{"id":"https://openalex.org/W4412610827","doi":"https://doi.org/10.1109/lra.2025.3592146","title":"Efficient Multi-Robot Task and Path Planning in Large-Scale Cluttered Environments","display_name":"Efficient Multi-Robot Task and Path Planning in Large-Scale Cluttered Environments","publication_year":2025,"publication_date":"2025-07-23","ids":{"openalex":"https://openalex.org/W4412610827","doi":"https://doi.org/10.1109/lra.2025.3592146"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3592146","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3592146","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/A5079241346","display_name":"Gang Xu","orcid":"https://orcid.org/0000-0003-2583-491X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Xu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-2583-491X","affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000431178","display_name":"Yuchen Wu","orcid":"https://orcid.org/0009-0008-1213-3464"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuchen Wu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0008-1213-3464","affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102742820","display_name":"Tao Sheng","orcid":"https://orcid.org/0000-0003-0664-6630"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Tao","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yifan Yang","orcid":"https://orcid.org/0009-0009-7146-2599"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Yang","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0009-7146-2599","affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045324804","display_name":"Tao Liu","orcid":"https://orcid.org/0000-0002-2797-0264"},"institutions":[{"id":"https://openalex.org/I31847773","display_name":"Zhejiang Ocean University","ror":"https://ror.org/03mys6533","country_code":"CN","type":"education","lineage":["https://openalex.org/I31847773"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Liu","raw_affiliation_strings":["Ocean College, Zhejiang University, Zhoushan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ocean College, Zhejiang University, Zhoushan, China","institution_ids":["https://openalex.org/I31847773","https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100767738","display_name":"Tao Huang","orcid":"https://orcid.org/0000-0002-8098-8906"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Huang","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006977942","display_name":"Huifeng Wu","orcid":"https://orcid.org/0000-0002-7189-1205"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huifeng Wu","raw_affiliation_strings":["Institute of Intelligent and Software Technology, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-7189-1205","affiliations":[{"raw_affiliation_string":"Institute of Intelligent and Software Technology, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100724297","display_name":"Yong Liu","orcid":"https://orcid.org/0000-0003-4822-8939"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Liu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4822-8939","affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.0621,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.92035541,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"10","issue":"9","first_page":"9112","last_page":"9119"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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":0.9994000196456909,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9830999970436096,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/motion-planning","display_name":"Motion planning","score":0.7242817878723145},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6679694652557373},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6462143063545227},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.5716657042503357},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5472155213356018},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.543925940990448},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5264428853988647},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45379531383514404},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38846081495285034},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.19343093037605286},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14263257384300232},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09704437851905823},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.08914169669151306},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.0651455819606781}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7242817878723145},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6679694652557373},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6462143063545227},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.5716657042503357},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5472155213356018},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.543925940990448},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5264428853988647},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45379531383514404},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38846081495285034},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.19343093037605286},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14263257384300232},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09704437851905823},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.08914169669151306},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0651455819606781}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3592146","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3592146","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":[{"score":0.5099999904632568,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G8649216278","display_name":null,"funder_award_id":"U21A20484","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W135651235","https://openalex.org/W1430617670","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W2038498300","https://openalex.org/W2142544818","https://openalex.org/W2162844575","https://openalex.org/W2795717898","https://openalex.org/W2960081125","https://openalex.org/W2968779813","https://openalex.org/W2969277138","https://openalex.org/W3002355869","https://openalex.org/W3005764631","https://openalex.org/W3125164440","https://openalex.org/W3158757609","https://openalex.org/W3204625264","https://openalex.org/W4220862576","https://openalex.org/W4242246215","https://openalex.org/W4291671317","https://openalex.org/W4309793447","https://openalex.org/W4313427364","https://openalex.org/W4319302559","https://openalex.org/W4319303306","https://openalex.org/W4319459158","https://openalex.org/W4377246895","https://openalex.org/W4380905967","https://openalex.org/W4384818013","https://openalex.org/W4387353870","https://openalex.org/W4389065375","https://openalex.org/W4391992600","https://openalex.org/W4393152572","https://openalex.org/W4393220303","https://openalex.org/W4401809143","https://openalex.org/W4406887174"],"related_works":["https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3196817267","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1976600725","https://openalex.org/W1660309994","https://openalex.org/W2369187583"],"abstract_inverted_index":{"As":[0],"the":[1,26,30,54,80,91,108,120,141,149,154],"potential":[2],"of":[3,34,56,83,93,153],"multi-robot":[4,57,87,142],"systems":[5],"continues":[6],"to":[7,28,118],"be":[8],"explored":[9],"and":[10,21,23,32,36,59,151],"validated":[11],"across":[12],"various":[13],"real-world":[14],"applications,":[15],"such":[16],"as":[17],"package":[18],"delivery,":[19],"search":[20,73],"rescue,":[22],"autonomous":[24],"exploration,":[25],"need":[27],"improve":[29],"efficiency":[31,135],"quality":[33,139],"task":[35,58,88,94,127,143],"path":[37,60,75],"planning":[38,61,95,144],"has":[39],"become":[40],"increasingly":[41],"urgent,":[42],"particularly":[43],"in":[44,63,96,140],"large-scale,":[45],"obstacle-rich":[46,97],"environments.":[47,98],"To":[48],"this":[49,51],"end,":[50],"letter":[52],"investigates":[53],"problem":[55,110],"(MRTPP)":[62],"large-scale":[64],"cluttered":[65],"scenarios.":[66],"Specifically,":[67],"we":[68,100,147],"first":[69],"propose":[70],"an":[71,102],"obstacle-vertex":[72],"(OVS)":[74],"planner":[76],"that":[77],"quickly":[78],"constructs":[79],"cost":[81,123],"matrix":[82],"collision-free":[84],"paths":[85],"for":[86,106,126],"planning,":[89],"ensuring":[90],"rationality":[92],"Furthermore,":[99],"introduce":[101],"efficient":[103],"auction-based":[104],"method":[105,131,156],"solving":[107],"MRTPP":[109],"by":[111],"incorporating":[112],"a":[113],"novel":[114],"memory-aware":[115],"strategy,":[116],"aiming":[117],"minimize":[119],"maximum":[121],"travel":[122],"among":[124],"robots":[125],"visits.":[128],"The":[129],"proposed":[130,155],"effectively":[132],"improves":[133],"computational":[134],"while":[136],"maintaining":[137],"solution":[138],"problem.":[145],"Finally,":[146],"demonstrated":[148],"effectiveness":[150],"practicality":[152],"through":[157],"extensive":[158],"benchmark":[159],"comparisons.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}