{"id":"https://openalex.org/W4401416752","doi":"https://doi.org/10.1109/icra57147.2024.10610999","title":"db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning","display_name":"db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416752","doi":"https://doi.org/10.1109/icra57147.2024.10610999"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610999","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610999","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5075047614","display_name":"Akmaral Moldagalieva","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Akmaral Moldagalieva","raw_affiliation_strings":["Technical University of Berlin,Berlin,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Berlin,Berlin,Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023723359","display_name":"Joaquim Ortiz-Haro","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Joaquim Ortiz-Haro","raw_affiliation_strings":["Technical University of Berlin,Berlin,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Berlin,Berlin,Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065672819","display_name":"Marc Toussaint","orcid":"https://orcid.org/0000-0002-5487-6767"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Toussaint","raw_affiliation_strings":["Technical University of Berlin,Berlin,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Berlin,Berlin,Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086120608","display_name":"Wolfgang H\u00f6nig","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfgang H\u00f6nig","raw_affiliation_strings":["Technical University of Berlin,Berlin,Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Berlin,Berlin,Germany","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5075047614"],"corresponding_institution_ids":["https://openalex.org/I4577782"],"apc_list":null,"apc_paid":null,"fwci":3.6748,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.94291365,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"14569","last_page":"14575"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9973000288009644,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.988099992275238,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/bounded-function","display_name":"Bounded function","score":0.7890399098396301},{"id":"https://openalex.org/keywords/discontinuity","display_name":"Discontinuity (linguistics)","score":0.7609871625900269},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6301701068878174},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5799945592880249},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5251003503799438},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4423454701900482},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3813363313674927},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35473382472991943},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30659419298171997},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1056048572063446}],"concepts":[{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.7890399098396301},{"id":"https://openalex.org/C2777042112","wikidata":"https://www.wikidata.org/wiki/Q5281658","display_name":"Discontinuity (linguistics)","level":2,"score":0.7609871625900269},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6301701068878174},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5799945592880249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5251003503799438},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4423454701900482},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3813363313674927},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35473382472991943},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30659419298171997},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1056048572063446}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610999","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610999","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/13","score":0.5199999809265137,"display_name":"Climate action"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W3359552","https://openalex.org/W1742473997","https://openalex.org/W1980353316","https://openalex.org/W2000359213","https://openalex.org/W2004139909","https://openalex.org/W2021042867","https://openalex.org/W2078765782","https://openalex.org/W2110762409","https://openalex.org/W2128990851","https://openalex.org/W2132990760","https://openalex.org/W2142224528","https://openalex.org/W2191404279","https://openalex.org/W2416313483","https://openalex.org/W2579451340","https://openalex.org/W2596153517","https://openalex.org/W2600080636","https://openalex.org/W2890523827","https://openalex.org/W2965230525","https://openalex.org/W3081791272","https://openalex.org/W3090360675","https://openalex.org/W3128381983","https://openalex.org/W3139334869","https://openalex.org/W3146836655","https://openalex.org/W3174967682","https://openalex.org/W4312250476","https://openalex.org/W4312494237","https://openalex.org/W4313005818","https://openalex.org/W4401415691","https://openalex.org/W6850668510"],"related_works":["https://openalex.org/W1702821","https://openalex.org/W1484056900","https://openalex.org/W4244584856","https://openalex.org/W2127980043","https://openalex.org/W1989965977","https://openalex.org/W1179533853","https://openalex.org/W2372950632","https://openalex.org/W2136634899","https://openalex.org/W2585996307","https://openalex.org/W2372272697"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,10,37,45,65,108,118,163],"multi-robot":[4],"kinodynamic":[5,47],"motion":[6,48,74],"planner":[7],"that":[8,68,153],"enables":[9],"team":[11],"of":[12,158],"robots":[13,63],"with":[14,101,117,137,147,162],"different":[15,150],"dynamics,":[16],"actuation":[17],"limits,":[18],"and":[19,42,82,94,130,145,167],"shapes":[20],"to":[21],"reach":[22],"their":[23],"goals":[24],"in":[25,54,149],"challenging":[26,160],"environments.":[27],"We":[28],"solve":[29],"this":[30],"problem":[31],"by":[32,85],"combining":[33],"Conflict-Based":[34],"Search":[35],"(CBS),":[36],"multi-agent":[38],"path":[39],"finding":[40],"method,":[41,51],"discontinuity-bounded":[43],"A*,":[44],"single-robot":[46],"planner.":[49],"Our":[50,122],"db-CBS,":[52],"operates":[53],"three":[55],"levels.":[56],"Initially,":[57],"we":[58],"compute":[59],"trajectories":[60],"for":[61,107],"individual":[62],"using":[64],"graph":[66],"search":[67],"allows":[69],"bounded":[70],"discontinuities":[71,102],"between":[72],"precomputed":[73],"primitives.":[75],"The":[76,92,113],"second":[77],"level":[78,96],"identifies":[79],"inter-robot":[80],"collisions":[81],"resolves":[83],"them":[84],"imposing":[86],"constraints":[87],"on":[88],"the":[89,98,171],"first":[90],"level.":[91],"third":[93],"final":[95],"uses":[97],"resulting":[99],"solution":[100],"as":[103,141],"an":[104],"initial":[105],"guess":[106],"joint":[109],"space":[110],"trajectory":[111],"optimization.":[112],"procedure":[114],"is":[115,124,156],"repeated":[116],"reduced":[119],"discontinuity":[120],"bound.":[121],"approach":[123],"anytime,":[125],"probabilistically":[126],"complete,":[127],"asymptotically":[128],"optimal,":[129],"finds":[131],"near-optimal":[132],"solutions":[133],"quickly.":[134],"Experimental":[135],"results":[136],"robot":[138],"dynamics":[139],"such":[140],"unicycle,":[142],"double":[143],"integrator,":[144],"car":[146],"trailer":[148],"settings":[151],"show":[152],"our":[154],"method":[155],"capable":[157],"solving":[159],"tasks":[161],"higher":[164],"success":[165],"rate":[166],"lower":[168],"cost":[169],"than":[170],"existing":[172],"state-of-the-art.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":4}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}