{"id":"https://openalex.org/W2986240933","doi":"https://doi.org/10.1109/mrs.2019.8901059","title":"Collision-aware Task Assignment for Multi-Robot Systems","display_name":"Collision-aware Task Assignment for Multi-Robot Systems","publication_year":2019,"publication_date":"2019-08-01","ids":{"openalex":"https://openalex.org/W2986240933","doi":"https://doi.org/10.1109/mrs.2019.8901059","mag":"2986240933"},"language":"en","primary_location":{"id":"doi:10.1109/mrs.2019.8901059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mrs.2019.8901059","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)","raw_type":"proceedings-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/A5101397731","display_name":"Fang Wu","orcid":"https://orcid.org/0000-0003-2365-6283"},"institutions":[{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Fang Wu","raw_affiliation_strings":["Polytechnique Montreal,Department of Computer and Software Engineering,Canada","Polytechnique Montreal, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Polytechnique Montreal,Department of Computer and Software Engineering,Canada","institution_ids":["https://openalex.org/I45683168"]},{"raw_affiliation_string":"Polytechnique Montreal, Canada","institution_ids":["https://openalex.org/I45683168"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029060965","display_name":"Vivek Shankar Varadharajan","orcid":"https://orcid.org/0000-0003-0390-2774"},"institutions":[{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Vivek Shankar Varadharajan","raw_affiliation_strings":["Polytechnique Montreal,Department of Computer and Software Engineering,Canada","Polytechnique Montreal, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Polytechnique Montreal,Department of Computer and Software Engineering,Canada","institution_ids":["https://openalex.org/I45683168"]},{"raw_affiliation_string":"Polytechnique Montreal, Canada","institution_ids":["https://openalex.org/I45683168"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021953451","display_name":"Giovanni Beltrame","orcid":"https://orcid.org/0000-0001-9755-8630"},"institutions":[{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Giovanni Beltrame","raw_affiliation_strings":["Polytechnique Montreal,Department of Computer and Software Engineering,Canada","Polytechnique Montreal, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Polytechnique Montreal,Department of Computer and Software Engineering,Canada","institution_ids":["https://openalex.org/I45683168"]},{"raw_affiliation_string":"Polytechnique Montreal, Canada","institution_ids":["https://openalex.org/I45683168"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9298,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.78541455,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"30","last_page":"36"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9991000294685364,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9972000122070312,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7273368835449219},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7237346768379211},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.7200502157211304},{"id":"https://openalex.org/keywords/bidding","display_name":"Bidding","score":0.7062232494354248},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6736763715744019},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.6516424417495728},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.43115657567977905},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.4128757417201996},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3944847583770752},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.35830265283584595},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.263814777135849},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11809545755386353},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10414817929267883},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.0938301682472229}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7273368835449219},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7237346768379211},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.7200502157211304},{"id":"https://openalex.org/C9233905","wikidata":"https://www.wikidata.org/wiki/Q3276328","display_name":"Bidding","level":2,"score":0.7062232494354248},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6736763715744019},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6516424417495728},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.43115657567977905},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.4128757417201996},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3944847583770752},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.35830265283584595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.263814777135849},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11809545755386353},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10414817929267883},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0938301682472229},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mrs.2019.8901059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mrs.2019.8901059","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.polymtl.ca:44524","is_oa":false,"landing_page_url":"https://publications.polymtl.ca/44524/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401013","display_name":"PolyPublie (\u00c9cole Polytechnique de Montr\u00e9al)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45683168","host_organization_name":"Polytechnique Montr\u00e9al","host_organization_lineage":["https://openalex.org/I45683168"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Communication de conf\u00e9rence"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W1510850782","https://openalex.org/W1794839224","https://openalex.org/W1852055750","https://openalex.org/W1976517551","https://openalex.org/W1989407213","https://openalex.org/W2031236641","https://openalex.org/W2086047136","https://openalex.org/W2097726813","https://openalex.org/W2136264806","https://openalex.org/W2139477375","https://openalex.org/W2142544818","https://openalex.org/W2166052572","https://openalex.org/W2221918629","https://openalex.org/W2245915858","https://openalex.org/W2246181674","https://openalex.org/W2395613050","https://openalex.org/W2401742133","https://openalex.org/W2535314058","https://openalex.org/W2583693836","https://openalex.org/W2790268363","https://openalex.org/W2807793924","https://openalex.org/W2886374915","https://openalex.org/W2911174377","https://openalex.org/W2911442729","https://openalex.org/W2962969317","https://openalex.org/W4211036892","https://openalex.org/W4301021526","https://openalex.org/W6638138656","https://openalex.org/W6690972288"],"related_works":["https://openalex.org/W2355561715","https://openalex.org/W2355326491","https://openalex.org/W2389286292","https://openalex.org/W2360751371","https://openalex.org/W2387920521","https://openalex.org/W2389754756","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W2326908638"],"abstract_inverted_index":{"We":[0,46,93],"propose":[1],"a":[2,13,25,34,52],"novel":[3],"formulation":[4],"of":[5,110],"the":[6,19,39,58,83,95],"collision-aware":[7],"task":[8,44,69,97],"assignment":[9,98],"(CATA)":[10],"problem":[11,20],"and":[12,32,71,103],"decentralized":[14],"auction-based":[15,80],"algorithm":[16,81],"to":[17,56,67,75,85],"solve":[18],"with":[21,89,100],"optimality":[22],"bound.":[23],"Using":[24],"collision":[26,54,90],"cone,":[27],"we":[28],"predict":[29],"potential":[30],"collisions":[31],"introduce":[33],"binary":[35],"decision":[36],"variable":[37],"into":[38],"local":[40],"reward":[41],"function":[42],"for":[43,87],"bidding.":[45],"further":[47],"improve":[48],"CATA":[49],"by":[50],"implementing":[51],"receding":[53],"horizon":[55],"address":[57],"stopping":[59],"robot":[60],"scenario,":[61],"i.e.":[62],"when":[63],"robots":[64,84],"are":[65],"confined":[66],"their":[68],"location":[70],"become":[72],"static":[73],"obstacles":[74],"other":[76],"moving":[77],"robots.":[78],"The":[79],"encourages":[82],"bid":[86],"tasks":[88],"mitigation":[91],"considerations.":[92],"validate":[94],"improved":[96],"solution":[99],"both":[101],"simulation":[102],"experimental":[104],"results,":[105],"which":[106],"show":[107],"significant":[108],"reduction":[109],"overlapping":[111],"paths":[112],"as":[113,115],"well":[114],"deadlocks.":[116]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
