{"id":"https://openalex.org/W7125948498","doi":"https://doi.org/10.1109/mrs66243.2025.11357256","title":"Efficient Routing and Scheduling for Marsupial USV-AUV System","display_name":"Efficient Routing and Scheduling for Marsupial USV-AUV System","publication_year":2025,"publication_date":"2025-12-04","ids":{"openalex":"https://openalex.org/W7125948498","doi":"https://doi.org/10.1109/mrs66243.2025.11357256"},"language":null,"primary_location":{"id":"doi:10.1109/mrs66243.2025.11357256","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mrs66243.2025.11357256","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/A5100454687","display_name":"Donghyun Kim","orcid":"https://orcid.org/0000-0002-9085-5509"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghyun Kim","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology (KAIST),Department of Mechanical Engineering,Daejeon,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology (KAIST),Department of Mechanical Engineering,Daejeon,Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041027404","display_name":"Junsu Kim","orcid":"https://orcid.org/0000-0001-9583-7978"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jinwhan Kim","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology (KAIST),Department of Mechanical Engineering,Daejeon,Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology (KAIST),Department of Mechanical Engineering,Daejeon,Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"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":0.61418716,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.335099995136261,"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/T11622","display_name":"Maritime Navigation and Safety","score":0.335099995136261,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.3172999918460846,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.11829999834299088,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/gantt-chart","display_name":"Gantt chart","score":0.6614999771118164},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.6032000184059143},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5},{"id":"https://openalex.org/keywords/job-shop-scheduling","display_name":"Job shop scheduling","score":0.4250999987125397},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.3783000111579895},{"id":"https://openalex.org/keywords/vehicle-routing-problem","display_name":"Vehicle routing problem","score":0.37459999322891235},{"id":"https://openalex.org/keywords/partition","display_name":"Partition (number theory)","score":0.3709000051021576}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7077999711036682},{"id":"https://openalex.org/C95981495","wikidata":"https://www.wikidata.org/wiki/Q192847","display_name":"Gantt chart","level":2,"score":0.6614999771118164},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.6032000184059143},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5821999907493591},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5},{"id":"https://openalex.org/C55416958","wikidata":"https://www.wikidata.org/wiki/Q6206757","display_name":"Job shop scheduling","level":3,"score":0.4250999987125397},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.3783000111579895},{"id":"https://openalex.org/C123784306","wikidata":"https://www.wikidata.org/wiki/Q944041","display_name":"Vehicle routing problem","level":3,"score":0.37459999322891235},{"id":"https://openalex.org/C42812","wikidata":"https://www.wikidata.org/wiki/Q1082910","display_name":"Partition (number theory)","level":2,"score":0.3709000051021576},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3596000075340271},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.3336000144481659},{"id":"https://openalex.org/C2777737062","wikidata":"https://www.wikidata.org/wiki/Q14898686","display_name":"Subsea","level":2,"score":0.3328999876976013},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.32690000534057617},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.31839999556541443},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.3077000081539154},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.27900001406669617},{"id":"https://openalex.org/C22684755","wikidata":"https://www.wikidata.org/wiki/Q847526","display_name":"Queueing theory","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.2556999921798706}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mrs66243.2025.11357256","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mrs66243.2025.11357256","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":[{"id":"https://metadata.un.org/sdg/14","score":0.7801638245582581,"display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G2919495081","display_name":null,"funder_award_id":"2020M3C1C1A02086308","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1493454437","https://openalex.org/W1528314256","https://openalex.org/W1972391046","https://openalex.org/W1977319619","https://openalex.org/W1987971958","https://openalex.org/W1997606909","https://openalex.org/W2006270299","https://openalex.org/W2050731992","https://openalex.org/W2107207959","https://openalex.org/W2128543820","https://openalex.org/W2516199451","https://openalex.org/W2517828448","https://openalex.org/W2562123759","https://openalex.org/W2910269409","https://openalex.org/W2915338839","https://openalex.org/W3003532379","https://openalex.org/W3022641552","https://openalex.org/W3036205701","https://openalex.org/W4213123848","https://openalex.org/W4229372700","https://openalex.org/W4246518147","https://openalex.org/W4320059621","https://openalex.org/W4385516987","https://openalex.org/W4386631007","https://openalex.org/W4391549660","https://openalex.org/W4399801695","https://openalex.org/W4403902744","https://openalex.org/W4404517274"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,34,37,47,58,73,80,84,96,101,114,120,124,129],"routing":[4],"and":[5,19,86,117,148,154,168],"scheduling":[6],"problem":[7,48,85],"for":[8,44],"a":[9,61,91,136],"marine":[10],"marsupial":[11,115],"system,":[12],"where":[13],"an":[14],"unmanned":[15],"surface":[16],"vehicle":[17],"(USV)":[18],"multiple":[20],"autonomous":[21],"underwater":[22],"vehicles":[23],"(AUVs)":[24],"cooperate":[25],"to":[26,33,41,108,134],"efficiently":[27],"perform":[28],"distributed":[29],"subsea":[30],"tasks.":[31],"Due":[32],"requirement":[35],"that":[36,66,160],"USV":[38],"must":[39],"return":[40],"deployment":[42],"locations":[43],"AUV":[45],"retrieval,":[46],"involves":[49],"unique":[50],"cross-schedule":[51],"dependencies.":[52],"We":[53],"formulate":[54],"this":[55],"problem,":[56],"termed":[57],"Marsupial-TSP,":[59],"as":[60],"mixed-integer":[62],"linear":[63],"program":[64],"(MILP)":[65],"explicitly":[67],"incorporates":[68],"these":[69],"constraints":[70],"while":[71],"minimizing":[72],"overall":[74],"mission":[75],"completion":[76],"time.":[77],"To":[78],"address":[79],"NP-hard":[81],"nature":[82],"of":[83,113],"enhance":[87],"scalability,":[88],"we":[89,99,127],"introduce":[90,100],"divide-and-conquer":[92],"planning":[93],"framework.":[94],"In":[95,123],"divide":[97],"phase,":[98,126],"Marsupial-aware":[102],"Agglomerative":[103],"Clustering":[104],"(MAC)":[105],"algorithm,":[106],"designed":[107],"capture":[109],"key":[110],"operational":[111],"characteristics":[112],"system":[116],"effectively":[118],"partition":[119],"task":[121],"set.":[122],"conquer":[125],"solve":[128],"resulting":[130],"open-ended":[131],"Marsupial-TSP":[132],"subproblems":[133],"construct":[135],"complete":[137],"solution.":[138],"The":[139],"proposed":[140],"approach":[141],"is":[142],"validated":[143],"through":[144],"Monte":[145],"Carlo":[146],"simulations":[147],"qualitative":[149],"analyses,":[150],"including":[151],"Gantt":[152],"charts":[153],"route":[155],"visualizations.":[156],"Simulation":[157],"results":[158],"demonstrate":[159],"our":[161],"method":[162],"significantly":[163],"improves":[164],"both":[165],"computational":[166],"efficiency":[167],"solution":[169],"quality.":[170]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-01-29T00:00:00"}
