{"id":"https://openalex.org/W7135243060","doi":"https://doi.org/10.1109/lra.2026.3674027","title":"CREST: Constraint-Release Execution for Multi-Robot Warehouse Shelf Rearrangement","display_name":"CREST: Constraint-Release Execution for Multi-Robot Warehouse Shelf Rearrangement","publication_year":2026,"publication_date":"2026-03-13","ids":{"openalex":"https://openalex.org/W7135243060","doi":"https://doi.org/10.1109/lra.2026.3674027"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3674027","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3674027","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":null,"display_name":"Jiaqi Tan","orcid":"https://orcid.org/0009-0002-4131-7779"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jiaqi Tan","raw_affiliation_strings":["School of Computing Science, Simon Fraser University, Burnaby, BC, Canada"],"raw_orcid":"https://orcid.org/0009-0002-4131-7779","affiliations":[{"raw_affiliation_string":"School of Computing Science, Simon Fraser University, Burnaby, BC, Canada","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129055573","display_name":"Yudong Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I4210126406","display_name":"Xuzhou Construction Machinery Group (China)","ror":"https://ror.org/02y5rmj89","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210126406"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yudong Luo","raw_affiliation_strings":["HEC Montr&#x00E9;al, Montr&#x00E9;al, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0003-0145-703X","affiliations":[{"raw_affiliation_string":"HEC Montr&#x00E9;al, Montr&#x00E9;al, QC, Canada","institution_ids":["https://openalex.org/I4210126406"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129035785","display_name":"Sophia Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sophia Huang","raw_affiliation_strings":["Purdue University, West Lafayette, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Purdue University, West Lafayette, IN, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128982235","display_name":"Yifan Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yifan Yang","raw_affiliation_strings":["School of Computing Science, Simon Fraser University, Burnaby, BC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing Science, Simon Fraser University, Burnaby, BC, Canada","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024389928","display_name":"Hang Ma","orcid":"https://orcid.org/0000-0002-0602-0999"},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hang Ma","raw_affiliation_strings":["School of Computing Science, Simon Fraser University, Burnaby, BC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-0602-0999","affiliations":[{"raw_affiliation_string":"School of Computing Science, Simon Fraser University, Burnaby, BC, Canada","institution_ids":["https://openalex.org/I18014758"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32298012,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"5","first_page":"6447","last_page":"6454"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11125","display_name":"Petri Nets in System Modeling","score":0.2578999996185303,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T11125","display_name":"Petri Nets in System Modeling","score":0.2578999996185303,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10772","display_name":"Distributed systems and fault tolerance","score":0.16300000250339508,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.04729999974370003,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/off-the-shelf","display_name":"Off the shelf","score":0.33500000834465027},{"id":"https://openalex.org/keywords/warehouse","display_name":"Warehouse","score":0.32919999957084656},{"id":"https://openalex.org/keywords/data-warehouse","display_name":"Data warehouse","score":0.31540000438690186},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.30660000443458557},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.30239999294281006}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5504000186920166},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.34599998593330383},{"id":"https://openalex.org/C2982819384","wikidata":"https://www.wikidata.org/wiki/Q7078910","display_name":"Off the shelf","level":2,"score":0.33500000834465027},{"id":"https://openalex.org/C50416739","wikidata":"https://www.wikidata.org/wiki/Q181623","display_name":"Warehouse","level":2,"score":0.32919999957084656},{"id":"https://openalex.org/C135572916","wikidata":"https://www.wikidata.org/wiki/Q193351","display_name":"Data warehouse","level":2,"score":0.31540000438690186},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.30660000443458557},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.30239999294281006},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2881999909877777},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.27639999985694885},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.2624000012874603}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3674027","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3674027","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/13","score":0.6538838744163513,"display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G8111255295","display_name":null,"funder_award_id":"RGPIN2020-06540","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1989407213","https://openalex.org/W2166462345","https://openalex.org/W2168424616","https://openalex.org/W2579451340","https://openalex.org/W2584529157","https://openalex.org/W2903998385","https://openalex.org/W2914296650","https://openalex.org/W2964997335","https://openalex.org/W2966291835","https://openalex.org/W3175724379","https://openalex.org/W3187649900","https://openalex.org/W4283795314","https://openalex.org/W4367663209","https://openalex.org/W4382202935","https://openalex.org/W4385764571","https://openalex.org/W4393157093","https://openalex.org/W4405785341","https://openalex.org/W4409348245","https://openalex.org/W4410114573","https://openalex.org/W4412508510","https://openalex.org/W4414050413","https://openalex.org/W7124267257","https://openalex.org/W7138869867"],"related_works":[],"abstract_inverted_index":{"Double-Deck":[0],"Multi-Agent":[1],"Pickup":[2],"and":[3,30,54,96,104],"Delivery":[4],"(DD-MAPD)":[5],"models":[6],"the":[7,117],"multi-robot":[8],"shelf":[9,24,56,69,97],"rearrangement":[10],"problem":[11],"in":[12],"automated":[13],"warehouses.":[14],"MAPF-DECOMP":[15],"is":[16],"a":[17,27,61],"recent":[18],"framework":[19,64],"that":[20,65,84],"first":[21],"computes":[22],"collision-free":[23],"trajectories":[25],"with":[26,107],"MAPF":[28],"solver":[29],"then":[31],"assigns":[32],"agents":[33,53],"to":[34,46,51,92,101],"execute":[35],"them.":[36],"While":[37],"efficient,":[38],"it":[39],"enforces":[40],"strict":[41],"trajectory":[42,74],"dependencies,":[43],"often":[44],"leading":[45],"poor":[47],"execution":[48,63],"quality":[49],"due":[50],"idle":[52],"unnecessary":[55],"switching.":[57],"We":[58],"introduce":[59],"CREST,":[60],"new":[62],"achieves":[66],"more":[67],"continuous":[68],"carrying":[70],"by":[71,99],"proactively":[72],"releasing":[73],"constraints":[75],"during":[76],"execution.":[77],"Experiments":[78],"on":[79],"diverse":[80],"warehouse":[81,125],"layouts":[82],"show":[83],"CREST":[85],"consistently":[86],"outperforms":[87],"MAPF-DECOMP,":[88],"reducing":[89],"metrics":[90],"related":[91],"agent":[93],"travel,":[94],"makespan,":[95],"switching":[98],"up":[100],"40.5%,":[102],"33.3%,":[103],"44.4%,":[105],"respectively,":[106],"even":[108],"greater":[109],"benefits":[110],"under":[111],"lift/place":[112],"overhead.":[113],"These":[114],"results":[115],"underscore":[116],"importance":[118],"of":[119],"execution-aware":[120],"constraint":[121],"release":[122],"for":[123],"scalable":[124],"rearrangement.":[126]},"counts_by_year":[],"updated_date":"2026-04-15T05:59:14.812645","created_date":"2026-03-14T00:00:00"}
