{"id":"https://openalex.org/W4401415370","doi":"https://doi.org/10.1109/icra57147.2024.10611370","title":"Multi-Robot Task Allocation Under Uncertainty Via Hindsight Optimization","display_name":"Multi-Robot Task Allocation Under Uncertainty Via Hindsight Optimization","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415370","doi":"https://doi.org/10.1109/icra57147.2024.10611370"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611370","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":"conference-paper","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/A5043107209","display_name":"Neel Dhanaraj","orcid":"https://orcid.org/0000-0002-0275-1823"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I144571360","display_name":"Viterbo University","ror":"https://ror.org/039p8pn96","country_code":"US","type":"education","lineage":["https://openalex.org/I144571360"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Neel Dhanaraj","raw_affiliation_strings":["University of Southern California,Viterbi School of Engineering,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Viterbi School of Engineering,CA,USA","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I144571360"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103622395","display_name":"Jeon Ho Kang","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I144571360","display_name":"Viterbo University","ror":"https://ror.org/039p8pn96","country_code":"US","type":"education","lineage":["https://openalex.org/I144571360"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeon Ho Kang","raw_affiliation_strings":["University of Southern California,Viterbi School of Engineering,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Viterbi School of Engineering,CA,USA","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I144571360"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080264301","display_name":"Anirban Mukherjee","orcid":"https://orcid.org/0000-0002-8463-4347"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I144571360","display_name":"Viterbo University","ror":"https://ror.org/039p8pn96","country_code":"US","type":"education","lineage":["https://openalex.org/I144571360"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anirban Mukherjee","raw_affiliation_strings":["University of Southern California,Viterbi School of Engineering,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Viterbi School of Engineering,CA,USA","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I144571360"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086173158","display_name":"Heramb Nemlekar","orcid":"https://orcid.org/0000-0002-6806-9704"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I144571360","display_name":"Viterbo University","ror":"https://ror.org/039p8pn96","country_code":"US","type":"education","lineage":["https://openalex.org/I144571360"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Heramb Nemlekar","raw_affiliation_strings":["University of Southern California,Viterbi School of Engineering,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Viterbi School of Engineering,CA,USA","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I144571360"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042344629","display_name":"Stefanos Nikolaidis","orcid":"https://orcid.org/0000-0002-8617-3871"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I144571360","display_name":"Viterbo University","ror":"https://ror.org/039p8pn96","country_code":"US","type":"education","lineage":["https://openalex.org/I144571360"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefanos Nikolaidis","raw_affiliation_strings":["University of Southern California,Viterbi School of Engineering,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Viterbi School of Engineering,CA,USA","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I144571360"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083094281","display_name":"Satyandra K. Gupta","orcid":"https://orcid.org/0000-0002-6025-7903"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I144571360","display_name":"Viterbo University","ror":"https://ror.org/039p8pn96","country_code":"US","type":"education","lineage":["https://openalex.org/I144571360"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Satyandra K. Gupta","raw_affiliation_strings":["University of Southern California,Viterbi School of Engineering,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California,Viterbi School of Engineering,CA,USA","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I144571360"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9452,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.94937878,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"16574","last_page":"16580"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T12288","display_name":"Optimization and Search Problems","score":0.9968000054359436,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.995199978351593,"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/hindsight-bias","display_name":"Hindsight bias","score":0.9480299949645996},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7153871059417725},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6763481497764587},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6268864870071411},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47601181268692017},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3480883240699768},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14048069715499878},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12586376070976257},{"id":"https://openalex.org/keywords/cognitive-psychology","display_name":"Cognitive psychology","score":0.10756188631057739},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.0853288471698761},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08080786466598511}],"concepts":[{"id":"https://openalex.org/C10347200","wikidata":"https://www.wikidata.org/wiki/Q1960297","display_name":"Hindsight bias","level":2,"score":0.9480299949645996},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7153871059417725},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6763481497764587},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6268864870071411},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47601181268692017},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3480883240699768},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14048069715499878},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12586376070976257},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.10756188631057739},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0853288471698761},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08080786466598511}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611370","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W127341816","https://openalex.org/W1542941925","https://openalex.org/W1588382077","https://openalex.org/W1972391046","https://openalex.org/W1983511967","https://openalex.org/W2035292227","https://openalex.org/W2088557785","https://openalex.org/W2128459535","https://openalex.org/W2140929789","https://openalex.org/W2141461755","https://openalex.org/W2142502929","https://openalex.org/W2157488300","https://openalex.org/W2295985460","https://openalex.org/W2409715576","https://openalex.org/W2537545174","https://openalex.org/W2565919573","https://openalex.org/W2571911381","https://openalex.org/W2778917778","https://openalex.org/W2936516903","https://openalex.org/W2954742730","https://openalex.org/W3006115429","https://openalex.org/W3026643450","https://openalex.org/W3120687923","https://openalex.org/W3126639411","https://openalex.org/W3127794374","https://openalex.org/W3176499451","https://openalex.org/W3207251292","https://openalex.org/W3208678163","https://openalex.org/W3214258632","https://openalex.org/W4226210625","https://openalex.org/W4255654664","https://openalex.org/W4255876299","https://openalex.org/W4290861662","https://openalex.org/W4292414934","https://openalex.org/W4387124371","https://openalex.org/W4401416748","https://openalex.org/W6605199526","https://openalex.org/W6678993419","https://openalex.org/W6732030915","https://openalex.org/W6809703958"],"related_works":["https://openalex.org/W3197854638","https://openalex.org/W3140454661","https://openalex.org/W4245029315","https://openalex.org/W2139970489","https://openalex.org/W1492315459","https://openalex.org/W1512434910","https://openalex.org/W2540910169","https://openalex.org/W3089780453","https://openalex.org/W3148904318","https://openalex.org/W3213722473"],"abstract_inverted_index":{"Multi-robot":[0],"systems":[1,17],"are":[2],"becoming":[3],"increasingly":[4],"prevalent":[5],"in":[6,21,37,132],"various":[7],"real-world":[8],"applications,":[9],"such":[10],"as":[11],"manufacturing":[12,136],"and":[13,31,34,111,138],"warehouse":[14],"logistics.":[15],"These":[16],"face":[18],"complex":[19],"challenges":[20],"1)":[22],"task":[23,38,41,94,99,121],"allocation":[24,95,122],"due":[25],"to":[26,48,85,117,165],"factors":[27],"like":[28],"time-extended":[29],"tasks,":[30],"agent":[32],"specialization,":[33],"2)":[35],"uncertainties":[36],"execution.":[39],"Potential":[40],"failures":[42,110],"can":[43,143],"add":[44],"further":[45],"contingency":[46],"tasks":[47],"recover":[49],"from":[50,150],"the":[51,59,74,87,113,119,125,145],"failure,":[52],"thereby":[53],"causing":[54],"delays.":[55],"This":[56],"paper":[57],"addresses":[58],"problem":[60,75,96],"of":[61,109,147],"Multi-Robot":[62],"Task":[63],"Allocation":[64],"under":[65],"Uncertainty":[66],"by":[67],"proposing":[68],"a":[69,81,91,135],"hierarchical":[70],"approach":[71],"that":[72,140,154],"decouples":[73],"into":[76],"two":[77],"levels.":[78],"We":[79,128,152],"use":[80],"low-level":[82],"optimization":[83],"formulation":[84],"find":[86,118],"optimal":[88,120],"solution":[89],"for":[90,134],"deterministic":[92],"multi-robot":[93],"with":[97],"known":[98,126],"outcomes.":[100,127],"The":[101],"higher-level":[102],"search":[103,115],"intelligently":[104],"generates":[105],"more":[106],"likely":[107],"combinations":[108],"calls":[112],"inner-level":[114],"repeatedly":[116],"sequence,":[123],"given":[124],"validate":[129],"our":[130,141,155],"results":[131],"simulation":[133],"domain":[137],"demonstrate":[139],"method":[142],"reduce":[144],"effect":[146],"potential":[148],"delays":[149],"contingencies.":[151],"show":[153],"algorithm":[156],"is":[157],"computationally":[158],"efficient":[159],"while":[160],"improving":[161],"average":[162],"makespan":[163],"compared":[164],"other":[166],"baselines.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}