{"id":"https://openalex.org/W4409326404","doi":"https://doi.org/10.1109/lra.2025.3559843","title":"Managing Conflicting Tasks in Heterogeneous Multi-Robot Systems Through Hierarchical Optimization","display_name":"Managing Conflicting Tasks in Heterogeneous Multi-Robot Systems Through Hierarchical Optimization","publication_year":2025,"publication_date":"2025-04-10","ids":{"openalex":"https://openalex.org/W4409326404","doi":"https://doi.org/10.1109/lra.2025.3559843"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3559843","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3559843","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://doi.org/10.1109/lra.2025.3559843","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114998983","display_name":"Davide De Benedittis","orcid":"https://orcid.org/0000-0002-7185-6784"},"institutions":[{"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":"Davide De Benedittis","raw_affiliation_strings":["Centro di Ricerca &#x201C;E. Piaggio&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","Centro di Ricerca &#x201C;E. Piaggio&#x201D;, Universit&#x00E0; di Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-7185-6784","affiliations":[{"raw_affiliation_string":"Centro di Ricerca &#x201C;E. Piaggio&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca &#x201C;E. Piaggio&#x201D;, Universit&#x00E0; di Pisa, Italy","institution_ids":["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/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 &#x201C;E. Piaggio&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","Centro di Ricerca &#x201C;E. Piaggio&#x201D;, Universit&#x00E0; di Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5873-3173","affiliations":[{"raw_affiliation_string":"Centro di Ricerca &#x201C;E. Piaggio&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca &#x201C;E. Piaggio&#x201D;, Universit&#x00E0; di Pisa, Italy","institution_ids":["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/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 &#x201C;E. Piaggio&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","Centro di Ricerca &#x201C;E. Piaggio&#x201D;, Universit&#x00E0; di Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9480-8857","affiliations":[{"raw_affiliation_string":"Centro di Ricerca &#x201C;E. Piaggio&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Centro di Ricerca &#x201C;E. Piaggio&#x201D;, Universit&#x00E0; di Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1300504238"],"apc_list":null,"apc_paid":null,"fwci":0.5458,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.60972159,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"10","issue":"6","first_page":"5305","last_page":"5312"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9054999947547913,"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":0.9054999947547913,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6009199619293213},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5481040477752686},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4332895874977112},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4062207341194153},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28172430396080017}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6009199619293213},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5481040477752686},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4332895874977112},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4062207341194153},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28172430396080017}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3559843","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3559843","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2025.3559843","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2025.3559843","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2154847670","https://openalex.org/W2765473543","https://openalex.org/W2772343992","https://openalex.org/W2842089854","https://openalex.org/W2894119093","https://openalex.org/W2912024007","https://openalex.org/W2928506096","https://openalex.org/W2933626203","https://openalex.org/W2936516903","https://openalex.org/W2972765661","https://openalex.org/W2987358769","https://openalex.org/W3015370360","https://openalex.org/W3036205701","https://openalex.org/W3086829453","https://openalex.org/W3205177556","https://openalex.org/W4293056286","https://openalex.org/W4381995713","https://openalex.org/W4383899472","https://openalex.org/W4405022995"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"The":[0,81,111],"robotics":[1],"research":[2],"community":[3],"has":[4],"explored":[5],"several":[6],"model-based":[7],"techniques":[8],"for":[9],"multi-robot":[10],"and":[11,27,108],"multi-task":[12],"control.":[13],"Through":[14],"constrained":[15],"optimization,":[16],"robot-specific":[17],"characteristics":[18],"can":[19],"be":[20],"taken":[21],"into":[22],"account":[23],"when":[24],"controlling":[25],"robots":[26,67,123],"accomplishing":[28],"tasks.":[29,126],"However,":[30],"in":[31,98],"scenarios":[32],"with":[33,52],"multiple":[34,70,125],"conflicting":[35],"tasks,":[36],"existing":[37],"methods":[38],"struggle":[39],"to":[40,50,68],"enforce":[41],"strict":[42,77],"prioritization":[43],"among":[44],"them,":[45],"allowing":[46],"less":[47],"important":[48,54],"tasks":[49,72,102],"interfere":[51],"more":[53],"ones.":[55],"In":[56],"this":[57],"paper,":[58],"we":[59],"propose":[60],"a":[61,76,87,94,119],"novel":[62],"control":[63,90],"framework":[64,82],"that":[65],"enables":[66],"execute":[69],"prioritized":[71],"concurrently":[73],"while":[74],"maintaining":[75],"task":[78],"priority":[79],"order.":[80],"exploits":[83],"hierarchical":[84],"optimization":[85],"within":[86],"model":[88],"predictive":[89],"structure.":[91],"It":[92],"formulates":[93],"convex":[95],"minimization":[96],"problem":[97],"which":[99],"all":[100],"the":[101],"are":[103],"encoded":[104],"as":[105],"linear":[106],"equality":[107],"inequality":[109],"constraints.":[110],"proposed":[112],"approach":[113],"is":[114],"validated":[115],"through":[116],"simulations":[117],"using":[118],"team":[120],"of":[121],"heterogeneous":[122],"performing":[124]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
