{"id":"https://openalex.org/W2566753361","doi":"https://doi.org/10.1109/iros.2016.7759710","title":"Formation change for robot groups in occluded environments","display_name":"Formation change for robot groups in occluded environments","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2566753361","doi":"https://doi.org/10.1109/iros.2016.7759710","mag":"2566753361"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759710","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/A5086120608","display_name":"Wolfgang H\u00f6nig","orcid":null},"institutions":[{"id":"https://openalex.org/I2800817003","display_name":"Southern California University for Professional Studies","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]},{"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/I903300897","display_name":"Southern States University","ror":"https://ror.org/01b0j0m34","country_code":"US","type":"education","lineage":["https://openalex.org/I903300897"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Wolfgang H\u00f6nig","raw_affiliation_strings":["Computer Science Department at the University of Southern California, United States","Computer Science Department, University of Southern California, California, United States"],"affiliations":[{"raw_affiliation_string":"Computer Science Department at the University of Southern California, United States","institution_ids":["https://openalex.org/I903300897","https://openalex.org/I2800817003"]},{"raw_affiliation_string":"Computer Science Department, University of Southern California, California, United States","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107677928","display_name":"T. K. Satish Kumar","orcid":"https://orcid.org/0000-0002-1748-8431"},"institutions":[{"id":"https://openalex.org/I2800817003","display_name":"Southern California University for Professional Studies","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]},{"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/I903300897","display_name":"Southern States University","ror":"https://ror.org/01b0j0m34","country_code":"US","type":"education","lineage":["https://openalex.org/I903300897"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T.K. Satish Kumar","raw_affiliation_strings":["Computer Science Department at the University of Southern California, United States","Computer Science Department, University of Southern California, Los Angeles, CA, US"],"affiliations":[{"raw_affiliation_string":"Computer Science Department at the University of Southern California, United States","institution_ids":["https://openalex.org/I903300897","https://openalex.org/I2800817003"]},{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, US","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024389928","display_name":"Hang Ma","orcid":"https://orcid.org/0000-0002-0602-0999"},"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/I903300897","display_name":"Southern States University","ror":"https://ror.org/01b0j0m34","country_code":"US","type":"education","lineage":["https://openalex.org/I903300897"]},{"id":"https://openalex.org/I2800817003","display_name":"Southern California University for Professional Studies","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hang Ma","raw_affiliation_strings":["Computer Science Department at the University of Southern California, United States","Computer Science Department, University of Southern California, California, United States"],"affiliations":[{"raw_affiliation_string":"Computer Science Department at the University of Southern California, United States","institution_ids":["https://openalex.org/I903300897","https://openalex.org/I2800817003"]},{"raw_affiliation_string":"Computer Science Department, University of Southern California, California, United States","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026549557","display_name":"Sven Koenig","orcid":"https://orcid.org/0000-0002-5458-094X"},"institutions":[{"id":"https://openalex.org/I2800817003","display_name":"Southern California University for Professional Studies","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]},{"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/I903300897","display_name":"Southern States University","ror":"https://ror.org/01b0j0m34","country_code":"US","type":"education","lineage":["https://openalex.org/I903300897"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sven Koenig","raw_affiliation_strings":["Computer Science Department at the University of Southern California, United States","Computer Science Department, University of Southern California, California, United States"],"affiliations":[{"raw_affiliation_string":"Computer Science Department at the University of Southern California, United States","institution_ids":["https://openalex.org/I903300897","https://openalex.org/I2800817003"]},{"raw_affiliation_string":"Computer Science Department, University of Southern California, California, United States","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002752114","display_name":"Nora Ayanian","orcid":"https://orcid.org/0000-0002-8394-6912"},"institutions":[{"id":"https://openalex.org/I903300897","display_name":"Southern States University","ror":"https://ror.org/01b0j0m34","country_code":"US","type":"education","lineage":["https://openalex.org/I903300897"]},{"id":"https://openalex.org/I2800817003","display_name":"Southern California University for Professional Studies","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]},{"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nora Ayanian","raw_affiliation_strings":["Computer Science Department at the University of Southern California, United States","Computer Science Department, University of Southern California, California, United States"],"affiliations":[{"raw_affiliation_string":"Computer Science Department at the University of Southern California, United States","institution_ids":["https://openalex.org/I903300897","https://openalex.org/I2800817003"]},{"raw_affiliation_string":"Computer Science Department, University of Southern California, California, United States","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5086120608"],"corresponding_institution_ids":["https://openalex.org/I1174212","https://openalex.org/I2800817003","https://openalex.org/I903300897"],"apc_list":null,"apc_paid":null,"fwci":3.3401,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.95181835,"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":"4836","last_page":"4842"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9987999796867371,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9979000091552734,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8922387957572937},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6837305426597595},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5443198084831238},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5356454849243164},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5285923480987549},{"id":"https://openalex.org/keywords/group","display_name":"Group (periodic table)","score":0.5242550373077393},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.404318630695343},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36879855394363403},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.34288346767425537},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3391527235507965},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3230484127998352},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.06344899535179138}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8922387957572937},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6837305426597595},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5443198084831238},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5356454849243164},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5285923480987549},{"id":"https://openalex.org/C2781311116","wikidata":"https://www.wikidata.org/wiki/Q83306","display_name":"Group (periodic table)","level":2,"score":0.5242550373077393},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.404318630695343},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36879855394363403},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.34288346767425537},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3391527235507965},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3230484127998352},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.06344899535179138},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759710","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W327198202","https://openalex.org/W1517023801","https://openalex.org/W1549280300","https://openalex.org/W1572663059","https://openalex.org/W1964462572","https://openalex.org/W1979967006","https://openalex.org/W1989407213","https://openalex.org/W2014192044","https://openalex.org/W2044526330","https://openalex.org/W2057261678","https://openalex.org/W2060932505","https://openalex.org/W2082511574","https://openalex.org/W2107918847","https://openalex.org/W2109835212","https://openalex.org/W2109932483","https://openalex.org/W2119120935","https://openalex.org/W2130182605","https://openalex.org/W2130647945","https://openalex.org/W2136644454","https://openalex.org/W2147928602","https://openalex.org/W2171541671","https://openalex.org/W2482025661","https://openalex.org/W2541273873","https://openalex.org/W2544041682","https://openalex.org/W2579451340","https://openalex.org/W2951673184","https://openalex.org/W2963309123","https://openalex.org/W3145847800","https://openalex.org/W6632662516","https://openalex.org/W6635615786","https://openalex.org/W6721983959","https://openalex.org/W6729318774"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W2165574943","https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2900509454"],"abstract_inverted_index":{"We":[0,10,120],"study":[1],"formation":[2,32,55],"change":[3],"for":[4,101],"robot":[5],"groups":[6,108],"in":[7,22,75,110,128],"known":[8],"environments.":[9],"are":[11,26],"given":[12,53,58],"a":[13,52,57,83],"team":[14],"of":[15,73,77,103,107,126],"robots":[16,21,50,74,104],"partitioned":[17],"into":[18],"groups,":[19],"where":[20],"the":[23,34,65,94,122],"same":[24],"group":[25],"interchangeable":[27],"with":[28,114],"each":[29,38],"other.":[30],"A":[31],"specifies":[33],"locations":[35],"occupied":[36],"by":[37],"group.":[39],"The":[40],"objective":[41],"is":[42],"to":[43,56,92],"find":[44],"collision-free":[45],"paths":[46],"that":[47],"move":[48],"all":[49],"from":[51],"start":[54],"goal":[59],"formation.":[60],"Our":[61],"algorithm":[62],"TAPF*":[63,127],"has":[64],"following":[66],"features:":[67],"(a)":[68],"it":[69,81,90,98],"incorporates":[70],"kinematic":[71],"constraints":[72],"form":[76],"velocity":[78],"limits;":[79],"(b)":[80],"maintains":[82],"user-specified":[84],"safety":[85],"distance":[86],"between":[87],"robots;":[88],"(c)":[89],"attempts":[91],"minimize":[93],"makespan;":[95],"and":[96,105,117,124,130],"(d)":[97],"runs":[99],"efficiently":[100],"hundreds":[102],"dozens":[106],"even":[109],"dense":[111],"3D":[112],"environments":[113],"narrow":[115],"corridors":[116],"other":[118],"occlusions.":[119],"demonstrate":[121],"efficiency":[123],"effectiveness":[125],"simulation":[129],"on":[131],"robots.":[132]},"counts_by_year":[{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":9}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}