{"id":"https://openalex.org/W4405785510","doi":"https://doi.org/10.1109/iros58592.2024.10802503","title":"Toward Universal and Scalable Road Graph Partitioning for Efficient Multi-Robot Path Planning","display_name":"Toward Universal and Scalable Road Graph Partitioning for Efficient Multi-Robot Path Planning","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785510","doi":"https://doi.org/10.1109/iros58592.2024.10802503"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802503","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5016378466","display_name":"Xingyao Han","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xingyao Han","raw_affiliation_strings":["Shanghai Jiao Tong University,MoE Key Lab of Artificial Intelligence, AI Institute,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,MoE Key Lab of Artificial Intelligence, AI Institute,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102988738","display_name":"Bo Cao","orcid":"https://orcid.org/0000-0002-7322-0747"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Cao","raw_affiliation_strings":["Shanghai Jiao Tong University,MoE Key Lab of Artificial Intelligence, AI Institute,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,MoE Key Lab of Artificial Intelligence, AI Institute,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100462338","display_name":"Zhe Liu","orcid":"https://orcid.org/0000-0001-6753-0303"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe Liu","raw_affiliation_strings":["Shanghai Jiao Tong University,MoE Key Lab of Artificial Intelligence, AI Institute,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,MoE Key Lab of Artificial Intelligence, AI Institute,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042268476","display_name":"Shunbo Zhou","orcid":"https://orcid.org/0000-0002-6077-4951"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shunbo Zhou","raw_affiliation_strings":["Huawei Cloud Computing Technologies Co., Ltd,Edge Cloud Innovation Lab"],"affiliations":[{"raw_affiliation_string":"Huawei Cloud Computing Technologies Co., Ltd,Edge Cloud Innovation Lab","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100758382","display_name":"Heng Zhang","orcid":"https://orcid.org/0000-0001-6597-6520"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Heng Zhang","raw_affiliation_strings":["Huawei Cloud Computing Technologies Co., Ltd,Edge Cloud Innovation Lab"],"affiliations":[{"raw_affiliation_string":"Huawei Cloud Computing Technologies Co., Ltd,Edge Cloud Innovation Lab","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107772128","display_name":"Hesheng Wang","orcid":"https://orcid.org/0000-0002-9959-1634"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hesheng Wang","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Automation,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Automation,China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5016378466"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.2632,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.58174933,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"13974","last_page":"13979"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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":0.9994999766349792,"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/T12707","display_name":"Vehicle License Plate Recognition","score":0.9747999906539917,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/T13664","display_name":"Genome Rearrangement Algorithms","score":0.9650999903678894,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7360579371452332},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.716960608959198},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6977269649505615},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5507704019546509},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.47807741165161133},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4537329077720642},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4271150529384613},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3637561500072479},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3310282826423645},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.15321120619773865},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.07649961113929749}],"concepts":[{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7360579371452332},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.716960608959198},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6977269649505615},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5507704019546509},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.47807741165161133},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4537329077720642},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4271150529384613},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3637561500072479},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3310282826423645},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.15321120619773865},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.07649961113929749}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802503","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":0.75}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1488757178","https://openalex.org/W1973822627","https://openalex.org/W1989407213","https://openalex.org/W2004951603","https://openalex.org/W2049084163","https://openalex.org/W2086254934","https://openalex.org/W2153752762","https://openalex.org/W2241553860","https://openalex.org/W2293971009","https://openalex.org/W2342511487","https://openalex.org/W2914296650","https://openalex.org/W2964997335","https://openalex.org/W2987539450","https://openalex.org/W3079592479","https://openalex.org/W3088197938","https://openalex.org/W3197460817","https://openalex.org/W3204625264","https://openalex.org/W3205046744","https://openalex.org/W4238591275","https://openalex.org/W4243467301","https://openalex.org/W4283791159","https://openalex.org/W4390099805","https://openalex.org/W4401414582","https://openalex.org/W6606551078"],"related_works":["https://openalex.org/W2389214306","https://openalex.org/W2965083567","https://openalex.org/W4235240664","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"To":[0],"date,":[1],"multi-robot":[2],"path":[3,80,89],"planning":[4,81,90],"has":[5],"primarily":[6],"been":[7],"addressed":[8],"by":[9],"centralized":[10],"solvers,":[11],"typically":[12],"aiming":[13,64],"to":[14,43,65,117],"maintain":[15],"optimality.":[16,130],"However,":[17],"given":[18],"its":[19],"NP-hard":[20],"nature,":[21],"directly":[22],"applying":[23],"existing":[24,111],"solvers":[25],"in":[26,37,102,121],"large":[27],"and":[28,59,91,105],"complex":[29],"scenarios":[30],"proves":[31],"inefficient.":[32],"A":[33],"promising":[34],"alternative":[35],"lies":[36],"adopting":[38],"a":[39,56,118],"divide-":[40],"and-conquer":[41],"strategy":[42],"break":[44],"down":[45],"the":[46,79,83,108],"problem":[47],"into":[48,71,86],"manageable":[49],"sub-problems.":[50],"In":[51],"this":[52],"work,":[53],"we":[54,77],"propose":[55],"systematic,":[57],"universal,":[58],"scalable":[60],"graph":[61,85],"partitioning":[62],"method,":[63],"automatically":[66],"divide":[67],"any":[68],"real-world":[69],"environment":[70],"multiple":[72],"regions.":[73],"Building":[74],"upon":[75],"this,":[76],"convert":[78],"on":[82],"entire":[84],"distributed":[87],"sub-region":[88],"devise":[92],"corresponding":[93],"inter-regional":[94],"strategies.":[95],"Our":[96],"work":[97],"can":[98],"be":[99],"easily":[100],"implementable":[101],"practical":[103],"systems":[104],"effectively":[106],"enhances":[107],"scalability":[109],"of":[110,129],"solvers.":[112],"Experimentally,":[113],"our":[114],"approach":[115],"contributes":[116],"tenfold":[119],"improvement":[120],"computational":[122],"efficiency":[123],"while":[124],"only":[125],"sacrificing":[126],"about":[127],"10%":[128]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
