated":[65],"solved":[67],"offline.":[68],"However,":[69],"many":[71],"applications,":[72],"team-wise":[74],"generated":[77],"online":[78,183],"continually":[79],"by":[80],"external":[81],"requests;":[82],"amount":[85],"subtasks":[87,181],"within":[88,167,175],"each":[89],"task":[90],"is":[91,188,205],"uncertain":[92,138],"(e.g.,":[93],"number":[95],"packages":[97],"deliver,":[99],"victims":[101],"rescue).":[103],"The":[104,149],"aforementioned":[105],"offline":[106],"solution":[107],"becomes":[108],"inadequate":[109],"as":[110,142],"it":[111],"would":[112],"require":[113],"constant":[114],"re-computation":[115],"whole":[118],"team":[119],"global":[121],"communication":[122],"broadcast":[124],"results.":[126],"Thus,":[127,185],"this":[128],"tackles":[130],"large-scale":[132,209],"coordination":[133,174,187],"problem":[134],"under":[135,212],"continual":[136],"temporal":[139,143,214],"tasks,":[140],"specified":[141],"logic":[144],"formulas":[145],"over":[146,208],"collaborative":[147],"actions.":[148],"proposed":[150],"hierarchical":[151],"framework":[152],"(HULK)":[153],"consists":[154],"interleaved":[157],"layers:":[158],"rolling":[160],"assignment":[161],"currently-known":[163],"a":[168,176],"certain":[169],"horizon,":[170],"dynamic":[173],"sub-team":[177],"given":[178],"detected":[180],"during":[182],"execution.":[184],"performed":[189],"hierarchically":[190],"at":[191],"granularities":[193],"triggering":[195],"conditions,":[196],"improve":[198],"computational":[200],"efficiency":[201],"robustness.":[203],"It":[204],"validated":[206],"rigorously":[207],"heterogeneous":[210],"environment":[217],"uncertainties.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}