{"id":"https://openalex.org/W4388579606","doi":"https://doi.org/10.1109/lra.2023.3331900","title":"Stepwise Large-Scale Multi-Agent Task Planning Using Neighborhood Search","display_name":"Stepwise Large-Scale Multi-Agent Task Planning Using Neighborhood Search","publication_year":2023,"publication_date":"2023-11-10","ids":{"openalex":"https://openalex.org/W4388579606","doi":"https://doi.org/10.1109/lra.2023.3331900"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3331900","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3331900","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029981488","display_name":"Fan Zeng","orcid":"https://orcid.org/0009-0003-6541-2890"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fan Zeng","raw_affiliation_strings":["Department of Precision Engineering, Graduate School of Engineering, University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0003-6541-2890","affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, Graduate School of Engineering, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033054087","display_name":"Shouhei Shirafuji","orcid":"https://orcid.org/0000-0002-3102-5118"},"institutions":[{"id":"https://openalex.org/I56624758","display_name":"Kansai University","ror":"https://ror.org/03xg1f311","country_code":"JP","type":"education","lineage":["https://openalex.org/I56624758"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shouhei Shirafuji","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Engineering Science, Kansai University, Osaka, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3102-5118","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Engineering Science, Kansai University, Osaka, Japan","institution_ids":["https://openalex.org/I56624758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081898774","display_name":"Changxiang Fan","orcid":"https://orcid.org/0000-0002-5939-6754"},"institutions":[{"id":"https://openalex.org/I4210099004","display_name":"Guangdong Academy of Agricultural Sciences","ror":"https://ror.org/01rkwtz72","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210099004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changxiang Fan","raw_affiliation_strings":["Institute of Facility Agriculture, Guangdong Academy of Agricultural Sciences, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-5939-6754","affiliations":[{"raw_affiliation_string":"Institute of Facility Agriculture, Guangdong Academy of Agricultural Sciences, Guangzhou, China","institution_ids":["https://openalex.org/I4210099004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101934649","display_name":"Masahiro Nishio","orcid":"https://orcid.org/0009-0006-5518-8858"},"institutions":[{"id":"https://openalex.org/I4210137853","display_name":"Toyota Motor Corporation (Japan)","ror":"https://ror.org/02zqm6r10","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiro Nishio","raw_affiliation_strings":["Strategic R&amp;D Planning Department, R&amp;D and Engineering Management Division, Advanced R&amp;D and Engineering Company, Toyota Motor Corporation, Toyota, Japan"],"raw_orcid":"https://orcid.org/0009-0006-5518-8858","affiliations":[{"raw_affiliation_string":"Strategic R&amp;D Planning Department, R&amp;D and Engineering Management Division, Advanced R&amp;D and Engineering Company, Toyota Motor Corporation, Toyota, Japan","institution_ids":["https://openalex.org/I4210137853"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037920030","display_name":"Jun Ota","orcid":"https://orcid.org/0000-0002-4738-2275"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Ota","raw_affiliation_strings":["Research into Artifacts, Center for Engineering (RACE), School of Engineering, University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-4738-2275","affiliations":[{"raw_affiliation_string":"Research into Artifacts, Center for Engineering (RACE), School of Engineering, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2246,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.52791567,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"9","issue":"1","first_page":"111","last_page":"118"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9993000030517578,"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/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.9975000023841858,"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/benchmark","display_name":"Benchmark (surveying)","score":0.7803587913513184},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7369441390037537},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.7045315504074097},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6397467851638794},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6036110520362854},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5720362663269043},{"id":"https://openalex.org/keywords/search-problem","display_name":"Search problem","score":0.46624961495399475},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.26454126834869385},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2409680187702179},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.06829085946083069}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7803587913513184},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7369441390037537},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.7045315504074097},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6397467851638794},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6036110520362854},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5720362663269043},{"id":"https://openalex.org/C201789804","wikidata":"https://www.wikidata.org/wiki/Q2362762","display_name":"Search problem","level":2,"score":0.46624961495399475},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26454126834869385},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2409680187702179},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.06829085946083069},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3331900","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3331900","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1490304813","https://openalex.org/W1781384914","https://openalex.org/W2061146398","https://openalex.org/W2090398718","https://openalex.org/W2097083865","https://openalex.org/W2119709400","https://openalex.org/W2133012381","https://openalex.org/W2161414194","https://openalex.org/W2281037903","https://openalex.org/W2337392266","https://openalex.org/W2409715576","https://openalex.org/W2517828448","https://openalex.org/W2964257036","https://openalex.org/W2964304034","https://openalex.org/W2967392653","https://openalex.org/W2972757548","https://openalex.org/W3204625264","https://openalex.org/W3214501121","https://openalex.org/W4225387466","https://openalex.org/W4280523861","https://openalex.org/W4386215566","https://openalex.org/W6632438231","https://openalex.org/W6674383371","https://openalex.org/W6679668870","https://openalex.org/W6753628925"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W2745001401","https://openalex.org/W4321353415","https://openalex.org/W2130974462","https://openalex.org/W2028665553","https://openalex.org/W2086519370","https://openalex.org/W972276598","https://openalex.org/W2087343574","https://openalex.org/W4246352526","https://openalex.org/W2121910908"],"abstract_inverted_index":{"This":[0],"letter":[1],"presents":[2],"a":[3,79,102,109,127],"novel":[4],"stepwise":[5],"multi-agent":[6,70],"task":[7,32,71],"planning":[8,33,72],"method":[9,64,118,136,152],"that":[10],"incorporates":[11],"neighborhood":[12,103],"search":[13,29],"to":[14,40,107,126],"address":[15],"large-scale":[16,48],"problems,":[17,49],"thereby":[18],"reducing":[19],"computation":[20],"time.":[21],"With":[22],"an":[23,75,114],"increasing":[24],"number":[25,81],"of":[26,69,82,124,133],"agents,":[27],"the":[28,62,67,96,117,121,131,134,146,150],"space":[30],"for":[31,46],"expands":[34],"exponentially.":[35],"Hence,":[36],"conventional":[37],"methods":[38],"aiming":[39,106],"find":[41,108],"globally":[42],"optimal":[43,115],"solutions,":[44],"especially":[45],"some":[47,141],"incur":[50],"extremely":[51],"high":[52],"computational":[53],"costs":[54],"and":[55,95,144],"may":[56],"even":[57],"fail.":[58],"In":[59],"this":[60,93],"letter,":[61],"proposed":[63,135,151],"easily":[65],"achieves":[66],"goals":[68],"by":[73,139],"solving":[74,140],"initial":[76],"problem":[77],"using":[78,101,149,156],"minimal":[80],"agents.":[83],"Subsequently,":[84],"tasks":[85],"are":[86,98],"reallocated":[87],"among":[88],"all":[89],"agents":[90],"based":[91],"on":[92],"solution":[94,111],"solutions":[97],"iteratively":[99],"optimized":[100],"search.":[104],"While":[105],"near-optimal":[110],"rather":[112],"than":[113],"one,":[116],"substantially":[119],"reduces":[120],"time":[122],"complexity":[123],"searching":[125],"polynomial":[128],"level.":[129],"Moreover,":[130],"effectiveness":[132],"is":[137],"demonstrated":[138],"benchmark":[142],"problems":[143],"comparing":[145],"results":[147],"obtained":[148,155],"with":[153],"those":[154],"other":[157],"state-of-the-art":[158],"methods.":[159]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
