{"id":"https://openalex.org/W4410427886","doi":"https://doi.org/10.1109/lra.2025.3570940","title":"A Synchronized Task Formulation for Robotic Convoy Operations","display_name":"A Synchronized Task Formulation for Robotic Convoy Operations","publication_year":2025,"publication_date":"2025-05-16","ids":{"openalex":"https://openalex.org/W4410427886","doi":"https://doi.org/10.1109/lra.2025.3570940"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3570940","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3570940","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/A5089989054","display_name":"Charles Noren","orcid":"https://orcid.org/0000-0002-5684-5446"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Charles Noren","raw_affiliation_strings":["Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5684-5446","affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049203481","display_name":"Bhaskar Vundurthy","orcid":"https://orcid.org/0000-0002-6876-4424"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bhaskar Vundurthy","raw_affiliation_strings":["Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-6876-4424","affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032584934","display_name":"Sebastian Scherer","orcid":"https://orcid.org/0000-0002-8373-4688"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sebastian Scherer","raw_affiliation_strings":["Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8373-4688","affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048906141","display_name":"Howie Choset","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Howie Choset","raw_affiliation_strings":["Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5434-7945","affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075935086","display_name":"Matthew Travers","orcid":"https://orcid.org/0000-0001-7275-2090"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Travers","raw_affiliation_strings":["Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0001-7275-2090","affiliations":[{"raw_affiliation_string":"Robotics Institute, School of Computer Science, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":1.0464,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.77573805,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"10","issue":"7","first_page":"6808","last_page":"6815"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/task","display_name":"Task (project management)","score":0.7142583727836609},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5641676187515259},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.382158100605011},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36769434809684753},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.36394816637039185},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21589705348014832},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.10261711478233337}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7142583727836609},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5641676187515259},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.382158100605011},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36769434809684753},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.36394816637039185},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21589705348014832},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.10261711478233337}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3570940","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3570940","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1969186119","https://openalex.org/W1975115240","https://openalex.org/W2006527299","https://openalex.org/W2056973373","https://openalex.org/W2072408647","https://openalex.org/W2096305430","https://openalex.org/W2113043717","https://openalex.org/W2119097848","https://openalex.org/W2240416663","https://openalex.org/W2964997335","https://openalex.org/W3036776288","https://openalex.org/W3091739094","https://openalex.org/W3129736740","https://openalex.org/W3130706049","https://openalex.org/W3159400523","https://openalex.org/W3164019634","https://openalex.org/W4210741957","https://openalex.org/W4252801674","https://openalex.org/W4313678757","https://openalex.org/W4365148063","https://openalex.org/W4383172025","https://openalex.org/W4388904166","https://openalex.org/W4391794847","https://openalex.org/W4404307357","https://openalex.org/W4405786085","https://openalex.org/W6690095872","https://openalex.org/W6692252526","https://openalex.org/W6866554387"],"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":{"Future":[0],"ground":[1],"logistics":[2],"missions":[3,29],"will":[4,30],"require":[5,19,31],"multiple":[6,60],"robots":[7,24],"to":[8,41,63,71,131,149,153,168,182],"travel":[9],"in":[10,103],"a":[11,20,32,79,87,159],"convoy":[12,34,65,106],"between":[13],"locations.":[14],"As":[15],"each":[16,46],"location":[17],"may":[18,38],"different":[21],"number":[22],"of":[23,93,116,177],"(e.g.":[25],"resupply":[26],"vehicles),":[27],"these":[28],"mutable":[33],"formation":[35],"structure":[36],"that":[37,100,162,180],"be":[39],"divided":[40],"meet":[42],"operational":[43],"needs":[44],"at":[45],"location.":[47],"We":[48,120,156],"model":[49],"this":[50],"mission":[51],"type":[52],"by":[53,98,166],"modifying":[54],"the":[55,94,104,113,117,178],"vehicle":[56],"routing":[57,74,81],"problem":[58,82],"with":[59],"synchronizations":[61],"(VRPMS)":[62],"enforce":[64],"constraints":[66],"(VRPMS-CC).":[67],"This":[68],"centralized":[69],"approach":[70,123,152],"organizing":[72],"and":[73,83,109,139,171],"convoys":[75,97],"is":[76],"represented":[77],"as":[78,86],"graph-based":[80],"then":[84],"solved":[85],"mixed":[88],"integer":[89],"program.":[90],"A":[91],"solution":[92],"VRPMS-CC":[95,179],"forms":[96],"ensuring":[99],"agents":[101,134],"participating":[102],"same":[105,114],"remain":[107],"spatially":[108],"temporally":[110],"coupled,":[111],"traversing":[112],"edge":[115],"graph":[118],"simultaneously.":[119],"demonstrate":[121],"our":[122,151],"through":[124,135],"numerical":[125],"studies,":[126],"where":[127],"we":[128],"route":[129],"up":[130,167],"six":[132],"simulated":[133],"twenty":[136],"convoying":[137],"tasks,":[138],"on":[140],"robotic":[141,154],"hardware.":[142],"These":[143],"demonstrations":[144],"motivate":[145],"two":[146],"further":[147],"contributions":[148],"specialize":[150],"systems.":[155],"introduce:":[157],"1)":[158],"warm-starting":[160],"heuristic":[161],"improves":[163],"solver":[164],"times":[165],"eighty-nine":[169],"percent":[170],"2)":[172],"an":[173],"online":[174],"multi-depot":[175],"variant":[176],"responds":[181],"<italic":[183],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[184],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">a":[185],"priori</i>":[186],"unknown":[187],"impassable":[188],"environmental":[189],"obstacles.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
