{"id":"https://openalex.org/W2565278455","doi":"https://doi.org/10.1109/iros.2016.7759346","title":"Need-based coordination for decentralized high-level robot control","display_name":"Need-based coordination for decentralized high-level robot control","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2565278455","doi":"https://doi.org/10.1109/iros.2016.7759346","mag":"2565278455"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759346","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5089885296","display_name":"Kai Weng Wong","orcid":"https://orcid.org/0000-0002-4535-6962"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kai Weng Wong","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020074157","display_name":"Hadas Kress\u2010Gazit","orcid":"https://orcid.org/0000-0002-7754-1011"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hadas Kress-Gazit","raw_affiliation_strings":["Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA"],"affiliations":[{"raw_affiliation_string":"Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5089885296"],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":1.7372,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.86969041,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2209","last_page":"2216"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10772","display_name":"Distributed systems and fault tolerance","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10772","display_name":"Distributed systems and fault tolerance","score":0.9993000030517578,"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/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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":0.8675200939178467},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.768191933631897},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6475553512573242},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6309667825698853},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5863086581230164},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.5676875710487366},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5330091118812561},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5226714015007019},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5020523071289062},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.48494771122932434},{"id":"https://openalex.org/keywords/linear-temporal-logic","display_name":"Linear temporal logic","score":0.457019567489624},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4402756094932556},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41077151894569397},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4106547236442566},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3507136404514313},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33674925565719604},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17515695095062256},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.11662319302558899},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08008086681365967}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8675200939178467},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.768191933631897},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6475553512573242},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6309667825698853},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5863086581230164},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.5676875710487366},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5330091118812561},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5226714015007019},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5020523071289062},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.48494771122932434},{"id":"https://openalex.org/C4777664","wikidata":"https://www.wikidata.org/wiki/Q1536492","display_name":"Linear temporal logic","level":2,"score":0.457019567489624},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4402756094932556},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41077151894569397},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4106547236442566},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3507136404514313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33674925565719604},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17515695095062256},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.11662319302558899},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08008086681365967},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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":1,"locations":[{"id":"doi:10.1109/iros.2016.7759346","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759346","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":20,"referenced_works":["https://openalex.org/W193483340","https://openalex.org/W1480288693","https://openalex.org/W1608773992","https://openalex.org/W1970269621","https://openalex.org/W1975134293","https://openalex.org/W1980077901","https://openalex.org/W1986523056","https://openalex.org/W2006625750","https://openalex.org/W2021422577","https://openalex.org/W2041701185","https://openalex.org/W2056864430","https://openalex.org/W2060614270","https://openalex.org/W2147179040","https://openalex.org/W2148446974","https://openalex.org/W2151958719","https://openalex.org/W2221866689","https://openalex.org/W2294623734","https://openalex.org/W2476245236","https://openalex.org/W6607910684","https://openalex.org/W6628823009"],"related_works":["https://openalex.org/W1829955599","https://openalex.org/W2146701564","https://openalex.org/W1540313811","https://openalex.org/W2073845749","https://openalex.org/W628457019","https://openalex.org/W2178340691","https://openalex.org/W1550023874","https://openalex.org/W2081182551","https://openalex.org/W1781972765","https://openalex.org/W1986479139"],"abstract_inverted_index":{"We":[0],"consider":[1],"multiple":[2],"robots":[3,25,37,55,73,84,106,115],"operating":[4],"in":[5,15,85,101],"a":[6,11,28,94],"shared":[7],"workspace,":[8],"each":[9,99],"given":[10],"high-level":[12],"task":[13,44],"specification":[14],"the":[16,32,35,54,72,81,91,102,105,130],"form":[17],"of":[18,34,83,93,114,132,138],"Linear":[19],"Temporal":[20],"Logic":[21],"(LTL)":[22],"formulas.":[23],"The":[24,87,112,142],"have":[26],"no":[27],"priori":[29],"knowledge":[30],"about":[31],"tasks":[33,63],"other":[36],"and":[38,60,77,122,136,146],"might":[39],"run":[40],"into":[41],"conflicts":[42,59,76],"during":[43],"execution.":[45,125],"In":[46,69],"this":[47],"work,":[48],"we":[49],"develop":[50],"algorithms":[51],"that":[52,137],"allow":[53],"to":[56,118],"autonomously":[57,74],"resolve":[58],"complete":[61],"their":[62,109,119,124],"with":[64,152],"correctness":[65],"guarantees,":[66],"when":[67],"possible.":[68],"our":[70],"approach,":[71],"detect":[75],"trigger":[78],"coordination":[79,89],"within":[80],"subgroup":[82,103,113],"conflict.":[86],"need-based":[88],"initiates":[90],"execution":[92],"global":[95],"robot":[96,100,134,140,148],"controller":[97],"on":[98],"until":[104],"all":[107],"reach":[108],"current":[110],"goals.":[111],"then":[116],"return":[117],"local":[120],"controllers":[121],"continue":[123],"Our":[126],"approach":[127],"captures":[128],"both":[129],"advantage":[131],"decentralized":[133,147],"control":[135,149],"centralized":[139,145],"control.":[141],"transition":[143],"between":[144],"is":[150],"seamless":[151],"guarantees":[153],"provided.":[154]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}