{"id":"https://openalex.org/W2202983866","doi":"https://doi.org/10.1109/iros.2011.6095085","title":"Efficient and complete centralized multi-robot path planning","display_name":"Efficient and complete centralized multi-robot path planning","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2202983866","doi":"https://doi.org/10.1109/iros.2011.6095085","mag":"2202983866"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6095085","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095085","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5001357017","display_name":"Ryan Luna","orcid":"https://orcid.org/0000-0002-2930-3254"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ryan Luna","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Nevada-Reno, Reno, NV, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Nevada-Reno, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kostas E. Bekris","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Nevada-Reno, Reno, NV, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Nevada-Reno, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5001357017"],"corresponding_institution_ids":["https://openalex.org/I134113660"],"apc_list":null,"apc_paid":null,"fwci":6.4306,"has_fulltext":false,"cited_by_count":79,"citation_normalized_percentile":{"value":0.97009967,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3268","last_page":"3275"},"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":0.9954000115394592,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9805999994277954,"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/motion-planning","display_name":"Motion planning","score":0.6917509436607361},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6715086102485657},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5803476572036743},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.531863808631897},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4655030369758606},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.32782232761383057},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32059359550476074},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.22518089413642883}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6917509436607361},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6715086102485657},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5803476572036743},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.531863808631897},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4655030369758606},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32782232761383057},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32059359550476074},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.22518089413642883}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6095085","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095085","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W92902385","https://openalex.org/W119150805","https://openalex.org/W125001008","https://openalex.org/W1424654272","https://openalex.org/W1777366632","https://openalex.org/W1900710004","https://openalex.org/W2004815408","https://openalex.org/W2007193228","https://openalex.org/W2045403423","https://openalex.org/W2070224057","https://openalex.org/W2130774864","https://openalex.org/W2137651302","https://openalex.org/W2137952598","https://openalex.org/W2152358681","https://openalex.org/W2158883244","https://openalex.org/W2169620233","https://openalex.org/W2404844938","https://openalex.org/W2914296650","https://openalex.org/W4242811155","https://openalex.org/W4244044799","https://openalex.org/W6603757628","https://openalex.org/W6604858078","https://openalex.org/W6637859625","https://openalex.org/W6680701603","https://openalex.org/W6685015332","https://openalex.org/W6713139358","https://openalex.org/W6758754608"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W3114279067","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2359600231"],"abstract_inverted_index":{"Multi-robot":[0],"path":[1,60],"planning":[2,61],"is":[3],"abstracted":[4],"as":[5],"the":[6,25,117,137,150],"problem":[7],"of":[8,12,24,58,76,85,119,165],"computing":[9],"a":[10,16,42,55,73,82,94,127],"set":[11],"non-colliding":[13],"paths":[14],"on":[15],"graph":[17,75],"for":[18,38,53,130],"multiple":[19],"robots.":[20,44],"A":[21],"naive":[22],"search":[23,27],"composite":[26],"space,":[28],"although":[29],"complete,":[30],"has":[31],"exponential":[32],"complexity":[33],"and":[34,50,106,144,147,156],"becomes":[35],"computationally":[36],"prohibitive":[37],"problems":[39,162],"with":[40,140,163],"just":[41],"few":[43],"This":[45,79],"paper":[46,80,125],"proposes":[47],"an":[48],"efficient":[49],"complete":[51],"algorithm":[52,88],"solving":[54,167],"general":[56],"class":[57],"multi-robot":[59],"problems,":[62],"specifically":[63],"those":[64],"where":[65,93],"there":[66],"are":[67],"at":[68],"most":[69],"n-2":[70],"robots":[71,111],"in":[72,169],"connected":[74],"n":[77],"vertices.":[78],"provides":[81,126],"full":[83],"proof":[84],"completeness.":[86],"The":[87],"employs":[89],"two":[90,110],"primitives:":[91],"\u201cpush\u201d,":[92],"robot":[95],"moves":[96],"toward":[97],"its":[98],"goal":[99],"until":[100],"no":[101],"progress":[102],"can":[103],"be":[104],"made,":[105],"\u201cswap\u201d,":[107],"that":[108,149],"allows":[109],"to":[112,161],"swap":[113],"positions":[114],"without":[115],"altering":[116],"position":[118],"any":[120],"other":[121,142],"robot.":[122],"Additionally,":[123],"this":[124],"smoothing":[128],"procedure":[129],"improving":[131],"solution":[132,157],"quality.":[133],"Simulated":[134],"experiments":[135],"compare":[136],"proposed":[138,151],"approach":[139],"several":[141],"centralized":[143],"decoupled":[145],"planners,":[146],"show":[148],"technique":[152],"improves":[153],"computation":[154],"time":[155],"quality,":[158],"while":[159],"scaling":[160],"100s":[164],"robots,":[166],"them":[168],"under":[170],"5":[171],"seconds.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}