{"id":"https://openalex.org/W3209142973","doi":"https://doi.org/10.1109/itsc48978.2021.9564399","title":"Network-Flow-Problem-Based Approach to Multi-Agent Path Finding for Connected Autonomous Vehicles","display_name":"Network-Flow-Problem-Based Approach to Multi-Agent Path Finding for Connected Autonomous Vehicles","publication_year":2021,"publication_date":"2021-09-19","ids":{"openalex":"https://openalex.org/W3209142973","doi":"https://doi.org/10.1109/itsc48978.2021.9564399","mag":"3209142973"},"language":"en","primary_location":{"id":"doi:10.1109/itsc48978.2021.9564399","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564399","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","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/A5033705342","display_name":"Ayano Okoso","orcid":"https://orcid.org/0000-0002-9931-8574"},"institutions":[{"id":"https://openalex.org/I4210165351","display_name":"Toyota Central Research and Development Laboratories (Japan)","ror":"https://ror.org/05mjgqe69","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210165351"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ayano Okoso","raw_affiliation_strings":["Social Systems Research-Domain, Toyota Central R&D Labs., Inc., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Social Systems Research-Domain, Toyota Central R&D Labs., Inc., Tokyo, Japan","institution_ids":["https://openalex.org/I4210165351"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043464138","display_name":"Bunyo Okumura","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165351","display_name":"Toyota Central Research and Development Laboratories (Japan)","ror":"https://ror.org/05mjgqe69","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210165351"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Bunyo Okumura","raw_affiliation_strings":["Cloud Infomatics Research-Domain., Toyota Central R&D Labs., Inc., Nagakute, Aichi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cloud Infomatics Research-Domain., Toyota Central R&D Labs., Inc., Nagakute, Aichi, Japan","institution_ids":["https://openalex.org/I4210165351"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091332862","display_name":"Keisuke Otaki","orcid":"https://orcid.org/0000-0001-9431-0867"},"institutions":[{"id":"https://openalex.org/I4210165351","display_name":"Toyota Central Research and Development Laboratories (Japan)","ror":"https://ror.org/05mjgqe69","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210165351"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keisuke Otaki","raw_affiliation_strings":["Social Systems Research-Domain, Toyota Central R&D Labs., Inc., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Social Systems Research-Domain, Toyota Central R&D Labs., Inc., Tokyo, Japan","institution_ids":["https://openalex.org/I4210165351"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029287040","display_name":"Tomoki Nishi","orcid":"https://orcid.org/0000-0001-8418-4633"},"institutions":[{"id":"https://openalex.org/I4210165351","display_name":"Toyota Central Research and Development Laboratories (Japan)","ror":"https://ror.org/05mjgqe69","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210165351"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoki Nishi","raw_affiliation_strings":["Social Systems Research-Domain, Toyota Central R&D Labs., Inc., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Social Systems Research-Domain, Toyota Central R&D Labs., Inc., Tokyo, Japan","institution_ids":["https://openalex.org/I4210165351"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2911,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.56994242,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1946","last_page":"1953"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10524","display_name":"Traffic control and management","score":0.9933000206947327,"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":0.6991544961929321},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6537994146347046},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6087271571159363},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5763463973999023},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5457602739334106},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.4674777686595917},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.46423640847206116},{"id":"https://openalex.org/keywords/coordination-game","display_name":"Coordination game","score":0.4421252906322479},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4390369653701782},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.4300524592399597},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.41671040654182434},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3786475658416748},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3685164451599121},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.23833581805229187},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2159474492073059},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2141357660293579},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15460270643234253},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13740816712379456},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06951633095741272},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.06934654712677002}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6991544961929321},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6537994146347046},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6087271571159363},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5763463973999023},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5457602739334106},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.4674777686595917},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.46423640847206116},{"id":"https://openalex.org/C107257861","wikidata":"https://www.wikidata.org/wiki/Q656316","display_name":"Coordination game","level":2,"score":0.4421252906322479},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4390369653701782},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.4300524592399597},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.41671040654182434},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3786475658416748},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3685164451599121},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.23833581805229187},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2159474492073059},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2141357660293579},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15460270643234253},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13740816712379456},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06951633095741272},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.06934654712677002},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.0},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/itsc48978.2021.9564399","is_oa":false,"landing_page_url":"https://doi.org/10.1109/itsc48978.2021.9564399","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Intelligent Transportation Systems Conference (ITSC)","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":38,"referenced_works":["https://openalex.org/W1549280300","https://openalex.org/W1989407213","https://openalex.org/W2071447697","https://openalex.org/W2080782477","https://openalex.org/W2094826018","https://openalex.org/W2120179083","https://openalex.org/W2136644454","https://openalex.org/W2137514195","https://openalex.org/W2167979940","https://openalex.org/W2191404279","https://openalex.org/W2593887132","https://openalex.org/W2739557431","https://openalex.org/W2900261466","https://openalex.org/W2901077201","https://openalex.org/W2903837854","https://openalex.org/W2914296650","https://openalex.org/W2946610785","https://openalex.org/W2949992533","https://openalex.org/W2959221924","https://openalex.org/W2963309123","https://openalex.org/W2964997335","https://openalex.org/W2965850033","https://openalex.org/W2980480328","https://openalex.org/W2989659372","https://openalex.org/W3004235133","https://openalex.org/W3024382705","https://openalex.org/W3084065756","https://openalex.org/W3095606244","https://openalex.org/W3099318416","https://openalex.org/W3112779058","https://openalex.org/W3116193555","https://openalex.org/W3132139265","https://openalex.org/W6632662516","https://openalex.org/W6678081342","https://openalex.org/W6786036467","https://openalex.org/W6787370006","https://openalex.org/W6787798551","https://openalex.org/W6791096681"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4285278887","https://openalex.org/W2365237642","https://openalex.org/W2995925505","https://openalex.org/W2773399470","https://openalex.org/W3116484972","https://openalex.org/W2941986668","https://openalex.org/W2120267624","https://openalex.org/W4232431455"],"abstract_inverted_index":{"Vehicle":[0],"coordination":[1,19,24],"is":[2,14,117,139],"one":[3],"of":[4,56,84,145],"the":[5,17,59,67,75,88,96,111,135,143,146],"essential":[6],"technologies":[7],"for":[8,16,52,64,92,152],"connected":[9],"autonomous":[10],"vehicles":[11,29],"(CAVs).":[12],"It":[13],"necessary":[15],"route-level":[18],"as":[20,22],"well":[21],"trajectory-level":[23],"to":[25,42,102],"solve":[26],"conflicts":[27],"among":[28],"in":[30,74,110],"congested":[31],"situations.":[32],"The":[33,114],"multi-agent":[34],"path":[35],"finding":[36],"problem":[37,123],"(MAPF)":[38],"has":[39],"been":[40],"studied":[41],"efficiently":[43],"find":[44],"collision-free":[45],"paths":[46,60,104,136,147],"(i.e.,":[47],"routes)":[48],"on":[49,134],"a":[50,53,81,120],"graph":[51,97],"large":[54],"number":[55],"agents.":[57],"However,":[58],"cannot":[61],"be":[62],"applied":[63],"CAVs":[65,93],"because":[66],"vehicle's":[68],"kinematic":[69],"constraints":[70],"are":[71,148],"not":[72],"considered":[73],"standard":[76],"MAPF.":[77],"This":[78],"paper":[79],"proposes":[80],"new":[82],"variant":[83],"MAPF":[85,116,138],"that":[86,105],"considers":[87],"orientation":[89],"and":[90,99,142],"dimensions":[91],"by":[94,119,137,150],"extending":[95],"structure":[98],"collision":[100],"definition":[101],"obtain":[103],"can":[106],"generate":[107],"feasible":[108],"trajectories":[109],"real":[112],"world.":[113],"proposed":[115],"formulated":[118],"network":[121],"flow":[122],"approach":[124],"using":[125],"0-1":[126],"integer":[127],"linear":[128],"programming.":[129],"A":[130],"trajectory":[131],"generation":[132],"based":[133],"also":[140],"implemented":[141],"feasibility":[144],"confirmed":[149],"simulations":[151],"CAVs.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}