{"id":"https://openalex.org/W4391529037","doi":"https://doi.org/10.1109/mrs60187.2023.10416793","title":"Congestion and Scalability in Robot Swarms: A Study on Collective Decision Making","display_name":"Congestion and Scalability in Robot Swarms: A Study on Collective Decision Making","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4391529037","doi":"https://doi.org/10.1109/mrs60187.2023.10416793"},"language":"en","primary_location":{"id":"doi:10.1109/mrs60187.2023.10416793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mrs60187.2023.10416793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5055080503","display_name":"Karthik Soma","orcid":null},"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":true,"raw_author_name":"Karthik Soma","raw_affiliation_strings":["École Polytechnique de Montréal, 2900 Boul Édouard-Montpetit,Québec,CA"],"affiliations":[{"raw_affiliation_string":"École Polytechnique de Montréal, 2900 Boul Édouard-Montpetit,Québec,CA","institution_ids":["https://openalex.org/I45683168"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041723476","display_name":"Vivek Shankar Vardharajan","orcid":null},"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 Vardharajan","raw_affiliation_strings":["École Polytechnique de Montréal, 2900 Boul Édouard-Montpetit,Québec,CA"],"affiliations":[{"raw_affiliation_string":"École Polytechnique de Montréal, 2900 Boul Édouard-Montpetit,Québec,CA","institution_ids":["https://openalex.org/I45683168"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017908221","display_name":"Heiko Hamann","orcid":"https://orcid.org/0000-0002-2458-8289"},"institutions":[{"id":"https://openalex.org/I189712700","display_name":"University of Konstanz","ror":"https://ror.org/0546hnb39","country_code":"DE","type":"education","lineage":["https://openalex.org/I189712700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Heiko Hamann","raw_affiliation_strings":["University of Konstanz,Department of Computer and Information Science,Konstanz,Germany,78457"],"affiliations":[{"raw_affiliation_string":"University of Konstanz,Department of Computer and Information Science,Konstanz,Germany,78457","institution_ids":["https://openalex.org/I189712700"]}]},{"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":["École Polytechnique de Montréal, 2900 Boul Édouard-Montpetit,Québec,CA"],"affiliations":[{"raw_affiliation_string":"École Polytechnique de Montréal, 2900 Boul Édouard-Montpetit,Québec,CA","institution_ids":["https://openalex.org/I45683168"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5055080503"],"corresponding_institution_ids":["https://openalex.org/I45683168"],"apc_list":null,"apc_paid":null,"fwci":0.9645,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.75038737,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"199","last_page":"206"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9926999807357788,"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/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.991100013256073,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stigmergy","display_name":"Stigmergy","score":0.7889665365219116},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7476339340209961},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7263046503067017},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.664126455783844},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6559827923774719},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6326414942741394},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.5955998301506042},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5798465609550476},{"id":"https://openalex.org/keywords/network-congestion","display_name":"Network congestion","score":0.49599847197532654},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.39197924733161926},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38677000999450684},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37980759143829346},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20776596665382385},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.06789571046829224}],"concepts":[{"id":"https://openalex.org/C2776319702","wikidata":"https://www.wikidata.org/wiki/Q2141158","display_name":"Stigmergy","level":2,"score":0.7889665365219116},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7476339340209961},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7263046503067017},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.664126455783844},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6559827923774719},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6326414942741394},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.5955998301506042},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5798465609550476},{"id":"https://openalex.org/C195563490","wikidata":"https://www.wikidata.org/wiki/Q180368","display_name":"Network congestion","level":3,"score":0.49599847197532654},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.39197924733161926},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38677000999450684},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37980759143829346},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20776596665382385},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.06789571046829224},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mrs60187.2023.10416793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mrs60187.2023.10416793","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.polymtl.ca:57764","is_oa":false,"landing_page_url":"https://publications.polymtl.ca/57764/","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":[{"id":"https://metadata.un.org/sdg/16","score":0.6800000071525574,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1996542214","https://openalex.org/W2033921269","https://openalex.org/W2091756921","https://openalex.org/W2098188539","https://openalex.org/W2105220094","https://openalex.org/W2108063263","https://openalex.org/W2111810771","https://openalex.org/W2114027706","https://openalex.org/W2118331730","https://openalex.org/W2161305294","https://openalex.org/W2395613050","https://openalex.org/W2507838947","https://openalex.org/W2760932748","https://openalex.org/W2792363421","https://openalex.org/W2923872326","https://openalex.org/W2953861233","https://openalex.org/W2968717086","https://openalex.org/W2986240933","https://openalex.org/W3039871312","https://openalex.org/W3091292765","https://openalex.org/W3093727152","https://openalex.org/W3111019671","https://openalex.org/W3189274081","https://openalex.org/W3198863999","https://openalex.org/W4200109590","https://openalex.org/W4221083801","https://openalex.org/W4234399444","https://openalex.org/W4236122330","https://openalex.org/W4285613949","https://openalex.org/W4312241382","https://openalex.org/W4383108270","https://openalex.org/W4388755261","https://openalex.org/W4389667204","https://openalex.org/W6651799976","https://openalex.org/W6752654560","https://openalex.org/W6786943578","https://openalex.org/W6842582352","https://openalex.org/W6848782485"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W1988876749","https://openalex.org/W65954170","https://openalex.org/W2518382144","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166","https://openalex.org/W2787547275","https://openalex.org/W2210087438"],"abstract_inverted_index":{"One":[0],"of":[1,6,45,57,60,80,102,115],"the":[2,43,55,71,106,125],"most":[3],"important":[4],"promises":[5],"decentralized":[7],"systems":[8,21],"is":[9,12],"scalability,":[10],"which":[11],"often":[13],"assumed":[14],"to":[15,85,123],"be":[16],"present":[17],"in":[18,47,88,96],"robot":[19,103],"swarm":[20],"without":[22],"being":[23],"contested.":[24],"Simple":[25],"limitations,":[26],"such":[27],"as":[28],"movement":[29],"congestion":[30,46,61],"and":[31,63,78],"communication":[32,121],"conflicts,":[33],"can":[34],"drastically":[35],"affect":[36],"scalability.":[37],"In":[38],"this":[39],"work,":[40],"we":[41],"study":[42],"effects":[44],"a":[48,89,93],"binary":[49],"collective":[50],"decision-making":[51],"task.":[52],"We":[53,82],"evaluate":[54],"impact":[56],"two":[58],"types":[59],"(communication":[62],"movement)":[64],"when":[65],"using":[66],"three":[67,107],"different":[68],"techniques":[69],"for":[70],"task:":[72],"Honey":[73],"Bee":[74],"inspired,":[75],"Stigmergy":[76],"based,":[77],"Division":[79,114],"Labor.":[81],"deploy":[83],"up":[84],"150":[86],"robots":[87],"physics-based":[90],"simulator":[91],"performing":[92],"sampling":[94],"mission":[95],"an":[97],"arena":[98],"with":[99,118],"variable":[100],"levels":[101],"density,":[104],"applying":[105,113],"techniques.":[108],"Our":[109],"results":[110],"suggest":[111],"that":[112],"Labor":[116],"coupled":[117],"versioned":[119],"local":[120],"helps":[122],"scale":[124],"system":[126],"by":[127],"minimizing":[128],"congestion.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-24T08:23:43.765630","created_date":"2025-10-10T00:00:00"}