{"id":"https://openalex.org/W4416749934","doi":"https://doi.org/10.1109/iros60139.2025.11245826","title":"Merry-Go-Round: Safe Control of Decentralized Multi-Robot Systems with Deadlock Prevention","display_name":"Merry-Go-Round: Safe Control of Decentralized Multi-Robot Systems with Deadlock Prevention","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749934","doi":"https://doi.org/10.1109/iros60139.2025.11245826"},"language":"en","primary_location":{"id":"doi:10.1109/iros60139.2025.11245826","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245826","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2503.05848","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101681236","display_name":"Wonjong Lee","orcid":"https://orcid.org/0000-0002-4470-9551"},"institutions":[{"id":"https://openalex.org/I4210164862","display_name":"Artificial Intelligence in Medicine (Canada)","ror":"https://ror.org/05p590m36","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210164862"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Wonjong Lee","raw_affiliation_strings":["Sogang University,Dept. of Artificial Intelligence"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sogang University,Dept. of Artificial Intelligence","institution_ids":["https://openalex.org/I4210164862"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108332085","display_name":"Joonyeol Sim","orcid":null},"institutions":[{"id":"https://openalex.org/I148751991","display_name":"Sogang University","ror":"https://ror.org/056tn4839","country_code":"KR","type":"education","lineage":["https://openalex.org/I148751991"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Joonyeol Sim","raw_affiliation_strings":["Sogang University,Dept. of Electronic Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sogang University,Dept. of Electronic Engineering","institution_ids":["https://openalex.org/I148751991"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025414428","display_name":"Joonkyung Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I148751991","display_name":"Sogang University","ror":"https://ror.org/056tn4839","country_code":"KR","type":"education","lineage":["https://openalex.org/I148751991"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Joonkyung Kim","raw_affiliation_strings":["Sogang University,Dept. of Electronic Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sogang University,Dept. of Electronic Engineering","institution_ids":["https://openalex.org/I148751991"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110648898","display_name":"Siwon Jo","orcid":"https://orcid.org/0009-0003-1940-3504"},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]},{"id":"https://openalex.org/I40347166","display_name":"University of Chicago","ror":"https://ror.org/024mw5h28","country_code":"US","type":"education","lineage":["https://openalex.org/I40347166"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siwon Jo","raw_affiliation_strings":["University of Illinois Chicago,Dept. of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois Chicago,Dept. of Computer Science","institution_ids":["https://openalex.org/I39422238","https://openalex.org/I40347166"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036126020","display_name":"Wenhao Luo","orcid":"https://orcid.org/0000-0002-0442-6338"},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]},{"id":"https://openalex.org/I40347166","display_name":"University of Chicago","ror":"https://ror.org/024mw5h28","country_code":"US","type":"education","lineage":["https://openalex.org/I40347166"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenhao Luo","raw_affiliation_strings":["University of Illinois Chicago,Dept. of Computer Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois Chicago,Dept. of Computer Science","institution_ids":["https://openalex.org/I39422238","https://openalex.org/I40347166"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084244126","display_name":"Changjoo Nam","orcid":"https://orcid.org/0000-0002-9169-0785"},"institutions":[{"id":"https://openalex.org/I148751991","display_name":"Sogang University","ror":"https://ror.org/056tn4839","country_code":"KR","type":"education","lineage":["https://openalex.org/I148751991"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Changjoo Nam","raw_affiliation_strings":["Sogang University,Dept. of Electronic Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sogang University,Dept. of Electronic Engineering","institution_ids":["https://openalex.org/I148751991"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4589","last_page":"4595"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6984000205993652,"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":0.6984000205993652,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.042500000447034836,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.032600000500679016,"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/roundabout","display_name":"Roundabout","score":0.7791000008583069},{"id":"https://openalex.org/keywords/deadlock","display_name":"Deadlock","score":0.7466999888420105},{"id":"https://openalex.org/keywords/deadlock-prevention-algorithms","display_name":"Deadlock prevention algorithms","score":0.6449000239372253},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5888000130653381},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5139999985694885},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5015000104904175},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.4659000039100647},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4056999981403351}],"concepts":[{"id":"https://openalex.org/C109157449","wikidata":"https://www.wikidata.org/wiki/Q7371221","display_name":"Roundabout","level":2,"score":0.7791000008583069},{"id":"https://openalex.org/C159023740","wikidata":"https://www.wikidata.org/wiki/Q623276","display_name":"Deadlock","level":2,"score":0.7466999888420105},{"id":"https://openalex.org/C113429609","wikidata":"https://www.wikidata.org/wiki/Q4060699","display_name":"Deadlock prevention algorithms","level":3,"score":0.6449000239372253},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5888000130653381},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5426999926567078},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5139999985694885},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5015000104904175},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.4659000039100647},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4325000047683716},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4056999981403351},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3871999979019165},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.367000013589859},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.352400004863739},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3441999852657318},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32030001282691956},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3125},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.28850001096725464},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.2818000018596649},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.274399995803833},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.26249998807907104},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2554999887943268},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2547999918460846}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros60139.2025.11245826","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245826","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2503.05848","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2503.05848","pdf_url":"https://arxiv.org/pdf/2503.05848","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2503.05848","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2503.05848","pdf_url":"https://arxiv.org/pdf/2503.05848","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1488757178","https://openalex.org/W1965760189","https://openalex.org/W1989407213","https://openalex.org/W2103120971","https://openalex.org/W2560504659","https://openalex.org/W2588802774","https://openalex.org/W2964138223","https://openalex.org/W3046160353","https://openalex.org/W3126305458","https://openalex.org/W3136568468","https://openalex.org/W3175724379","https://openalex.org/W4387917771","https://openalex.org/W4389665370","https://openalex.org/W4391335029"],"related_works":[],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,18,24,45,51],"hybrid":[3],"approach":[4],"for":[5,47],"decentralized":[6,85,124],"multi-robot":[7],"navigation":[8],"that":[9,87,110],"ensures":[10,95],"both":[11],"safety":[12,101],"and":[13,44,105,119],"deadlock":[14,26,90],"prevention.":[15],"Building":[16],"on":[17,40,57],"standard":[19],"control":[20,125],"formulation,":[21],"we":[22],"add":[23],"lightweight":[25],"prevention":[27],"mechanism":[28],"by":[29],"forming":[30],"temporary":[31],"\"roundabouts\"":[32],"(circular":[33],"reference":[34],"paths).":[35],"Each":[36],"robot":[37,107],"relies":[38],"only":[39],"local,":[41],"peer-to-peer":[42],"communication":[43],"controller":[46],"base":[48],"collision":[49],"avoidance;":[50],"roundabout":[52,65,93],"is":[53,74],"generated":[54],"or":[55,115,130],"joined":[56],"demand":[58],"to":[59,78,80],"avert":[60],"deadlocks.":[61],"Robots":[62],"in":[63,67,128],"the":[64,117],"travel":[66],"one":[68],"direction":[69],"until":[70],"an":[71],"escape":[72],"condition":[73],"met,":[75],"allowing":[76],"them":[77],"return":[79],"goal-oriented":[81],"motion.":[82],"Unlike":[83],"classical":[84],"methods":[86],"lack":[88],"explicit":[89],"resolution,":[91],"our":[92,111],"maneuver":[94],"system-wide":[96],"forward":[97],"progress":[98],"while":[99],"preserving":[100],"constraints.":[102],"Extensive":[103],"simulations":[104],"physical":[106],"experiments":[108],"show":[109],"method":[112],"consistently":[113],"outperforms":[114],"matches":[116],"success":[118],"arrival":[120],"rates":[121],"of":[122],"other":[123],"approaches,":[126],"particularly":[127],"cluttered":[129],"high-density":[131],"scenarios,":[132],"all":[133],"with":[134],"minimal":[135],"centralized":[136],"coordination.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
