{"id":"https://openalex.org/W4389665777","doi":"https://doi.org/10.1109/iros55552.2023.10342351","title":"Optimal Cost-Preference Trade-Off Planning with Multiple Temporal Tasks","display_name":"Optimal Cost-Preference Trade-Off Planning with Multiple Temporal Tasks","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665777","doi":"https://doi.org/10.1109/iros55552.2023.10342351"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342351","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/A5089979458","display_name":"Peter Amorese","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Peter Amorese","raw_affiliation_strings":["University of Colorado,department of Aerospace Engineering Sciences,Boulder,CO,USA","department of Aerospace Engineering Sciences, University of Colorado, Boulder, CO, USA"],"affiliations":[{"raw_affiliation_string":"University of Colorado,department of Aerospace Engineering Sciences,Boulder,CO,USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"department of Aerospace Engineering Sciences, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069564559","display_name":"Morteza Lahijanian","orcid":"https://orcid.org/0000-0001-7549-4365"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Morteza Lahijanian","raw_affiliation_strings":["University of Colorado,department of Aerospace Engineering Sciences,Boulder,CO,USA","department of Aerospace Engineering Sciences, University of Colorado, Boulder, CO, USA"],"affiliations":[{"raw_affiliation_string":"University of Colorado,department of Aerospace Engineering Sciences,Boulder,CO,USA","institution_ids":["https://openalex.org/I188538660"]},{"raw_affiliation_string":"department of Aerospace Engineering Sciences, University of Colorado, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5089979458"],"corresponding_institution_ids":["https://openalex.org/I188538660"],"apc_list":null,"apc_paid":null,"fwci":0.3685,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.61583628,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2071","last_page":"2077"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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":0.9991999864578247,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/computer-science","display_name":"Computer science","score":0.7642243504524231},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.688438355922699},{"id":"https://openalex.org/keywords/preference","display_name":"Preference","score":0.6627105474472046},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6147490739822388},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5407938361167908},{"id":"https://openalex.org/keywords/pareto-principle","display_name":"Pareto principle","score":0.5398305058479309},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.5304300785064697},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5015251636505127},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.494733065366745},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4768325388431549},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4555538594722748},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3801196813583374},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.35881346464157104},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09027007222175598},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08659246563911438},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.08631578087806702}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7642243504524231},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.688438355922699},{"id":"https://openalex.org/C2781249084","wikidata":"https://www.wikidata.org/wiki/Q908656","display_name":"Preference","level":2,"score":0.6627105474472046},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6147490739822388},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5407938361167908},{"id":"https://openalex.org/C137635306","wikidata":"https://www.wikidata.org/wiki/Q182667","display_name":"Pareto principle","level":2,"score":0.5398305058479309},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.5304300785064697},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5015251636505127},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.494733065366745},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4768325388431549},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4555538594722748},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3801196813583374},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.35881346464157104},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09027007222175598},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08659246563911438},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.08631578087806702},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","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},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342351","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W152378237","https://openalex.org/W179549969","https://openalex.org/W1498432697","https://openalex.org/W1563854815","https://openalex.org/W1567360982","https://openalex.org/W1761635979","https://openalex.org/W1857953989","https://openalex.org/W1978892650","https://openalex.org/W1989914740","https://openalex.org/W2032175249","https://openalex.org/W2151958719","https://openalex.org/W2155327357","https://openalex.org/W2158749632","https://openalex.org/W2182989809","https://openalex.org/W2381901500","https://openalex.org/W2517828448","https://openalex.org/W2737479107","https://openalex.org/W2775497185","https://openalex.org/W2784743256","https://openalex.org/W2906634895","https://openalex.org/W3003304481","https://openalex.org/W3037164811","https://openalex.org/W3141989474","https://openalex.org/W3186824508","https://openalex.org/W3192882013","https://openalex.org/W4221157638","https://openalex.org/W4285102345","https://openalex.org/W4389665777","https://openalex.org/W6606197109"],"related_works":["https://openalex.org/W2058965144","https://openalex.org/W2164382479","https://openalex.org/W2146343568","https://openalex.org/W98480971","https://openalex.org/W2150291671","https://openalex.org/W2013643406","https://openalex.org/W3138386522","https://openalex.org/W2499279132","https://openalex.org/W2783065147","https://openalex.org/W4312723892"],"abstract_inverted_index":{"Autonomous":[0],"robots":[1,169],"are":[2,105],"increasingly":[3],"utilized":[4],"in":[5,29],"realistic":[6],"scenarios":[7],"with":[8,31,55,180],"multiple":[9],"complex":[10],"tasks.":[11],"In":[12,60],"these":[13],"scenarios,":[14],"there":[15],"may":[16],"be":[17],"a":[18,65,72,128,146,153],"preferred":[19],"way":[20],"of":[21,47,52,68,130,138,145,163,177,184],"completing":[22],"the":[23,45,50,53,98,102,132,161,164,175,178],"tasks,":[24],"but":[25],"it":[26],"is":[27],"often":[28],"conflict":[30],"optimal":[32,89,140],"execution.":[33],"Recent":[34],"work":[35],"studies":[36],"preference-based":[37],"planning,":[38],"however,":[39],"they":[40],"have":[41],"yet":[42],"to":[43,49,57,75,97,156,182],"extend":[44],"notion":[46,67],"preference":[48,69,100,120],"behavior":[51],"robot":[54],"respect":[56],"each":[58],"task.":[59],"this":[61],"work,":[62],"we":[63,126],"introduce":[64,109],"novel":[66],"that":[70,95,104,114],"provides":[71],"generalized":[73],"framework":[74,113,165],"express":[76],"preferences":[77],"over":[78],"individual":[79],"tasks":[80],"as":[81,83],"well":[82],"their":[84],"relations.":[85],"We":[86,108,150,159],"perform":[87],"an":[88,110,143],"trade-off":[90],"(Pareto)":[91],"analysis":[92],"between":[93],"behaviors":[94],"adhere":[96],"user's":[99,119],"and":[101,170],"ones":[103],"resource":[106],"optimal.":[107],"efficient":[111],"planning":[112],"generates":[115],"Pareto-optimal":[116],"plans":[117],"given":[118],"by":[121],"extending":[122],"A*":[123,148],"search.":[124],"Further,":[125],"show":[127,174],"method":[129],"computing":[131],"entire":[133],"Pareto":[134],"front":[135],"(the":[136],"set":[137],"all":[139],"trade-offs)":[141],"via":[142],"adaptation":[144],"multi-objective":[147],"algorithm.":[149],"also":[151],"present":[152],"search":[154],"heuristic":[155,179],"enable":[157],"scalability.":[158],"illustrate":[160],"power":[162],"on":[166],"both":[167],"mobile":[168],"manipulators.":[171],"Our":[172],"benchmarks":[173],"effectiveness":[176],"up":[181],"2-orders":[183],"magnitude":[185],"speedup.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}