{"id":"https://openalex.org/W4416749156","doi":"https://doi.org/10.1109/iros60139.2025.11246185","title":"Homotopy-aware Multi-agent Navigation via Distributed Model Predictive Control","display_name":"Homotopy-aware Multi-agent Navigation via Distributed Model Predictive Control","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749156","doi":"https://doi.org/10.1109/iros60139.2025.11246185"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246185","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":"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/A5102556615","display_name":"Haoze Dong","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Haoze Dong","raw_affiliation_strings":["Peking University,School of Advanced Manufacturing and Robotics,Beijing,China,100871"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University,School of Advanced Manufacturing and Robotics,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032581175","display_name":"Meng Guo","orcid":"https://orcid.org/0000-0003-4562-854X"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Meng Guo","raw_affiliation_strings":["Peking University,School of Advanced Manufacturing and Robotics,Beijing,China,100871"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University,School of Advanced Manufacturing and Robotics,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080250079","display_name":"Chaohui He","orcid":"https://orcid.org/0000-0003-0531-5661"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengyi He","raw_affiliation_strings":["Beihang University,School of Computer Science and Engineering,Beijing,China,100191"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang University,School of Computer Science and Engineering,Beijing,China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091694797","display_name":"Zhongkui Li","orcid":"https://orcid.org/0000-0002-9361-4305"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Zhongkui Li","raw_affiliation_strings":["Peking University,School of Advanced Manufacturing and Robotics,Beijing,China,100871"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University,School of Advanced Manufacturing and Robotics,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9349,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.8144221,"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":"6448","last_page":"6455"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.954800009727478,"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":0.954800009727478,"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/T10524","display_name":"Traffic control and management","score":0.00839999970048666,"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":0.0066999997943639755,"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/trajectory","display_name":"Trajectory","score":0.7896000146865845},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6607000231742859},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6485000252723694},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6212999820709229},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4009000062942505},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.3946000039577484}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7896000146865845},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6607000231742859},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6485000252723694},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6317999958992004},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6212999820709229},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4016999900341034},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4009000062942505},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.3946000039577484},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3671000003814697},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.364300012588501},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3587000072002411},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33869999647140503},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29269999265670776},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2827000021934509},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.27309998869895935},{"id":"https://openalex.org/C164752517","wikidata":"https://www.wikidata.org/wiki/Q5570875","display_name":"Global optimization","level":2,"score":0.2653999924659729}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246185","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246185","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320329860","display_name":"National Science and Technology Major Project","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W1989407213","https://openalex.org/W1992787855","https://openalex.org/W2549200707","https://openalex.org/W2600080636","https://openalex.org/W2914296650","https://openalex.org/W2980480328","https://openalex.org/W3004314649","https://openalex.org/W3159537771","https://openalex.org/W3183413118","https://openalex.org/W3200397171","https://openalex.org/W3207305612","https://openalex.org/W3207644545","https://openalex.org/W4284968364","https://openalex.org/W4285613784","https://openalex.org/W4321608253","https://openalex.org/W4383172019","https://openalex.org/W4388454780","https://openalex.org/W4389609808","https://openalex.org/W4395069512","https://openalex.org/W4402354123","https://openalex.org/W4403122887","https://openalex.org/W4416749156"],"related_works":[],"abstract_inverted_index":{"Multi-agent":[0],"trajectory":[1,27,39,94],"planning":[2,28,49],"requires":[3],"ensuring":[4],"both":[5,73],"safety":[6],"and":[7,37,76,103,118,149],"efficiency,":[8],"yet":[9],"deadlocks":[10,148],"remain":[11],"a":[12,24,45,90],"significant":[13],"challenge,":[14],"especially":[15],"in":[16,126,160],"obstacle-dense":[17],"environments.":[18,116],"To":[19],"address":[20],"this,":[21],"we":[22],"propose":[23],"novel":[25],"distributed":[26],"framework":[29],"that":[30,132],"bridges":[31],"the":[32,42,56,60,87,121,139,151],"gap":[33],"between":[34],"global":[35,43,141],"path":[36,48,64],"local":[38,88],"cooperation.":[40],"At":[41,86],"level,":[44,89],"homotopy-aware":[46],"optimal":[47],"algorithm":[50],"is":[51,65,97],"proposed,":[52],"which":[53],"fully":[54],"leverages":[55],"topological":[57],"structure":[58],"of":[59,123],"environment.":[61],"A":[62],"reference":[63],"chosen":[66],"from":[67,155],"distinct":[68],"homotopy":[69],"classes":[70],"by":[71,133],"considering":[72],"its":[74,112],"spatial":[75],"temporal":[77],"properties,":[78],"leading":[79],"to":[80,99,114,157],"improved":[81],"coordination":[82],"among":[83],"agents":[84],"globally.":[85],"model":[91],"predictive":[92],"control-based":[93],"optimization":[95],"method":[96,144],"used":[98],"generate":[100],"dynamically":[101],"feasible":[102],"collision-free":[104],"trajectories.":[105],"Additionally,":[106],"an":[107],"online":[108],"replanning":[109],"strategy":[110],"ensures":[111],"adaptability":[113],"changing":[115],"Simulations":[117],"experiments":[119],"validate":[120],"effectiveness":[122],"our":[124,143],"approach":[125],"mitigating":[127],"deadlocks.":[128],"Ablation":[129],"studies":[130],"demonstrate":[131],"incorporating":[134],"time-aware":[135],"homotopic":[136],"properties":[137],"into":[138],"underlying":[140],"paths,":[142],"can":[145],"significantly":[146],"reduce":[147],"improve":[150],"average":[152],"success":[153],"rate":[154],"4%-13%":[156],"over":[158],"90%":[159],"randomly":[161],"generated":[162],"dense":[163],"scenarios.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}
