{"id":"https://openalex.org/W4405785533","doi":"https://doi.org/10.1109/iros58592.2024.10802518","title":"Efficient Global Trajectory Planning for Multi-robot System with Affinely Deformable Formation","display_name":"Efficient Global Trajectory Planning for Multi-robot System with Affinely Deformable Formation","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785533","doi":"https://doi.org/10.1109/iros58592.2024.10802518"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802518","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/A5096197844","display_name":"Hao Sha","orcid":"https://orcid.org/0000-0003-3199-0732"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hao Sha","raw_affiliation_strings":["Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027262916","display_name":"Yuxiang Cui","orcid":"https://orcid.org/0000-0001-8976-8865"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxiang Cui","raw_affiliation_strings":["Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113325518","display_name":"Wangtao Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wangtao Lu","raw_affiliation_strings":["Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035174542","display_name":"Dongkun Zhang","orcid":"https://orcid.org/0000-0002-0811-4964"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongkun Zhang","raw_affiliation_strings":["Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616953","display_name":"Chaoqun Wang","orcid":"https://orcid.org/0000-0002-2127-4110"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoqun Wang","raw_affiliation_strings":["Shandong University,The School of Control Science and Engineering,Jinan,P.R.China"],"affiliations":[{"raw_affiliation_string":"Shandong University,The School of Control Science and Engineering,Jinan,P.R.China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021284542","display_name":"Jun Wu","orcid":"https://orcid.org/0000-0002-1388-7451"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Wu","raw_affiliation_strings":["Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100372089","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0003-0146-7262"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,The State Key Laboratory of Industrial Control and Technology,Hangzhou,P.R. China","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5096197844"],"corresponding_institution_ids":["https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":0.2624,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.58113208,"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":"14148","last_page":"14155"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9979000091552734,"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":0.9979000091552734,"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":0.9830999970436096,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9775999784469604,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/trajectory","display_name":"Trajectory","score":0.7679581642150879},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6213688254356384},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5876491665840149},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.44798120856285095},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3640722632408142},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08910590410232544}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7679581642150879},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6213688254356384},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5876491665840149},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.44798120856285095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3640722632408142},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08910590410232544},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802518","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":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320330944","display_name":"Nature","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2051434435","https://openalex.org/W2145339207","https://openalex.org/W2396113684","https://openalex.org/W2482392012","https://openalex.org/W2744979297","https://openalex.org/W2767200474","https://openalex.org/W2787958879","https://openalex.org/W2962917939","https://openalex.org/W2963645756","https://openalex.org/W3023942433","https://openalex.org/W3114626444","https://openalex.org/W3153865577","https://openalex.org/W3156258415","https://openalex.org/W3199476173","https://openalex.org/W3201530632","https://openalex.org/W3206650971","https://openalex.org/W3207644545","https://openalex.org/W4312579612","https://openalex.org/W4312621873","https://openalex.org/W4313129933","https://openalex.org/W4383108757","https://openalex.org/W4389370886","https://openalex.org/W4389666028","https://openalex.org/W6748839928"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2903025760","https://openalex.org/W4289147272"],"abstract_inverted_index":{"Global":[0],"trajectory":[1,64,90,120,153],"planning":[2,49,65],"is":[3,83],"crucial":[4],"for":[5,62,135,150],"long-range":[6,33],"formation":[7,48,80],"navigation":[8],"tasks":[9],"of":[10,27,66,100,109,147,155],"multi-robot":[11],"systems":[12],"in":[13,51,91,142],"efficiency":[14],"improvement":[15],"and":[16,31,102,106,128,139],"energy":[17],"saving,":[18],"whose":[19],"main":[20],"challenges":[21],"are":[22],"the":[23,28,32,37,42,75,96,103,112,125,145,151],"joint":[24],"space":[25],"constraints":[26],"whole":[29],"team":[30],"deployment.":[34],"To":[35],"overcome":[36],"above":[38],"difficulties,":[39],"we":[40,55,114],"reformulate":[41],"original":[43],"problem":[44,50],"into":[45,132],"an":[46,77],"affine":[47,79,92,118],"parameter":[52,93,119],"space.":[53],"Further,":[54],"propose":[56,115],"a":[57,87,116,156],"front-end":[58,126],"&":[59],"back-end":[60],"framework":[61,149],"global":[63,88,104,152],"Multi-Robot":[67],"Systems":[68],"(MRS)":[69],"with":[70,159],"affinely":[71,160],"deformable":[72,161],"formation.":[73,162],"For":[74,111],"front-end,":[76],"RL-steering":[78],"RRT*":[81],"method":[82,122],"designed":[84],"to":[85,123],"search":[86],"formation-level":[89],"space,":[94],"combining":[95],"efficient":[97],"BVP-solving":[98],"capability":[99],"RL":[101],"guidance":[105],"generalizing":[107],"ability":[108],"RRT*.":[110],"back-end,":[113],"formationlevel":[117],"optimization":[121],"refine":[124],"trajectory,":[127],"further":[129],"transform":[130],"it":[131],"peragent":[133],"trajectories":[134],"execution.":[136],"Extensive":[137],"benchmarks":[138],"ablation":[140],"experiments":[141],"simulation":[143],"show":[144],"effectiveness":[146],"our":[148],"generation":[154],"multiUAV":[157],"system":[158],"The":[163],"appendix":[164],"can":[165],"be":[166],"seen":[167],"here<sup":[168],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[169],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</sup>.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}
