{"id":"https://openalex.org/W4416750278","doi":"https://doi.org/10.1109/iros60139.2025.11246258","title":"IHGSL: Interpretable Heuristic Graph Structure Learning for Multi-Robot Autonomous Collaborative Systems","display_name":"IHGSL: Interpretable Heuristic Graph Structure Learning for Multi-Robot Autonomous Collaborative Systems","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750278","doi":"https://doi.org/10.1109/iros60139.2025.11246258"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246258","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246258","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/A5100430457","display_name":"Yue Han","orcid":"https://orcid.org/0000-0002-7212-1122"},"institutions":[{"id":"https://openalex.org/I1311643757","display_name":"Commercial Aircraft Corporation of China (China)","ror":"https://ror.org/05gxmms51","country_code":"CN","type":"company","lineage":["https://openalex.org/I1311643757"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yue Han","raw_affiliation_strings":["AVIC Shenyang Aircraft Design & Research Institute,China"],"affiliations":[{"raw_affiliation_string":"AVIC Shenyang Aircraft Design & Research Institute,China","institution_ids":["https://openalex.org/I1311643757"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110450908","display_name":"Hanqi Li","orcid":null},"institutions":[{"id":"https://openalex.org/I125904092","display_name":"Shenyang Aerospace University","ror":"https://ror.org/02423gm04","country_code":"CN","type":"education","lineage":["https://openalex.org/I125904092"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanqi Li","raw_affiliation_strings":["Shenyang Aerospace University,China"],"affiliations":[{"raw_affiliation_string":"Shenyang Aerospace University,China","institution_ids":["https://openalex.org/I125904092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101969200","display_name":"Cuiwei Liu","orcid":"https://orcid.org/0000-0003-4279-4841"},"institutions":[{"id":"https://openalex.org/I125904092","display_name":"Shenyang Aerospace University","ror":"https://ror.org/02423gm04","country_code":"CN","type":"education","lineage":["https://openalex.org/I125904092"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cuiwei Liu","raw_affiliation_strings":["Shenyang Aerospace University,China"],"affiliations":[{"raw_affiliation_string":"Shenyang Aerospace University,China","institution_ids":["https://openalex.org/I125904092"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100334619","display_name":"Liang Chen","orcid":"https://orcid.org/0000-0002-6598-1036"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Liang","raw_affiliation_strings":["Shenyang Institute of Automation, Chinese Academy of Sciences,China"],"affiliations":[{"raw_affiliation_string":"Shenyang Institute of Automation, Chinese Academy of Sciences,China","institution_ids":["https://openalex.org/I142078773"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079632098","display_name":"Zhixiao Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I1311643757","display_name":"Commercial Aircraft Corporation of China (China)","ror":"https://ror.org/05gxmms51","country_code":"CN","type":"company","lineage":["https://openalex.org/I1311643757"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhixiao Sun","raw_affiliation_strings":["AVIC Shenyang Aircraft Design & Research Institute,China"],"affiliations":[{"raw_affiliation_string":"AVIC Shenyang Aircraft Design & Research Institute,China","institution_ids":["https://openalex.org/I1311643757"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100430457"],"corresponding_institution_ids":["https://openalex.org/I1311643757"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20565811,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"575","last_page":"582"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11273","display_name":"Advanced Graph Neural Networks","score":0.3497999906539917,"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"}},"topics":[{"id":"https://openalex.org/T11273","display_name":"Advanced Graph Neural Networks","score":0.3497999906539917,"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"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.179299995303154,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.13740000128746033,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/interpretability","display_name":"Interpretability","score":0.8420000076293945},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5245000123977661},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.48570001125335693},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.43529999256134033},{"id":"https://openalex.org/keywords/predicate","display_name":"Predicate (mathematical logic)","score":0.42890000343322754},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.3955000042915344},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36320000886917114},{"id":"https://openalex.org/keywords/feature-learning","display_name":"Feature learning","score":0.33799999952316284}],"concepts":[{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.8420000076293945},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6793000102043152},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5550000071525574},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5245000123977661},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.48570001125335693},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.43529999256134033},{"id":"https://openalex.org/C140146324","wikidata":"https://www.wikidata.org/wiki/Q1144319","display_name":"Predicate (mathematical logic)","level":2,"score":0.42890000343322754},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4004000127315521},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.3955000042915344},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36320000886917114},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.33799999952316284},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.3337000012397766},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.29760000109672546},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.296999990940094},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.29589998722076416},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.27799999713897705},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C83665646","wikidata":"https://www.wikidata.org/wiki/Q42139305","display_name":"Feature vector","level":2,"score":0.2702000141143799},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C161301231","wikidata":"https://www.wikidata.org/wiki/Q3478658","display_name":"Knowledge representation and reasoning","level":2,"score":0.2603999972343445},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.2542000114917755}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246258","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246258","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2774982397","https://openalex.org/W2899455150","https://openalex.org/W2963709735","https://openalex.org/W2997940961","https://openalex.org/W2998367975","https://openalex.org/W3042612721","https://openalex.org/W3139071578","https://openalex.org/W3164011142","https://openalex.org/W3181978631","https://openalex.org/W4225845614","https://openalex.org/W4306317385","https://openalex.org/W4309483453","https://openalex.org/W4402351865","https://openalex.org/W4405785078","https://openalex.org/W4405785091"],"related_works":[],"abstract_inverted_index":{"In":[0],"multi-robot":[1,59,135],"systems,":[2],"capturing":[3],"the":[4,22,54,78,89,96,102,105,111,132,144,151,167,170],"complex":[5,55],"and":[6,31,115],"dynamic":[7],"interaction":[8,117],"relationships":[9,57,118],"is":[10,127],"essential":[11],"for":[12],"enhancing":[13],"autonomous":[14,136],"collaboration.":[15],"However,":[16],"existing":[17,157],"learning-based":[18],"approaches":[19],"usually":[20],"overlook":[21],"understanding":[23],"of":[24,88,134,146,153,169],"these":[25],"relationships,":[26],"leading":[27],"to":[28,35,51,67,83,130],"reliability":[29],"issues":[30],"hindering":[32],"their":[33],"application":[34],"real-world":[36],"scenarios.":[37],"This":[38],"paper":[39],"proposes":[40],"a":[41,64,85],"novel":[42],"approach":[43],"called":[44],"Interpretable":[45],"Heuristic":[46],"Graph":[47],"Structure":[48],"Learning":[49],"(IHGSL)":[50],"better":[52],"comprehend":[53],"collaborative":[56,137],"in":[58],"systems.":[60],"We":[61],"first":[62],"construct":[63],"predicate":[65],"space":[66],"define":[68],"diverse":[69],"predicates":[70,103],"that":[71,104],"express":[72],"fundamental":[73],"relationships.":[74],"Then":[75],"we":[76,142],"employ":[77],"variational":[79],"information":[80],"bottleneck":[81],"technique":[82],"acquire":[84],"latent":[86],"representation":[87],"current":[90],"observation":[91],"by":[92],"aligning":[93],"it":[94],"with":[95,156],"historical":[97],"trajectory.":[98],"On":[99],"this":[100],"basis,":[101],"robot":[106],"should":[107],"currently":[108],"focus":[109],"on":[110],"most":[112],"are":[113,119],"learned,":[114],"some":[116],"established":[120],"accordingly.":[121],"Thereby":[122],"an":[123],"interpretable":[124],"relationship":[125,147],"graph":[126,173],"generated":[128],"heuristically":[129],"guide":[131],"achievement":[133],"decision-making.":[138],"Through":[139],"experimental":[140],"evaluation,":[141],"demonstrate":[143],"process":[145],"inference,":[148],"thus":[149],"validating":[150],"interpretability":[152],"IHGSL.":[154],"Compared":[155],"methods,":[158],"IHGSL":[159],"also":[160],"achieves":[161],"superior":[162],"collaboration":[163],"performance,":[164],"which":[165],"highlights":[166],"effectiveness":[168],"learned":[171],"heuristic":[172],"structure.":[174]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}