{"id":"https://openalex.org/W2147753234","doi":"https://doi.org/10.1109/iros.2015.7353765","title":"Multi-robot task acquisition through sparse coordination","display_name":"Multi-robot task acquisition through sparse coordination","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2147753234","doi":"https://doi.org/10.1109/iros.2015.7353765","mag":"2147753234"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353765","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11573/933158","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015703499","display_name":"Steven D. Klee","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Steven D. Klee","raw_affiliation_strings":["Computer Science Department, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072134449","display_name":"Guglielmo Gemignani","orcid":null},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Guglielmo Gemignani","raw_affiliation_strings":["Universita degli Studi di Roma La Sapienza, Roma, Lazio, IT"],"affiliations":[{"raw_affiliation_string":"Universita degli Studi di Roma La Sapienza, Roma, Lazio, IT","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075651762","display_name":"Daniele Nardi","orcid":"https://orcid.org/0000-0001-6606-200X"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Nardi","raw_affiliation_strings":["Department of Computer Control, and Management Engineering \u201cAntonio Ruberti\u201d, Sapienza University of Rome, Rome, Italy","Department of Computer Control, and Management Engineering \"Antonio Ruberti\", Sapienza University of Rome, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Computer Control, and Management Engineering \u201cAntonio Ruberti\u201d, Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]},{"raw_affiliation_string":"Department of Computer Control, and Management Engineering \"Antonio Ruberti\", Sapienza University of Rome, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088276691","display_name":"Manuela Veloso","orcid":"https://orcid.org/0000-0001-6738-238X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Manuela Veloso","raw_affiliation_strings":["Computer Science Department, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5015703499"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.3169,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.63688308,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2823","last_page":"2828"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9970999956130981,"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/T12288","display_name":"Optimization and Search Problems","score":0.9966999888420105,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8560545444488525},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7158970832824707},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.712108850479126},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6579626202583313},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5250351428985596},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5115474462509155},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4650944471359253},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.46025100350379944},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.42359843850135803},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.348371684551239},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12305760383605957},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11994799971580505}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8560545444488525},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7158970832824707},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.712108850479126},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6579626202583313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5250351428985596},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5115474462509155},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4650944471359253},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.46025100350379944},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.42359843850135803},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.348371684551239},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12305760383605957},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11994799971580505},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2015.7353765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353765","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.uniroma1.it:11573/933158","is_oa":true,"landing_page_url":"http://hdl.handle.net/11573/933158","pdf_url":"http://hdl.handle.net/11573/933158","source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.699.5761","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.699.5761","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/%7Emmv/papers/15iros-MRIGs.pdf","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:iris.uniroma1.it:11573/933158","is_oa":true,"landing_page_url":"http://hdl.handle.net/11573/933158","pdf_url":"http://hdl.handle.net/11573/933158","source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2147753234.pdf","grobid_xml":"https://content.openalex.org/works/W2147753234.grobid-xml"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W188728493","https://openalex.org/W206842063","https://openalex.org/W1589901344","https://openalex.org/W1987961481","https://openalex.org/W2026989192","https://openalex.org/W2056722270","https://openalex.org/W2099217059","https://openalex.org/W2113257089","https://openalex.org/W2114441423","https://openalex.org/W2128814508","https://openalex.org/W2137714578","https://openalex.org/W2140986858","https://openalex.org/W2142315290","https://openalex.org/W2160972990","https://openalex.org/W2176563247","https://openalex.org/W2257058996","https://openalex.org/W2295722319","https://openalex.org/W2337392266","https://openalex.org/W2400387077","https://openalex.org/W4285719527","https://openalex.org/W6607674455","https://openalex.org/W6608432643","https://openalex.org/W6635294839","https://openalex.org/W6683973755","https://openalex.org/W6692510730","https://openalex.org/W6703337927","https://openalex.org/W6712955390"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3213722473","https://openalex.org/W3114279067","https://openalex.org/W1564680838","https://openalex.org/W2003125260","https://openalex.org/W2060591604","https://openalex.org/W2967461658","https://openalex.org/W2166791242","https://openalex.org/W3012440055","https://openalex.org/W2585162246"],"abstract_inverted_index":{"In":[0],"this":[1,50],"paper,":[2],"we":[3,52],"consider":[4],"several":[5,121],"autonomous":[6],"robots":[7,41,96],"with":[8,129],"separate":[9],"tasks":[10,44,58],"that":[11,24,45],"require":[12,46],"coordination,":[13],"but":[14],"not":[15],"a":[16,111,130,134],"coupling":[17],"at":[18],"every":[19],"decision":[20],"step.":[21],"We":[22,35,123],"assume":[23],"each":[25,88],"robot":[26],"separately":[27],"acquires":[28],"its":[29],"task,":[30],"possibly":[31],"from":[32,77],"different":[33],"providers.":[34],"address":[36],"the":[37,100],"problem":[38],"of":[39,68,102],"multiple":[40,60],"incrementally":[42],"acquiring":[43],"their":[47,107],"sparse-coordination.":[48],"To":[49],"end,":[51],"present":[53],"an":[54],"approach":[55,74],"to":[56,59,79],"provide":[57],"robots,":[61],"represented":[62],"as":[63],"sequences,":[64],"conditionals,":[65],"and":[66,70,81,93,95,133],"loops":[67],"sensing":[69],"actuation":[71],"primitives.":[72],"Our":[73],"leverages":[75],"principles":[76],"sparse-coordination":[78,117],"acquire":[80],"represent":[82],"these":[83],"joint-robot":[84],"plans":[85],"compactly.":[86],"Specifically,":[87],"primitive":[89],"has":[90],"associated":[91],"preconditions":[92],"effects,":[94],"can":[97],"condition":[98],"on":[99,120,125],"state":[101,108],"one":[103],"another.":[104],"Robots":[105],"share":[106],"externally":[109],"using":[110],"common":[112],"domain":[113],"language.":[114],"The":[115],"complete":[116],"framework":[118],"runs":[119],"robots.":[122],"report":[124],"experiments":[126],"carried":[127],"out":[128],"Baxter":[131],"manipulator":[132],"CoBot":[135],"mobile":[136],"service":[137],"robot.":[138]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
