{"id":"https://openalex.org/W2112557848","doi":"https://doi.org/10.1109/robot.1986.1087653","title":"Pathfinding in multi-robot systems: Solution and applications","display_name":"Pathfinding in multi-robot systems: Solution and applications","publication_year":1986,"publication_date":"1986-01-01","ids":{"openalex":"https://openalex.org/W2112557848","doi":"https://doi.org/10.1109/robot.1986.1087653","mag":"2112557848"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1986.1087653","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1986.1087653","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/A5108541185","display_name":"\u0395. Freund","orcid":null},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"E. Freund","raw_affiliation_strings":["Universität Dortmund, Postfach, Dortmund, West Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universität Dortmund, Postfach, Dortmund, West Germany","institution_ids":["https://openalex.org/I200332995"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078502784","display_name":"Helmut Hoyer","orcid":null},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"H. Hoyer","raw_affiliation_strings":["Lnstitut f\u00fcr Roboterforschung, Universit\u00e4t Dortmund, Dortmund, West Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lnstitut f\u00fcr Roboterforschung, Universit\u00e4t Dortmund, Dortmund, West Germany","institution_ids":["https://openalex.org/I200332995"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I200332995"],"apc_list":null,"apc_paid":null,"fwci":4.3693,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.94140409,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"103","last_page":"111"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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/T12288","display_name":"Optimization and Search Problems","score":0.9976999759674072,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/structuring","display_name":"Structuring","score":0.7571538686752319},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.751818835735321},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.692656397819519},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6566606163978577},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6220699548721313},{"id":"https://openalex.org/keywords/pathfinding","display_name":"Pathfinding","score":0.5147285461425781},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4380803108215332},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3817598521709442},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3478120267391205},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.326587438583374},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.26554906368255615},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18299758434295654},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.09666737914085388}],"concepts":[{"id":"https://openalex.org/C2775945657","wikidata":"https://www.wikidata.org/wiki/Q381442","display_name":"Structuring","level":2,"score":0.7571538686752319},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.751818835735321},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.692656397819519},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6566606163978577},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6220699548721313},{"id":"https://openalex.org/C25321074","wikidata":"https://www.wikidata.org/wiki/Q1969601","display_name":"Pathfinding","level":4,"score":0.5147285461425781},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4380803108215332},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3817598521709442},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3478120267391205},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.326587438583374},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.26554906368255615},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18299758434295654},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.09666737914085388},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.0},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1986.1087653","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1986.1087653","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W151382553","https://openalex.org/W178040334","https://openalex.org/W1556795538","https://openalex.org/W2002519566","https://openalex.org/W2008201056","https://openalex.org/W2121635509","https://openalex.org/W2132114646","https://openalex.org/W2163178194","https://openalex.org/W2166485770","https://openalex.org/W2322153529","https://openalex.org/W2406624004","https://openalex.org/W2812249234","https://openalex.org/W4240939996","https://openalex.org/W6822135208"],"related_works":["https://openalex.org/W4285687848","https://openalex.org/W4289994039","https://openalex.org/W2240526870","https://openalex.org/W3100156731","https://openalex.org/W2623016776","https://openalex.org/W1967962134","https://openalex.org/W3128311703","https://openalex.org/W3101047024","https://openalex.org/W1978397348","https://openalex.org/W2402852349"],"abstract_inverted_index":{"In":[0],"the":[1,9,12,24,41,44,63,76],"paper":[2],"a":[3,20,32],"general":[4],"approach":[5,56],"is":[6,57],"given":[7],"to":[8],"solution":[10],"of":[11,23,43,53,65,78],"findpath":[13],"problem":[14],"in":[15],"multi-robot":[16,37],"systems":[17,38],"based":[18],"on":[19],"suitable":[21],"structuring":[22],"hierarchical":[25,45],"overall":[26],"system.":[27],"The":[28,51],"method":[29],"developed":[30],"uses":[31],"systematic":[33],"design":[34,42],"procedure":[35],"for":[36,47],"which":[39],"includes":[40],"coordinator":[46],"on-line":[48],"collision":[49],"avoidance.":[50],"efficiency":[52],"this":[54],"new":[55],"demonstrated":[58],"by":[59,75],"several":[60],"cases":[61],"like":[62],"interaction":[64,77],"three":[66],"stationary":[67],"robots":[68,80],"with":[69],"different":[70],"obstacles":[71],"as":[72,74],"well":[73],"mobile":[79],"and":[81],"moving":[82],"obstacles.":[83]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}