{"id":"https://openalex.org/W4210817866","doi":"https://doi.org/10.1109/lra.2022.3145987","title":"High-Level Planning for Object Manipulation With Multi Heterogeneous Robots in Shared Environments","display_name":"High-Level Planning for Object Manipulation With Multi Heterogeneous Robots in Shared Environments","publication_year":2022,"publication_date":"2022-01-25","ids":{"openalex":"https://openalex.org/W4210817866","doi":"https://doi.org/10.1109/lra.2022.3145987"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3145987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3145987","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11568/1126734","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067444544","display_name":"Alessandro Palleschi","orcid":"https://orcid.org/0000-0001-5739-1741"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Palleschi","raw_affiliation_strings":["Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e0 di Pisa, Pisa, Italy","Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-5739-1741","affiliations":[{"raw_affiliation_string":"Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048309238","display_name":"George Jose Pollayil","orcid":"https://orcid.org/0000-0003-3264-3038"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"George Jose Pollayil","raw_affiliation_strings":["Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e0 di Pisa, Pisa, Italy","Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-3264-3038","affiliations":[{"raw_affiliation_string":"Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009097726","display_name":"Mathew Jose Pollayil","orcid":"https://orcid.org/0000-0001-9526-0662"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mathew Jose Pollayil","raw_affiliation_strings":["Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e0 di Pisa, Pisa, Italy","Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-9526-0662","affiliations":[{"raw_affiliation_string":"Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042460018","display_name":"Manolo Garabini","orcid":"https://orcid.org/0000-0002-5873-3173"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manolo Garabini","raw_affiliation_strings":["Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e0 di Pisa, Pisa, Italy","Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5873-3173","affiliations":[{"raw_affiliation_string":"Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003804011","display_name":"Lucia Pallottino","orcid":"https://orcid.org/0000-0002-9480-8857"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lucia Pallottino","raw_affiliation_strings":["Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e0 di Pisa, Pisa, Italy","Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9480-8857","affiliations":[{"raw_affiliation_string":"Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca E. Piaggio and Dipartimento di Ingegneria dell'Informazione, Universit\u00e0 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2195,"currency":"USD","value_usd":2195},"apc_paid":null,"fwci":0.7461,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.67789021,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":"7","issue":"2","first_page":"3138","last_page":"3145"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9972000122070312,"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/robot","display_name":"Robot","score":0.8113390803337097},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7086346745491028},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7018368244171143},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6327491998672485},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.5702060461044312},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4613063633441925},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.39528852701187134},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35024625062942505},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.15118169784545898},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14650088548660278}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8113390803337097},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7086346745491028},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7018368244171143},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6327491998672485},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.5702060461044312},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4613063633441925},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.39528852701187134},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35024625062942505},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.15118169784545898},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14650088548660278},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3145987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3145987","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arpi.unipi.it:11568/1126734","is_oa":true,"landing_page_url":"https://hdl.handle.net/11568/1126734","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arpi.unipi.it:11568/1126734","is_oa":true,"landing_page_url":"https://hdl.handle.net/11568/1126734","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7599999904632568,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1971086298","https://openalex.org/W2041753526","https://openalex.org/W2068127265","https://openalex.org/W2141664020","https://openalex.org/W2141753064","https://openalex.org/W2142224528","https://openalex.org/W2288337948","https://openalex.org/W2479648088","https://openalex.org/W2490090381","https://openalex.org/W2735300570","https://openalex.org/W2789539638","https://openalex.org/W2790268265","https://openalex.org/W2888729493","https://openalex.org/W2980400095","https://openalex.org/W3006932462","https://openalex.org/W3009925493","https://openalex.org/W3091920452","https://openalex.org/W3103940950","https://openalex.org/W3104605181","https://openalex.org/W3128894241","https://openalex.org/W3163019889","https://openalex.org/W4200010608","https://openalex.org/W6785564325","https://openalex.org/W6950084706"],"related_works":["https://openalex.org/W1764572413","https://openalex.org/W3150915502","https://openalex.org/W2952002389","https://openalex.org/W2231510842","https://openalex.org/W8302103","https://openalex.org/W2111158727","https://openalex.org/W2024668666","https://openalex.org/W3049557657","https://openalex.org/W2110944602","https://openalex.org/W3213722473"],"abstract_inverted_index":{"Multi-robot":[0],"systems":[1,21],"are":[2],"becoming":[3],"increasingly":[4],"popular":[5],"in":[6,40,135,145],"warehouses":[7],"and":[8,19,42,68,149],"factories,":[9],"since":[10],"they":[11],"potentially":[12],"enable":[13],"the":[14,59,87,107,117,136],"development":[15],"of":[16,113],"more":[17],"versatile":[18],"robust":[20],"than":[22],"single":[23],"robots.":[24,46],"Multiple":[25],"robots":[26],"allow":[27],"performing":[28],"complex":[29],"tasks":[30],"with":[31],"greater":[32],"efficiency.":[33],"However,":[34],"this":[35,48],"leads":[36],"to":[37,45,109,115],"increased":[38],"complexity":[39,53],"planning":[41,57,97,132],"dispatching":[43],"actions":[44,114,121],"In":[47],"letter,":[49],"we":[50],"tackle":[51],"such":[52],"using":[54],"a":[55,77,81,111,126],"hierarchical":[56],"framework:":[58],"task":[60],"is":[61,141],"first":[62],"planned":[63,124],"at":[64,125],"an":[65,103],"abstract":[66],"level":[67,128],"then":[69],"refined":[70],"by":[71,89],"local":[72],"motion":[73,131],"planning.":[74],"We":[75],"propose":[76],"framework":[78],"based":[79],"on":[80],"state-transition":[82],"system":[83],"formalism":[84],"that":[85],"abstracts":[86],"problem":[88],"removing":[90],"unnecessary":[91],"details":[92],"and,":[93],"hence,":[94],"considerably":[95],"reduces":[96],"space":[98],"complexity.":[99],"Forward":[100],"search":[101],"from":[102],"initial":[104],"state":[105],"allows":[106],"robot":[108],"find":[110],"sequence":[112],"accomplish":[116],"assigned":[118],"task.":[119],"These":[120],"can":[122],"be":[123],"lower":[127],"employing":[129],"any":[130],"technique":[133],"available":[134],"literature.":[137],"The":[138],"proposed":[139],"method":[140],"validated":[142],"through":[143],"experiments":[144],"several":[146],"operating":[147],"conditions":[148],"scenarios.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2026-08-28T12:50:07.497085","created_date":"2025-10-10T00:00:00"}