{"id":"https://openalex.org/W7125975750","doi":"https://doi.org/10.1109/mrs66243.2025.11357250","title":"SADCHER: Scheduling using Attention-based Dynamic Coalitions of Heterogeneous Robots in Real-Time","display_name":"SADCHER: Scheduling using Attention-based Dynamic Coalitions of Heterogeneous Robots in Real-Time","publication_year":2025,"publication_date":"2025-12-04","ids":{"openalex":"https://openalex.org/W7125975750","doi":"https://doi.org/10.1109/mrs66243.2025.11357250"},"language":null,"primary_location":{"id":"doi:10.1109/mrs66243.2025.11357250","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mrs66243.2025.11357250","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 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/A5124122216","display_name":"Jakob Bichler","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jakob Bichler","raw_affiliation_strings":["ME Delft University of Technology,Department for Cognitive Robotics,Delft,Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ME Delft University of Technology,Department for Cognitive Robotics,Delft,Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Andreu Matoses Gimenez","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Andreu Matoses Gimenez","raw_affiliation_strings":["ME Delft University of Technology,Department for Cognitive Robotics,Delft,Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ME Delft University of Technology,Department for Cognitive Robotics,Delft,Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5124094098","display_name":"Javier Alonso-Mora","orcid":null},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Javier Alonso-Mora","raw_affiliation_strings":["ME Delft University of Technology,Department for Cognitive Robotics,Delft,Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ME Delft University of Technology,Department for Cognitive Robotics,Delft,Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.79907376,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6101999878883362,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6101999878883362,"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"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.07169999927282333,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.04639999940991402,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/robot","display_name":"Robot","score":0.7297000288963318},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6085000038146973},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.5357999801635742},{"id":"https://openalex.org/keywords/bipartite-graph","display_name":"Bipartite graph","score":0.5282999873161316},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5062000155448914},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.46810001134872437},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4433000087738037},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4339999854564667},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.39590001106262207}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7642999887466431},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7297000288963318},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6085000038146973},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5680000185966492},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.5357999801635742},{"id":"https://openalex.org/C197657726","wikidata":"https://www.wikidata.org/wiki/Q174733","display_name":"Bipartite graph","level":3,"score":0.5282999873161316},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5062000155448914},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.46810001134872437},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4433000087738037},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4339999854564667},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4332999885082245},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.39590001106262207},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.39160001277923584},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3855000138282776},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.3772999942302704},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.36390000581741333},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3580000102519989},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.3375999927520752},{"id":"https://openalex.org/C107568181","wikidata":"https://www.wikidata.org/wiki/Q5319000","display_name":"Dynamic priority scheduling","level":3,"score":0.2953000068664551},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.29319998621940613},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2721000015735626},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.2696000039577484},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.2678000032901764},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2581999897956848},{"id":"https://openalex.org/C55416958","wikidata":"https://www.wikidata.org/wiki/Q6206757","display_name":"Job shop scheduling","level":3,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mrs66243.2025.11357250","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mrs66243.2025.11357250","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1471578414","https://openalex.org/W1972391046","https://openalex.org/W2157488300","https://openalex.org/W2405800586","https://openalex.org/W2605051224","https://openalex.org/W2774251702","https://openalex.org/W2786533237","https://openalex.org/W3004262245","https://openalex.org/W3112366178","https://openalex.org/W3121490723","https://openalex.org/W3176499451","https://openalex.org/W3185434645","https://openalex.org/W3188743308","https://openalex.org/W3195219454","https://openalex.org/W4229446899","https://openalex.org/W4313049195","https://openalex.org/W4313564057","https://openalex.org/W4319663718","https://openalex.org/W4321254709","https://openalex.org/W4383108414","https://openalex.org/W4383108908","https://openalex.org/W4385155193","https://openalex.org/W4386699410","https://openalex.org/W4389665335","https://openalex.org/W4391529008","https://openalex.org/W4401069891","https://openalex.org/W4401415858","https://openalex.org/W4401416140","https://openalex.org/W4401416683","https://openalex.org/W4406857017"],"related_works":[],"abstract_inverted_index":{"We":[0,57,128],"present":[1],"Sadcher,":[2],"a":[3,46],"real-time":[4,126],"task":[5,18,62,64,100,139],"assignment":[6,35],"framework":[7],"for":[8,116,125],"heterogeneous":[9],"multi-robot":[10],"teams":[11,120],"that":[12],"incorporates":[13],"dynamic":[14],"coalition":[15],"formation":[16],"and":[17,27,31,39,61,66,74,77,102,109,118,133,138],"precedence":[19],"constraints.":[20],"Sadcher":[21,105],"is":[22],"trained":[23],"through":[24],"Imitation":[25],"Learning":[26],"combines":[28],"graph":[29],"attention":[30],"transformers":[32],"to":[33,79,86,98],"predict":[34],"rewards":[36],"between":[37],"robots":[38],"tasks.":[40],"Based":[41],"on":[42,89,112],"the":[43],"predicted":[44],"rewards,":[45],"relaxed":[47],"bipartite":[48],"matching":[49],"step":[50],"generates":[51],"high-quality":[52],"schedules":[53],"with":[54,81,121],"feasibility":[55],"guarantees.":[56],"explicitly":[58],"model":[59],"robot":[60,137],"positions,":[63],"durations,":[65],"robots'":[67],"remaining":[68],"processing":[69],"times,":[70],"enabling":[71],"advanced":[72],"temporal":[73],"spatial":[75],"reasoning":[76],"generalization":[78],"environments":[80],"different":[82],"spatiotemporal":[83],"distributions":[84],"compared":[85],"training.":[87],"Trained":[88],"optimally":[90],"solved":[91],"small-scale":[92],"instances,":[93],"our":[94,145],"method":[95],"can":[96],"scale":[97],"larger":[99],"sets":[101],"team":[103],"sizes.":[104],"outperforms":[106],"other":[107],"learning-based":[108],"heuristic":[110],"baselines":[111],"randomized,":[113],"unseen":[114],"problems":[115],"small":[117],"medium-sized":[119],"computation":[122],"times":[123],"suitable":[124],"operation.":[127],"also":[129],"explore":[130],"sampling-based":[131],"variants":[132],"evaluate":[134],"scalability":[135],"across":[136],"counts.":[140],"In":[141],"addition,":[142],"we":[143],"release":[144],"dataset":[146],"of":[147],"<tex":[148],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[149],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\mathbf{2":[150],"5":[151],"0,":[152],"0":[153,154],"0}$</tex>":[155],"optimal":[156],"schedules:":[157],"autonomousrobots.nl/paper_":[158],"websites/sadcher_MRTA/":[159]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2026-01-29T00:00:00"}
