{"id":"https://openalex.org/W1838606024","doi":"https://doi.org/10.1109/robot.1986.1087396","title":"A technique for coordinating autonomous robots","display_name":"A technique for coordinating autonomous robots","publication_year":1986,"publication_date":"1986-01-01","ids":{"openalex":"https://openalex.org/W1838606024","doi":"https://doi.org/10.1109/robot.1986.1087396","mag":"1838606024"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1986.1087396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1986.1087396","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1986 IEEE International Conference on Robotics and Automation","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/A5109529149","display_name":"S. Y. Harmon","orcid":null},"institutions":[{"id":"https://openalex.org/I1328969757","display_name":"Naval Sea Systems Command","ror":"https://ror.org/03dm1p143","country_code":"US","type":"funder","lineage":["https://openalex.org/I1328969757","https://openalex.org/I1330347796","https://openalex.org/I3130687028"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"S. Harmon","raw_affiliation_strings":["Naval Ocean Systems Center, San Diego, CA","Autonanous Systems Branch, Naval Ocean Systems center, San Diego, CA"],"affiliations":[{"raw_affiliation_string":"Naval Ocean Systems Center, San Diego, CA","institution_ids":[]},{"raw_affiliation_string":"Autonanous Systems Branch, Naval Ocean Systems center, San Diego, CA","institution_ids":["https://openalex.org/I1328969757"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068299217","display_name":"Walter A. Aviles","orcid":null},"institutions":[{"id":"https://openalex.org/I1328969757","display_name":"Naval Sea Systems Command","ror":"https://ror.org/03dm1p143","country_code":"US","type":"funder","lineage":["https://openalex.org/I1328969757","https://openalex.org/I1330347796","https://openalex.org/I3130687028"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"W. Aviles","raw_affiliation_strings":["Autonanous Systems Branch, Naval Ocean Systems center, San Diego, CA"],"affiliations":[{"raw_affiliation_string":"Autonanous Systems Branch, Naval Ocean Systems center, San Diego, CA","institution_ids":["https://openalex.org/I1328969757"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036946735","display_name":"Douglas M. Gage","orcid":null},"institutions":[{"id":"https://openalex.org/I1328969757","display_name":"Naval Sea Systems Command","ror":"https://ror.org/03dm1p143","country_code":"US","type":"funder","lineage":["https://openalex.org/I1328969757","https://openalex.org/I1330347796","https://openalex.org/I3130687028"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. Gage","raw_affiliation_strings":["Autonanous Systems Branch, Naval Ocean Systems center, San Diego, CA"],"affiliations":[{"raw_affiliation_string":"Autonanous Systems Branch, Naval Ocean Systems center, San Diego, CA","institution_ids":["https://openalex.org/I1328969757"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5109529149"],"corresponding_institution_ids":["https://openalex.org/I1328969757"],"apc_list":null,"apc_paid":null,"fwci":2.9505,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.91499549,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2029","last_page":"2034"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9955000281333923,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9955000281333923,"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/T10772","display_name":"Distributed systems and fault tolerance","score":0.9934999942779541,"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/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9904000163078308,"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/blackboard","display_name":"Blackboard (design pattern)","score":0.8123452663421631},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7912509441375732},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6885361075401306},{"id":"https://openalex.org/keywords/timestamp","display_name":"Timestamp","score":0.619513750076294},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.6068413853645325},{"id":"https://openalex.org/keywords/blackboard-system","display_name":"Blackboard system","score":0.5809613466262817},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5766327381134033},{"id":"https://openalex.org/keywords/tuple","display_name":"Tuple","score":0.5479684472084045},{"id":"https://openalex.org/keywords/inheritance","display_name":"Inheritance (genetic algorithm)","score":0.4598484933376312},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.45973408222198486},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4483359456062317},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4481394588947296},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42267078161239624},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.41964423656463623},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4023746848106384},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.2539208233356476},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.17740479111671448},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10828006267547607}],"concepts":[{"id":"https://openalex.org/C2778308757","wikidata":"https://www.wikidata.org/wiki/Q23601418","display_name":"Blackboard (design pattern)","level":2,"score":0.8123452663421631},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7912509441375732},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6885361075401306},{"id":"https://openalex.org/C113954288","wikidata":"https://www.wikidata.org/wiki/Q186885","display_name":"Timestamp","level":2,"score":0.619513750076294},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.6068413853645325},{"id":"https://openalex.org/C157273737","wikidata":"https://www.wikidata.org/wiki/Q1753023","display_name":"Blackboard system","level":3,"score":0.5809613466262817},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5766327381134033},{"id":"https://openalex.org/C118930307","wikidata":"https://www.wikidata.org/wiki/Q600590","display_name":"Tuple","level":2,"score":0.5479684472084045},{"id":"https://openalex.org/C2780902518","wikidata":"https://www.wikidata.org/wiki/Q6033780","display_name":"Inheritance (genetic algorithm)","level":3,"score":0.4598484933376312},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.45973408222198486},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4483359456062317},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4481394588947296},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42267078161239624},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.41964423656463623},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4023746848106384},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.2539208233356476},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.17740479111671448},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10828006267547607},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.1986.1087396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1986.1087396","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1986 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:ADA422576","is_oa":false,"landing_page_url":"http://oai.dtic.mil/oai/oai?&verb=getRecord&metadataPrefix=html&identifier=ADA422576","pdf_url":null,"source":{"id":"https://openalex.org/S4406923043","display_name":"Defense Technical Information Center (DTIC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"DTIC AND NTIS","raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":2,"referenced_works":["https://openalex.org/W2122144626","https://openalex.org/W6678208973"],"related_works":["https://openalex.org/W2279528337","https://openalex.org/W4231402822","https://openalex.org/W2385023133","https://openalex.org/W2254498469","https://openalex.org/W2161257492","https://openalex.org/W4230931601","https://openalex.org/W2146750700","https://openalex.org/W4247061306","https://openalex.org/W2123085253","https://openalex.org/W4251918048"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,16,21,40,78,158],"technique":[4],"for":[5,121,164],"coordinating":[6,122],"the":[7,34,57,60,91,139],"subsystems":[8,28,101],"of":[9,15,24,53,71,141],"autonomous":[10,124,146],"robots":[11,125,147],"which":[12,43,74,105,112],"takes":[13],"advantage":[14],"distributed":[17,97,149],"blackboard":[18,37,94],"mechanism":[19],"and":[20,32,48,59,84,110,136,143],"high":[22],"degree":[23],"functional":[25],"distribution":[26],"between":[27,62,93],"to":[29,56,133],"minimize":[30],"communications":[31,135],"simplify":[33],"interfaces.":[35,166],"Distributed":[36],"memory":[38,95],"contains":[39],"world":[41,107,130],"model":[42],"represents":[44],"knowledge":[45],"about":[46],"itself":[47],"its":[49],"surroundings":[50],"as":[51,69],"collections":[52],"objects":[54],"important":[55],"task":[58],"relations":[61],"them.":[63],"Objects":[64],"or":[65],"instances":[66],"are":[67,75],"represented":[68],"lists":[70],"object-attribute-value-accuracy-confidence-timestamp":[72],"tuples":[73],"organized":[76],"into":[77],"class":[79],"tree":[80],"with":[81],"inheritance":[82],"properties":[83],"active":[85],"functions.":[86],"Intelligent":[87],"Communications":[88],"Interfaces":[89],"maintain":[90],"consistency":[92],"elements":[96],"through":[98,148],"loosely":[99],"coupled":[100],"by":[102,126,137,156],"exchanging":[103],"reports":[104],"represent":[106,113],"state":[108],"information":[109],"plans":[111,142],"control":[114],"information.":[115],"These":[116],"concepts":[117],"can":[118],"be":[119],"extended":[120],"multiple":[123],"making":[127],"independent":[128],"robot":[129],"models":[131],"intersect":[132],"enable":[134],"broadening":[138],"interpretation":[140],"reports.":[144],"Coordinating":[145],"blackboards":[150],"makes":[151],"potentially":[152],"complex":[153],"programming":[154],"simpler":[155],"providing":[157],"well":[159],"defined":[160],"but":[161],"flexible":[162],"framework":[163],"module":[165]},"counts_by_year":[],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}