{"id":"https://openalex.org/W3129759167","doi":"https://doi.org/10.1109/iros45743.2020.9341652","title":"Distributed Near-optimal Multi-robots Coordination in Heterogeneous Task Allocation","display_name":"Distributed Near-optimal Multi-robots Coordination in Heterogeneous Task Allocation","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3129759167","doi":"https://doi.org/10.1109/iros45743.2020.9341652","mag":"3129759167"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341652","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341652","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":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075307614","display_name":"Qinyuan Li","orcid":"https://orcid.org/0000-0002-4052-5747"},"institutions":[{"id":"https://openalex.org/I57093077","display_name":"Swinburne University of Technology","ror":"https://ror.org/031rekg67","country_code":"AU","type":"education","lineage":["https://openalex.org/I57093077"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Qinyuan Li","raw_affiliation_strings":["Faculty of Science, Engineering and Technology, Swinburne University of Technology, Melbourne, Australia"],"affiliations":[{"raw_affiliation_string":"Faculty of Science, Engineering and Technology, Swinburne University of Technology, Melbourne, Australia","institution_ids":["https://openalex.org/I57093077"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101635270","display_name":"Minyi Li","orcid":"https://orcid.org/0000-0002-9314-5799"},"institutions":[{"id":"https://openalex.org/I82951845","display_name":"RMIT University","ror":"https://ror.org/04ttjf776","country_code":"AU","type":"education","lineage":["https://openalex.org/I82951845"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Minyi Li","raw_affiliation_strings":["School of Science, RMIT University, Melbourne, Australia"],"affiliations":[{"raw_affiliation_string":"School of Science, RMIT University, Melbourne, Australia","institution_ids":["https://openalex.org/I82951845"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004083201","display_name":"Vo Nguyen Quoc Bao","orcid":"https://orcid.org/0000-0002-1791-6467"},"institutions":[{"id":"https://openalex.org/I57093077","display_name":"Swinburne University of Technology","ror":"https://ror.org/031rekg67","country_code":"AU","type":"education","lineage":["https://openalex.org/I57093077"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Bao Quoc Vo","raw_affiliation_strings":["Faculty of Science, Engineering and Technology, Swinburne University of Technology, Melbourne, Australia"],"affiliations":[{"raw_affiliation_string":"Faculty of Science, Engineering and Technology, Swinburne University of Technology, Melbourne, Australia","institution_ids":["https://openalex.org/I57093077"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024220409","display_name":"Ryszard Kowalczyk","orcid":"https://orcid.org/0000-0003-0937-4028"},"institutions":[{"id":"https://openalex.org/I66083562","display_name":"Systems Research Institute","ror":"https://ror.org/0111cp837","country_code":"PL","type":"facility","lineage":["https://openalex.org/I66083562","https://openalex.org/I99542240"]},{"id":"https://openalex.org/I57093077","display_name":"Swinburne University of Technology","ror":"https://ror.org/031rekg67","country_code":"AU","type":"education","lineage":["https://openalex.org/I57093077"]},{"id":"https://openalex.org/I99542240","display_name":"Polish Academy of Sciences","ror":"https://ror.org/01dr6c206","country_code":"PL","type":"funder","lineage":["https://openalex.org/I99542240"]}],"countries":["AU","PL"],"is_corresponding":false,"raw_author_name":"Ryszard Kowalczyk","raw_affiliation_strings":["Faculty of Science, Engineering and Technology, Swinburne University of Technology, Melbourne, Australia","Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland"],"affiliations":[{"raw_affiliation_string":"Faculty of Science, Engineering and Technology, Swinburne University of Technology, Melbourne, Australia","institution_ids":["https://openalex.org/I57093077"]},{"raw_affiliation_string":"Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland","institution_ids":["https://openalex.org/I66083562","https://openalex.org/I99542240"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5075307614"],"corresponding_institution_ids":["https://openalex.org/I57093077"],"apc_list":null,"apc_paid":null,"fwci":0.971,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.79074485,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4309","last_page":"4314"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9990000128746033,"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/T12288","display_name":"Optimization and Search Problems","score":0.9990000128746033,"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/T11182","display_name":"Auction Theory and Applications","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8100792765617371},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7598562240600586},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7550894021987915},{"id":"https://openalex.org/keywords/nash-equilibrium","display_name":"Nash equilibrium","score":0.7262097001075745},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.579258143901825},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5485036969184875},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4550531506538391},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43890097737312317},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.4283030033111572},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3976980745792389},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3174512982368469},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2520800232887268},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10015028715133667},{"id":"https://openalex.org/keywords/mathematical-economics","display_name":"Mathematical economics","score":0.08733734488487244},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08049073815345764},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.06933951377868652}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8100792765617371},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7598562240600586},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7550894021987915},{"id":"https://openalex.org/C46814582","wikidata":"https://www.wikidata.org/wiki/Q23389","display_name":"Nash equilibrium","level":2,"score":0.7262097001075745},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.579258143901825},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5485036969184875},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4550531506538391},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43890097737312317},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.4283030033111572},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3976980745792389},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3174512982368469},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2520800232887268},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10015028715133667},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.08733734488487244},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08049073815345764},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.06933951377868652},{"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/iros45743.2020.9341652","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341652","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"},{"id":"pmh:oai:alma.61RMIT_INST:11273007080001341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/IROS45743.2020.9341652","pdf_url":null,"source":{"id":"https://openalex.org/S4306402074","display_name":"RMIT Research Repository (RMIT University Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I82951845","host_organization_name":"RMIT University","host_organization_lineage":["https://openalex.org/I82951845"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:figshare.com:article/27587796","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/27587796","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1584592607","https://openalex.org/W1794779762","https://openalex.org/W1972391046","https://openalex.org/W2114225169","https://openalex.org/W2125626250","https://openalex.org/W2145366282","https://openalex.org/W2151740479","https://openalex.org/W2156944801","https://openalex.org/W2157301798","https://openalex.org/W2157488300","https://openalex.org/W2287429606","https://openalex.org/W2343765183","https://openalex.org/W2724979507","https://openalex.org/W2767871825","https://openalex.org/W2900987377","https://openalex.org/W2909739259","https://openalex.org/W2962867933","https://openalex.org/W2963352580","https://openalex.org/W3103899647","https://openalex.org/W6683208169","https://openalex.org/W6745549953"],"related_works":["https://openalex.org/W4210735314","https://openalex.org/W2092374696","https://openalex.org/W1705316893","https://openalex.org/W4312141693","https://openalex.org/W1969185016","https://openalex.org/W1536009559","https://openalex.org/W2103821767","https://openalex.org/W2037619003","https://openalex.org/W2111030377","https://openalex.org/W2402852349"],"abstract_inverted_index":{"This":[0],"paper":[1],"explores":[2],"the":[3,15,21,27,43,70,109],"heterogeneous":[4],"task":[5,44,57,80],"allocation":[6,45],"problem":[7,16,46],"in":[8,47,101],"Multi-robot":[9],"systems.":[10],"A":[11],"game-theoretic":[12],"formulation":[13],"of":[14,23,32],"is":[17,35],"proposed":[18],"to":[19,37,54,68,72,93],"align":[20],"goal":[22],"individual":[24],"robots":[25,71],"with":[26,75,108],"system":[28,99],"objective.":[29],"The":[30],"concept":[31],"Nash":[33],"equilibrium":[34,85],"applied":[36],"define":[38],"a":[39,62],"desired":[40],"solution":[41],"for":[42],"which":[48],"each":[49],"robot":[50],"can":[51],"allocate":[52],"itself":[53],"an":[55,84],"appropriate":[56],"group.":[58],"We":[59,87],"also":[60],"introduce":[61],"market-based":[63],"distributed":[64],"mechanism,":[65],"called":[66],"DisNE,":[67],"allow":[69],"exchange":[73],"messages":[74],"tasks":[76],"and":[77],"move":[78],"between":[79],"groups,":[81],"eventually":[82],"reaching":[83],"solution.":[86],"carry":[88],"out":[89],"comprehensive":[90],"empirical":[91],"studies":[92],"demonstrate":[94],"that":[95],"DisNE":[96],"achieves":[97],"near-optimal":[98],"utility":[100],"significantly":[102],"shorter":[103],"computation":[104],"times":[105],"when":[106],"compared":[107],"state-of-the-art":[110],"mechanisms.":[111]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}