{"id":"https://openalex.org/W3130018992","doi":"https://doi.org/10.1109/iros45743.2020.9340775","title":"Data Driven Online Multi-Robot Formation Planning","display_name":"Data Driven Online Multi-Robot Formation Planning","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130018992","doi":"https://doi.org/10.1109/iros45743.2020.9340775","mag":"3130018992"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340775","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340775","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5014634255","display_name":"Ellen A. Cappo","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":"Ellen A. Cappo","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034238925","display_name":"Arjav Desai","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":false,"raw_author_name":"Arjav Desai","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017643429","display_name":"Nathan Michael","orcid":"https://orcid.org/0000-0002-3585-9195"},"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":"Nathan Michael","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5014634255"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.3237,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.65158581,"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":"11638","last_page":"11643"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.996399998664856,"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/leverage","display_name":"Leverage (statistics)","score":0.812268853187561},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7411389946937561},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7236475348472595},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7113268971443176},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6692246198654175},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5677365064620972},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5143910050392151},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48087623715400696},{"id":"https://openalex.org/keywords/enhanced-data-rates-for-gsm-evolution","display_name":"Enhanced Data Rates for GSM Evolution","score":0.4449554681777954},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.41709548234939575},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39662790298461914},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3380276560783386},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.335497111082077},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3216162621974945},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30449411273002625}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.812268853187561},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7411389946937561},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7236475348472595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7113268971443176},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6692246198654175},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5677365064620972},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5143910050392151},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48087623715400696},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.4449554681777954},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.41709548234939575},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39662790298461914},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3380276560783386},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.335497111082077},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3216162621974945},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30449411273002625},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9340775","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340775","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W338444272","https://openalex.org/W1533402650","https://openalex.org/W1963879879","https://openalex.org/W2014774895","https://openalex.org/W2063166077","https://openalex.org/W2122410182","https://openalex.org/W2163893120","https://openalex.org/W2165053603","https://openalex.org/W2171541671","https://openalex.org/W2482392012","https://openalex.org/W2601465345","https://openalex.org/W2744979297","https://openalex.org/W2758244370","https://openalex.org/W2791457139","https://openalex.org/W2800576786","https://openalex.org/W2887736113","https://openalex.org/W2949886883","https://openalex.org/W3142658448","https://openalex.org/W4241492945","https://openalex.org/W4247523216","https://openalex.org/W6735698609","https://openalex.org/W6744474358","https://openalex.org/W6749313336"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W2155948905","https://openalex.org/W4380590094","https://openalex.org/W3043170174","https://openalex.org/W2050548713"],"abstract_inverted_index":{"This":[0],"work":[1],"addresses":[2],"planning":[3,49,60],"for":[4,50,80],"multi-robot":[5,67],"formations":[6],"online":[7,48,82],"in":[8,27,36,53,96,112,117,129],"cluttered":[9,123],"environments":[10,132],"via":[11],"a":[12,62,73,88],"data-driven":[13],"search":[14,64],"approach.":[15],"The":[16],"user-specified":[17],"objective":[18],"function":[19],"governing":[20],"formation":[21],"shape":[22],"and":[23,69,99,138,146],"rotation":[24],"is":[25,105],"expressed":[26],"terms":[28],"of":[29,32,56,121,136],"offline":[30,44],"demonstrations":[31],"robot":[33],"motions":[34,52,110],"(performed":[35],"an":[37],"obstacle":[38],"free":[39,145],"environment).":[40],"We":[41,58,126],"leverage":[42],"the":[43,54,97,113,118,122],"demonstration":[45,114],"to":[46,76,107],"inform":[47],"coordinated":[51,109],"presence":[55],"obstacles.":[57],"formulate":[59],"as":[61],"discrete":[63],"over":[65,131],"demonstrated":[66],"actions,":[68],"select":[70],"actions":[71],"using":[72,87],"best-first":[74],"approach":[75,104],"minimize":[77],"edge":[78],"expansions":[79],"fast":[81],"operation.":[83],"Actions":[84],"are":[85,143],"selected":[86],"heuristic":[89],"based":[90],"on":[91],"their":[92],"probability":[93],"distribution":[94],"exhibited":[95,111],"demonstration,":[98],"we":[100],"show":[101,139],"that":[102,140],"this":[103],"able":[106],"recreate":[108],"when":[115],"navigating":[116],"obstructed":[119],"conditions":[120],"test":[124],"environments.":[125],"demonstrate":[127],"results":[128],"simulation":[130],"with":[133],"increasing":[134],"numbers":[135],"obstacles,":[137],"resulting":[141],"plans":[142],"collision":[144],"obey":[147],"dynamic":[148],"constraints.":[149]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}
