{"id":"https://openalex.org/W4405779056","doi":"https://doi.org/10.1109/iros58592.2024.10802695","title":"Robust and Safe Task-Driven Planning and Navigation for Heterogeneous Multi-Robot Teams with Uncertain Dynamics","display_name":"Robust and Safe Task-Driven Planning and Navigation for Heterogeneous Multi-Robot Teams with Uncertain Dynamics","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405779056","doi":"https://doi.org/10.1109/iros58592.2024.10802695"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802695","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/A5053993261","display_name":"Tianyang Pan","orcid":"https://orcid.org/0000-0002-8295-1234"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tianyang Pan","raw_affiliation_strings":["Rice University,Department of Computer Science"],"affiliations":[{"raw_affiliation_string":"Rice University,Department of Computer Science","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016121500","display_name":"Christos K. Verginis","orcid":"https://orcid.org/0000-0002-4289-2866"},"institutions":[{"id":"https://openalex.org/I123387679","display_name":"Uppsala University","ror":"https://ror.org/048a87296","country_code":"SE","type":"education","lineage":["https://openalex.org/I123387679"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Christos K. Verginis","raw_affiliation_strings":["Uppsala University,Division of Signals and Systems,Department of Electrical Engineering"],"affiliations":[{"raw_affiliation_string":"Uppsala University,Division of Signals and Systems,Department of Electrical Engineering","institution_ids":["https://openalex.org/I123387679"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067205988","display_name":"Lydia E. Kavraki","orcid":"https://orcid.org/0000-0003-0699-8038"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lydia E. Kavraki","raw_affiliation_strings":["Rice University,Department of Computer Science"],"affiliations":[{"raw_affiliation_string":"Rice University,Department of Computer Science","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5053993261"],"corresponding_institution_ids":["https://openalex.org/I74775410"],"apc_list":null,"apc_paid":null,"fwci":0.7488,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.74029595,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3482","last_page":"3489"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9894999861717224,"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":0.9894999861717224,"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":0.9409000277519226,"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/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9408000111579895,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7094044089317322},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7039206624031067},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.633213996887207},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5238214135169983},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5021843910217285},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4445706605911255},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2618964910507202},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.2558552026748657},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14753082394599915},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.06468766927719116}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7094044089317322},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7039206624031067},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.633213996887207},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5238214135169983},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5021843910217285},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4445706605911255},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2618964910507202},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.2558552026748657},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14753082394599915},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.06468766927719116},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802695","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W2034743631","https://openalex.org/W2081063043","https://openalex.org/W2128990851","https://openalex.org/W2136323427","https://openalex.org/W2141664020","https://openalex.org/W2161414194","https://openalex.org/W2295899921","https://openalex.org/W2418555985","https://openalex.org/W2794922736","https://openalex.org/W2808475207","https://openalex.org/W2913211223","https://openalex.org/W2946703615","https://openalex.org/W2964306184","https://openalex.org/W2964997335","https://openalex.org/W2972941110","https://openalex.org/W3012057970","https://openalex.org/W3094461361","https://openalex.org/W3128894241","https://openalex.org/W3130229213","https://openalex.org/W3159851186","https://openalex.org/W3206720144","https://openalex.org/W3214501121","https://openalex.org/W4200398046","https://openalex.org/W4297493126","https://openalex.org/W4367281433","https://openalex.org/W4391673015","https://openalex.org/W6600116910","https://openalex.org/W6726479734","https://openalex.org/W6784793661","https://openalex.org/W6791550011"],"related_works":["https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W8302103","https://openalex.org/W2111158727","https://openalex.org/W1809059965","https://openalex.org/W2024668666","https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W3196817267","https://openalex.org/W1976600725"],"abstract_inverted_index":{"Task":[0],"and":[1,18,75,120],"motion":[2,91],"planning":[3,118],"(TAMP)":[4],"can":[5],"enhance":[6],"intelligent":[7],"multi-robot":[8,37],"coordination.":[9],"TAMP":[10,48],"becomes":[11],"signifi-cantly":[12],"more":[13],"complicated":[14],"in":[15,19,77,103,115],"obstacle-cluttered":[16],"environments":[17,106],"the":[20,33,47,54,70,81,95,108,112],"presence":[21],"of":[22,46,53,65,111,117,122],"robot":[23],"dynamic":[24,83],"uncertainties.":[25,84],"We":[26],"propose":[27],"a":[28,43,58],"control":[29,61],"framework":[30,87],"that":[31],"solves":[32],"motion-planning":[34],"problem":[35],"for":[36,63],"teams":[38],"with":[39,126],"uncertain":[40],"dynamics,":[41],"addressing":[42],"key":[44],"component":[45],"pipeline.":[49],"The":[50,85],"principal":[51],"part":[52],"proposed":[55,86,113],"algorithm":[56],"constitutes":[57],"decentralized":[59],"feedback":[60],"policy":[62],"tracking":[64],"reference":[66],"paths":[67],"taken":[68],"by":[69],"robots":[71,96],"while":[72],"avoiding":[73],"collision":[74],"adapting":[76],"real":[78],"time":[79,119],"to":[80,93,128],"underlying":[82],"further":[88],"leverages":[89],"sampling-based":[90],"planners":[92],"free":[94],"from":[97],"local-minimum":[98],"configurations.":[99],"Extensive":[100],"experimental":[101],"results":[102],"complex,":[104],"realistic":[105],"illustrate":[107],"superior":[109],"efficiency":[110],"approach,":[114],"terms":[116],"number":[121],"encountered":[123],"local":[124],"minima,":[125],"respect":[127],"state-of-the-art":[129],"baseline":[130],"methods.":[131]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}