{"id":"https://openalex.org/W4389667166","doi":"https://doi.org/10.1109/iros55552.2023.10341800","title":"Efficient Heuristics for Multi-Robot Path Planning in Crowded Environments","display_name":"Efficient Heuristics for Multi-Robot Path Planning in Crowded Environments","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667166","doi":"https://doi.org/10.1109/iros55552.2023.10341800"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341800","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341800","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":"conference-paper","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/A5047933060","display_name":"Teng Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Teng Guo","raw_affiliation_strings":["Rutgers, the State University of New Jersey,Department of Computer Science,Piscataway,NJ,USA","Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers, the State University of New Jersey,Department of Computer Science,Piscataway,NJ,USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076210154","display_name":"Jingjin Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingjin Yu","raw_affiliation_strings":["Rutgers, the State University of New Jersey,Department of Computer Science,Piscataway,NJ,USA","Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers, the State University of New Jersey,Department of Computer Science,Piscataway,NJ,USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I102322142"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6749","last_page":"6756"},"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/T12546","display_name":"Smart Parking Systems Research","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T12288","display_name":"Optimization and Search Problems","score":0.9805999994277954,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.7984812259674072},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7047218680381775},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.619645893573761},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.5645592212677002},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.48200908303260803},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.45106154680252075},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4359097480773926},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.4296497404575348},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4222317337989807},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.4142114520072937},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.33845070004463196},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12099727988243103},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09063306450843811}],"concepts":[{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.7984812259674072},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7047218680381775},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.619645893573761},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.5645592212677002},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.48200908303260803},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.45106154680252075},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4359097480773926},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.4296497404575348},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4222317337989807},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.4142114520072937},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.33845070004463196},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12099727988243103},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09063306450843811},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341800","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341800","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":[{"score":0.7099999785423279,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G4722403830","display_name":null,"funder_award_id":"IIS-1845888","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1488757178","https://openalex.org/W1510564526","https://openalex.org/W1549280300","https://openalex.org/W1588299616","https://openalex.org/W1969483458","https://openalex.org/W1973396716","https://openalex.org/W1980597356","https://openalex.org/W1986164452","https://openalex.org/W1989407213","https://openalex.org/W2042872950","https://openalex.org/W2120633474","https://openalex.org/W2152754876","https://openalex.org/W2153239294","https://openalex.org/W2169742265","https://openalex.org/W2191404279","https://openalex.org/W2241553860","https://openalex.org/W2406007181","https://openalex.org/W2508520405","https://openalex.org/W2541273873","https://openalex.org/W2600080636","https://openalex.org/W2907234288","https://openalex.org/W2914296650","https://openalex.org/W2941032238","https://openalex.org/W2962769831","https://openalex.org/W2963309123","https://openalex.org/W2963972190","https://openalex.org/W2964997335","https://openalex.org/W2966625830","https://openalex.org/W2998967952","https://openalex.org/W3196856498","https://openalex.org/W3205046744","https://openalex.org/W4221163513","https://openalex.org/W4243386470","https://openalex.org/W4256361765","https://openalex.org/W4308068833","https://openalex.org/W4312736292","https://openalex.org/W4383108273","https://openalex.org/W6603775515","https://openalex.org/W6632662516","https://openalex.org/W6760919354"],"related_works":["https://openalex.org/W2992534160","https://openalex.org/W3177062893","https://openalex.org/W1595058678","https://openalex.org/W3022812046","https://openalex.org/W3125143773","https://openalex.org/W2745830841","https://openalex.org/W803550684","https://openalex.org/W2007032764","https://openalex.org/W2483226803","https://openalex.org/W3143937874"],"abstract_inverted_index":{"Optimal":[0],"Multi-Robot":[1],"Path":[2],"Planning":[3],"(MRPP)":[4],"has":[5],"garnered":[6],"significant":[7,55,141],"attention":[8],"due":[9],"to":[10,72,87,147,156],"its":[11],"many":[12],"applications":[13,86],"in":[14,76,106,143,187],"domains":[15],"including":[16],"warehouse":[17],"automation,":[18],"transportation,":[19],"and":[20,32,39,67,91,109,126,137,151,167,174,201],"swarm":[21],"robotics.":[22],"Current":[23],"MRPP":[24,51,78,104],"solvers":[25],"can":[26],"be":[27,204],"divided":[28],"into":[29],"reduction-based,":[30],"search-based,":[31],"rule-based":[33,158],"categories,":[34],"each":[35],"with":[36,84],"their":[37],"strengths":[38,116],"limitations.":[40],"Regardless":[41],"of":[42,48,102,117,196],"the":[43,46,74,100,115,194,197],"methodology,":[44],"however,":[45],"issue":[47],"handling":[49],"dense":[50,107,188],"instances":[52],"remains":[53],"a":[54,62,140,161,171],"challenge,":[56],"where":[57],"existing":[58,118,148,157],"approaches":[59],"generally":[60],"demonstrate":[61,134],"dichotomy":[63],"regarding":[64],"solution":[65,153,168],"optimality":[66],"efficiency.":[68],"This":[69],"study":[70],"seeks":[71],"bridge":[73],"gap":[75],"optimal":[77],"resolution":[79],"for":[80,179,184],"dense,":[81],"highly-entangled":[82],"scenarios,":[83],"potential":[85],"high-density":[88],"storage":[89],"systems":[90],"traffic":[92],"congestion":[93],"control.":[94],"Toward":[95],"that":[96,135],"goal,":[97],"we":[98],"analyze":[99],"behaviors":[101],"SOTA":[103,119],"algorithms":[105,113],"settings":[108],"develop":[110],"two":[111],"hybrid":[112],"leveraging":[114],"algorithms:":[120],"DCBS":[121,136,173],"(database-accelerated":[122],"enhanced":[123,129],"conflict-based":[124,130],"search)":[125],"SCBS":[127,138,175],"(sparsified":[128],"search).":[131],"Experimental":[132],"validations":[133],"deliver":[139],"reduction":[142],"computational":[144,165],"time":[145],"compared":[146,155],"bounded-suboptimal":[149],"methods":[150],"improve":[152],"quality":[154],"methods,":[159],"achieving":[160],"desirable":[162],"balance":[163],"between":[164],"efficiency":[166],"optimality.":[169],"As":[170],"result,":[172],"are":[176],"particularly":[177],"suitable":[178],"quickly":[180],"computing":[181],"good-quality":[182],"solutions":[183],"multi-robot":[185],"routing":[186],"settings.":[189],"Simulation":[190],"video":[191],"https://youtu.be/dZxMPUr7Bqg":[192],"Upon":[193],"publication":[195],"manuscript":[198],"source":[199],"code":[200],"data":[202],"will":[203],"released":[205],"at":[206],"https://github.com/arc-l/dcbs":[207]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}