{"id":"https://openalex.org/W4413925320","doi":"https://doi.org/10.1109/icra55743.2025.11128657","title":"Hybrid Decision Making for Scalable Multi-Agent Navigation: Integrating Semantic Maps, Discrete Coordination, and Model Predictive Control","display_name":"Hybrid Decision Making for Scalable Multi-Agent Navigation: Integrating Semantic Maps, Discrete Coordination, and Model Predictive Control","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925320","doi":"https://doi.org/10.1109/icra55743.2025.11128657"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128657","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128657","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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pure.tue.nl/ws/files/367024050/Hybrid_Decision_Making_for_Scalable_Multi-Agent_Navigation_Integrating_Semantic_Maps_Discrete_Coordination_and_Model_Predictive_Control.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044017268","display_name":"Koen Vos","orcid":"https://orcid.org/0009-0007-2701-089X"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"K. de Vos","raw_affiliation_strings":["Eindhoven University of Technology,Department of Mechanical Engineering,The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,Department of Mechanical Engineering,The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069500372","display_name":"Elena Torta","orcid":"https://orcid.org/0000-0001-9198-1374"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"E. Torta","raw_affiliation_strings":["Eindhoven University of Technology,Department of Mechanical Engineering,The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,Department of Mechanical Engineering,The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009116988","display_name":"Herman Bruyninckx","orcid":"https://orcid.org/0000-0003-3776-1025"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"H. Bruyninckx","raw_affiliation_strings":["Eindhoven University of Technology,Department of Mechanical Engineering,The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,Department of Mechanical Engineering,The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103228763","display_name":"Carlos L\u00f3pez-Mart\u00ednez","orcid":"https://orcid.org/0000-0002-1366-9446"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"C.A. L\u00f3pez Mart\u00ednez","raw_affiliation_strings":["Eindhoven University of Technology,Department of Mechanical Engineering,The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,Department of Mechanical Engineering,The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033596147","display_name":"Ren\u00e9 van de Molengraft","orcid":"https://orcid.org/0000-0002-5095-4297"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"M.J.G. van de Molengraft","raw_affiliation_strings":["Eindhoven University of Technology,Department of Mechanical Engineering,The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eindhoven University of Technology,Department of Mechanical Engineering,The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I83019370"],"apc_list":null,"apc_paid":null,"fwci":0.8054,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.75458351,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5380","last_page":"5386"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9728000164031982,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9728000164031982,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10876","display_name":"Fault Detection and Control Systems","score":0.9050999879837036,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/computer-science","display_name":"Computer science","score":0.7260494232177734},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6642266511917114},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.638220489025116},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4716210663318634},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4383409023284912},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.353329062461853},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.33356937766075134},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.0782635509967804}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7260494232177734},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6642266511917114},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.638220489025116},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4716210663318634},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4383409023284912},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.353329062461853},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.33356937766075134},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0782635509967804}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra55743.2025.11128657","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128657","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:pure.tue.nl:openaire_cris_publications/3aef1095-2654-475f-8913-04cec0d9f301","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/3aef1095-2654-475f-8913-04cec0d9f301","pdf_url":"https://pure.tue.nl/ws/files/367024050/Hybrid_Decision_Making_for_Scalable_Multi-Agent_Navigation_Integrating_Semantic_Maps_Discrete_Coordination_and_Model_Predictive_Control.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"de Vos, K, Torta, E, Bruyninckx, H P J, Lopez, C & van de Molengraft, M J G 2025, Hybrid Decision Making for Scalable Multi-Agent Navigation : Integrating Semantic Maps, Discrete Coordination, and Model Predictive Control. in 2025 IEEE International Conference on Robotics and Automation, ICRA 2025., 11128657, Institute of Electrical and Electronics Engineers, pp. 5380-5386, 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, United States, 19/05/25. https://doi.org/10.1109/ICRA55743.2025.11128657","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/3aef1095-2654-475f-8913-04cec0d9f301","is_oa":true,"landing_page_url":"https://research.tue.nl/en/publications/3aef1095-2654-475f-8913-04cec0d9f301","pdf_url":"https://pure.tue.nl/ws/files/367024050/Hybrid_Decision_Making_for_Scalable_Multi-Agent_Navigation_Integrating_Semantic_Maps_Discrete_Coordination_and_Model_Predictive_Control.pdf","source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","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":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"de Vos, K, Torta, E, Bruyninckx, H P J, Lopez, C & van de Molengraft, M J G 2025, Hybrid Decision Making for Scalable Multi-Agent Navigation : Integrating Semantic Maps, Discrete Coordination, and Model Predictive Control. in 2025 IEEE International Conference on Robotics and Automation, ICRA 2025., 11128657, Institute of Electrical and Electronics Engineers, pp. 5380-5386, 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, United States, 19/05/25. https://doi.org/10.1109/ICRA55743.2025.11128657","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4413925320.pdf","grobid_xml":"https://content.openalex.org/works/W4413925320.grobid-xml"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W2002440441","https://openalex.org/W2117211893","https://openalex.org/W2123030512","https://openalex.org/W2123871098","https://openalex.org/W2142943472","https://openalex.org/W2155313135","https://openalex.org/W2518885560","https://openalex.org/W2563700852","https://openalex.org/W2743098504","https://openalex.org/W2785331812","https://openalex.org/W2842089854","https://openalex.org/W2902000194","https://openalex.org/W3129246708","https://openalex.org/W3136568468","https://openalex.org/W4233290410","https://openalex.org/W4387740277","https://openalex.org/W4387917949","https://openalex.org/W4401414457"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W1982914007","https://openalex.org/W2159583675","https://openalex.org/W1824242903","https://openalex.org/W1493858311","https://openalex.org/W2155470929","https://openalex.org/W2556120871","https://openalex.org/W2111125783","https://openalex.org/W2394465510"],"abstract_inverted_index":{"This":[0],"paper":[1,97],"presents":[2],"a":[3,17,27,39],"framework":[4],"for":[5,30,43,78],"multi-agent":[6],"navigation":[7],"in":[8,108],"structured":[9],"but":[10],"dynamic":[11],"environments,":[12],"integrating":[13],"three":[14],"key":[15],"components:":[16],"shared":[18],"semantic":[19,24],"map":[20],"encoding":[21],"metric":[22],"and":[23,38,50,85,91,101],"environmental":[25,49],"knowledge,":[26],"claim":[28],"policy":[29],"coordinating":[31],"access":[32],"to":[33,89],"areas":[34],"within":[35],"the":[36,76,87,105],"environment,":[37],"Model":[40],"Predictive":[41],"Controller":[42],"generating":[44],"motion":[45],"trajectories":[46],"that":[47],"respect":[48],"coordination":[51],"constraints.":[52],"The":[53,96],"main":[54],"advantages":[55],"of":[56],"this":[57],"approach":[58],"include:":[59],"(i)":[60],"enforcing":[61],"area":[62],"occupancy":[63],"constraints":[64,81],"derived":[65],"from":[66],"specific":[67],"task":[68],"requirements;":[69],"(ii)":[70],"enhancing":[71],"computational":[72],"scalability":[73],"by":[74],"eliminating":[75],"need":[77],"collision":[79],"avoidance":[80],"between":[82,94],"robotic":[83],"agents;":[84],"(iii)":[86],"ability":[88],"anticipate":[90],"avoid":[92],"deadlocks":[93],"agents.":[95],"includes":[98],"both":[99],"simulations":[100],"physical":[102],"experiments":[103],"demonstrating":[104],"framework's":[106],"effectiveness":[107],"various":[109],"representative":[110],"scenarios.":[111]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}