{"id":"https://openalex.org/W4389665802","doi":"https://doi.org/10.1109/iros55552.2023.10341508","title":"Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots","display_name":"Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665802","doi":"https://doi.org/10.1109/iros55552.2023.10341508"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341508","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341508","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5054913273","display_name":"Bingyi Xia","orcid":"https://orcid.org/0000-0003-3932-7070"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bingyi Xia","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037305765","display_name":"Hao Luan","orcid":"https://orcid.org/0000-0001-5673-0764"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hao Luan","raw_affiliation_strings":["School of Computing, National University of Singapore,Singapore","School of Computing, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"School of Computing, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100625269","display_name":"Ziqi Zhao","orcid":"https://orcid.org/0000-0001-7878-1255"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziqi Zhao","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108966900","display_name":"Xuheng Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuheng Gao","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016985038","display_name":"Peijia Xie","orcid":"https://orcid.org/0009-0009-5743-2369"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peijia Xie","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008106624","display_name":"Anxing Xiao","orcid":"https://orcid.org/0000-0001-7184-8365"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Anxing Xiao","raw_affiliation_strings":["School of Computing, National University of Singapore,Singapore","School of Computing, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"School of Computing, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043461784","display_name":"Jiankun Wang","orcid":"https://orcid.org/0000-0001-9139-0291"},"institutions":[{"id":"https://openalex.org/I4210092870","display_name":"Jiaxing University","ror":"https://ror.org/00j2a7k55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210092870"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiankun Wang","raw_affiliation_strings":["Jiaxing Research Institute, Southern University of Science and Technology,Jiaxing,China","Jiaxing Research Institute, Southern University of Science and Technology, Jiaxing, China"],"affiliations":[{"raw_affiliation_string":"Jiaxing Research Institute, Southern University of Science and Technology,Jiaxing,China","institution_ids":["https://openalex.org/I4210092870","https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Jiaxing Research Institute, Southern University of Science and Technology, Jiaxing, China","institution_ids":["https://openalex.org/I4210092870","https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CA","CN"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","Department of Electronic Engineering, Department of Electrical and Computer Engineering, Chinese University of Hong Kong in Hong Kong, University of Alberta, Canada","Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Department of Electronic Engineering, Department of Electrical and Computer Engineering, Chinese University of Hong Kong in Hong Kong, University of Alberta, Canada","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I154425047"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5054913273"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":0.8609,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.76306616,"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":"8046","last_page":"8053"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9983999729156494,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.7174273133277893},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6280205249786377},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6049166321754456},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5537989139556885},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5261677503585815},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5170677304267883},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43138161301612854},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3456570506095886},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3218100070953369}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7174273133277893},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6280205249786377},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6049166321754456},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5537989139556885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5261677503585815},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5170677304267883},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43138161301612854},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3456570506095886},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3218100070953369},{"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/iros55552.2023.10341508","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341508","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5391222319","display_name":null,"funder_award_id":"62103181","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1501490493","https://openalex.org/W1537022493","https://openalex.org/W1555355817","https://openalex.org/W1563423654","https://openalex.org/W1996183429","https://openalex.org/W2004805052","https://openalex.org/W2046178935","https://openalex.org/W2130422193","https://openalex.org/W2162912282","https://openalex.org/W2164538850","https://openalex.org/W2415570156","https://openalex.org/W2790956722","https://openalex.org/W2805031923","https://openalex.org/W2842089854","https://openalex.org/W2962959857","https://openalex.org/W3007110967","https://openalex.org/W3036652756","https://openalex.org/W3126883574","https://openalex.org/W3132944213","https://openalex.org/W3134337851","https://openalex.org/W3161411321","https://openalex.org/W3206532678","https://openalex.org/W3206590752","https://openalex.org/W3209225192","https://openalex.org/W4200375823","https://openalex.org/W4233290410","https://openalex.org/W4255876299","https://openalex.org/W4283756722","https://openalex.org/W4312270149","https://openalex.org/W4312853375","https://openalex.org/W4387546354"],"related_works":["https://openalex.org/W2020829486","https://openalex.org/W2016451691","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W2972304526","https://openalex.org/W2101598871","https://openalex.org/W2109003837","https://openalex.org/W2119963650","https://openalex.org/W4312096302","https://openalex.org/W2005471069"],"abstract_inverted_index":{"Cooperative":[0],"object":[1],"transportation":[2,102,106],"using":[3],"multiple":[4,90],"robots":[5,25],"has":[6],"been":[7],"intensively":[8],"studied":[9],"in":[10,36,117],"the":[11,72,98,109],"control":[12],"and":[13,31,47,67,82,85,93,108,115,119],"robotics":[14],"literature,":[15],"but":[16],"most":[17],"approaches":[18],"are":[19],"either":[20],"only":[21],"applicable":[22],"to":[23,75],"omnidirectional":[24],"or":[26],"lack":[27],"a":[28],"complete":[29],"navigation":[30],"decision-making":[32],"framework":[33,52,59],"that":[34,70],"operates":[35],"real":[37],"time.":[38],"This":[39,58],"paper":[40],"presents":[41],"an":[42,48],"autonomous":[43],"nonholonomic":[44],"multi-robot":[45,73],"system":[46,74,103],"end-to-end":[49],"hierarchical":[50],"autonomy":[51],"for":[53],"collaborative":[54,100],"luggage":[55,80],"trolley":[56,101],"transportation.":[57],"finds":[60],"kinematic-feasible":[61],"paths,":[62],"computes":[63],"online":[64],"motion":[65],"plans,":[66],"provides":[68],"feedback":[69],"enables":[71],"handle":[76],"long":[77],"lines":[78],"of":[79],"trolleys":[81],"navigate":[83],"obstacles":[84],"pedestrians":[86],"while":[87],"dealing":[88],"with":[89],"inherently":[91],"complex":[92,118],"coupled":[94],"constraints.":[95],"We":[96],"demonstrate":[97],"designed":[99],"through":[104],"practical":[105],"tasks,":[107],"experiment":[110],"results":[111],"reveal":[112],"their":[113],"effectiveness":[114],"reliability":[116],"dynamic":[120],"environments.":[121],"(Video":[122],"<sup":[123,126],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[124,127],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[125,128],"Video":[129],"demonstration:":[130],"https://youtu.be/efnPERm0Rco.)":[131]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}