{"id":"https://openalex.org/W4401414158","doi":"https://doi.org/10.1109/icra57147.2024.10611519","title":"An Iterative Approach for Heterogeneous Multi-Agent Route Planning with Temporal Logic Goals and Travel Duration Uncertainty","display_name":"An Iterative Approach for Heterogeneous Multi-Agent Route Planning with Temporal Logic Goals and Travel Duration Uncertainty","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414158","doi":"https://doi.org/10.1109/icra57147.2024.10611519"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611519","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/A5017376014","display_name":"Kaier Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kaier Liang","raw_affiliation_strings":["Lehigh University,Mechanical Engineering and Mechanics Department,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lehigh University,Mechanical Engineering and Mechanics Department,PA,USA","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001903602","display_name":"Gustavo A. Cardona","orcid":"https://orcid.org/0000-0002-4257-9415"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gustavo A. Cardona","raw_affiliation_strings":["Lehigh University,Mechanical Engineering and Mechanics Department,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lehigh University,Mechanical Engineering and Mechanics Department,PA,USA","institution_ids":["https://openalex.org/I186143895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086654963","display_name":"Cristian-Ioan Vasile","orcid":"https://orcid.org/0000-0002-1132-1462"},"institutions":[{"id":"https://openalex.org/I186143895","display_name":"Lehigh University","ror":"https://ror.org/012afjb06","country_code":"US","type":"education","lineage":["https://openalex.org/I186143895"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cristian-Ioan Vasile","raw_affiliation_strings":["Lehigh University,Mechanical Engineering and Mechanics Department,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lehigh University,Mechanical Engineering and Mechanics Department,PA,USA","institution_ids":["https://openalex.org/I186143895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I186143895"],"apc_list":null,"apc_paid":null,"fwci":0.2629,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.51975992,"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":"257","last_page":"263"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980999827384949,"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":0.9980999827384949,"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/T11106","display_name":"Data Management and Algorithms","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.9929999709129333,"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/duration","display_name":"Duration (music)","score":0.730576753616333},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.653959333896637},{"id":"https://openalex.org/keywords/temporal-logic","display_name":"Temporal logic","score":0.607812762260437},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.423134446144104},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32577353715896606},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.293366938829422},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.17740774154663086},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1542591154575348}],"concepts":[{"id":"https://openalex.org/C112758219","wikidata":"https://www.wikidata.org/wiki/Q16038819","display_name":"Duration (music)","level":2,"score":0.730576753616333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.653959333896637},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.607812762260437},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.423134446144104},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32577353715896606},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.293366938829422},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.17740774154663086},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1542591154575348},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611519","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1533557569","https://openalex.org/W1547304883","https://openalex.org/W1891842933","https://openalex.org/W1935692274","https://openalex.org/W1969004631","https://openalex.org/W1970269621","https://openalex.org/W2077245982","https://openalex.org/W2092884371","https://openalex.org/W2151958719","https://openalex.org/W2343223723","https://openalex.org/W2478031517","https://openalex.org/W3021964239","https://openalex.org/W3101375348","https://openalex.org/W3107130550","https://openalex.org/W3196239887","https://openalex.org/W3209876736","https://openalex.org/W4205533104","https://openalex.org/W4206429995","https://openalex.org/W4206840125","https://openalex.org/W4210580908","https://openalex.org/W4210600503","https://openalex.org/W4229029576","https://openalex.org/W4231702991","https://openalex.org/W4250739957","https://openalex.org/W4311443203","https://openalex.org/W4312460205","https://openalex.org/W4314946898","https://openalex.org/W4383108323","https://openalex.org/W4387687038","https://openalex.org/W6632722279","https://openalex.org/W6679191575","https://openalex.org/W6857795880"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2348837382","https://openalex.org/W746329893","https://openalex.org/W4205872570","https://openalex.org/W4245971243","https://openalex.org/W1922805944","https://openalex.org/W4253588120","https://openalex.org/W2383732295","https://openalex.org/W2942717012"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"an":[3,96,120],"iterative":[4,97,165],"approach":[5,199],"to":[6,65,137,157,170],"multi-agent":[7,114,213],"route":[8,115,214],"planning":[9,116,215],"under":[10],"chance":[11],"constraints.":[12],"A":[13],"heterogeneous":[14],"team":[15],"of":[16,32,59,179,212],"agents":[17,70,136],"with":[18,23,216],"various":[19],"capabilities":[20,156],"is":[21,39,77,82,89,182],"tasked":[22],"a":[24,30,42,113,133,172],"Capability":[25],"Temporal":[26,34],"Logic":[27],"(CaTL)":[28],"mission,":[29],"fragment":[31],"Signal":[33],"Logic.":[35],"The":[36,163,177],"agents\u2019":[37,155],"motion":[38],"modeled":[40],"as":[41],"finite":[43],"weighted":[44],"graph,":[45],"where":[46,188],"the":[47,53,57,74,86,93,128,143,161,190,202,210],"weights":[48],"represent":[49],"travel":[50,80,218],"durations.":[51,219],"Given":[52],"probability":[54,88],"distribution":[55],"over":[56],"durations":[58,149],"each":[60,100],"edge\u2019s":[61],"traversal,":[62],"we":[63],"want":[64],"find":[66],"paths":[67],"for":[68,127,135],"all":[69],"such":[71],"that":[72,153],"(a)":[73],"specification":[75],"robustness":[76],"maximized,":[78],"(b)":[79],"time":[81],"minimized,":[83],"and":[84,107,110,150,208],"(c)":[85],"success":[87,108,151],"maximized.":[90],"We":[91,118],"tackle":[92],"problem":[94],"using":[95],"approach.":[98],"In":[99],"stage,":[101],"it":[102],"selects":[103],"edges\u2019":[104],"traversal":[105],"duration":[106],"probabilities":[109],"then":[111],"solves":[112],"problem.":[117],"use":[119],"efficient":[121,174],"Mixed-Integer":[122],"Linear":[123],"Programming":[124],"(MILP)":[125],"encoding":[126],"latter.":[129],"Our":[130,198],"method":[131,166,181],"provides":[132],"framework":[134],"make":[138],"informed":[139],"decisions":[140],"in":[141,160],"choosing":[142],"most":[144],"suitable":[145],"edge":[146],"attributes":[147],"(travel":[148],"probabilities)":[152],"consider":[154],"perform":[158],"tasks":[159],"environment.":[162],"proposed":[164],"leverages":[167],"graph":[168],"structure":[169],"generate":[171],"more":[173],"search":[175],"space.":[176],"effectiveness":[178],"our":[180],"demonstrated":[183],"through":[184],"simulated":[185],"case":[186],"studies":[187],"obtaining":[189],"optimal":[191],"solution":[192,203],"would":[193],"otherwise":[194],"be":[195],"computationally":[196],"expensive.":[197],"efficiently":[200],"explores":[201],"space,":[204],"generating":[205],"better":[206],"solutions":[207],"improving":[209],"performance":[211],"uncertain":[217]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}