{"id":"https://openalex.org/W2132893088","doi":"https://doi.org/10.1109/robot.2003.1242188","title":"A distributed route planning method for multiple mobile robots using Lagrangian decomposition technique","display_name":"A distributed route planning method for multiple mobile robots using Lagrangian decomposition technique","publication_year":2003,"publication_date":"2003-01-01","ids":{"openalex":"https://openalex.org/W2132893088","doi":"https://doi.org/10.1109/robot.2003.1242188","mag":"2132893088"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1242188","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242188","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","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/A5033193171","display_name":"Tatsushi Nishi","orcid":"https://orcid.org/0000-0003-1354-3939"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"T. Nishi","raw_affiliation_strings":["Dept. of Electr. & Electron. Eng., Okayama Univ., Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Electr. & Electron. Eng., Okayama Univ., Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039453632","display_name":"Mizuki Ando","orcid":"https://orcid.org/0009-0004-4757-5853"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Ando","raw_affiliation_strings":["Dept. of Electr. & Electron. Eng., Okayama Univ., Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Electr. & Electron. Eng., Okayama Univ., Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068177572","display_name":"Masami Konishi","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Konishi","raw_affiliation_strings":["Dept. of Electr. & Electron. Eng., Okayama Univ., Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Electr. & Electron. Eng., Okayama Univ., Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060769388","display_name":"Jun Imai","orcid":"https://orcid.org/0000-0003-2640-9536"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"J. Imai","raw_affiliation_strings":["Dept. of Electr. & Electron. Eng., Okayama Univ., Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Electr. & Electron. Eng., Okayama Univ., Japan","institution_ids":["https://openalex.org/I163770644"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5033193171"],"corresponding_institution_ids":["https://openalex.org/I163770644"],"apc_list":null,"apc_paid":null,"fwci":1.8684,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.86722751,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3855","last_page":"3861 vol.3"},"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12288","display_name":"Optimization and Search Problems","score":0.9945999979972839,"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/lagrangian-relaxation","display_name":"Lagrangian relaxation","score":0.736732006072998},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7053953409194946},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5850141048431396},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5675303339958191},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5253419280052185},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.5198019742965698},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4806757867336273},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.4745538830757141},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3286386728286743},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18988844752311707},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.17964282631874084},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.11326619982719421},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1123238205909729},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.10831230878829956}],"concepts":[{"id":"https://openalex.org/C91765299","wikidata":"https://www.wikidata.org/wiki/Q3424292","display_name":"Lagrangian relaxation","level":2,"score":0.736732006072998},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7053953409194946},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5850141048431396},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5675303339958191},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5253419280052185},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.5198019742965698},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4806757867336273},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.4745538830757141},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3286386728286743},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18988844752311707},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.17964282631874084},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.11326619982719421},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1123238205909729},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.10831230878829956},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2003.1242188","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242188","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6800000071525574,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323747","display_name":"Electric Technology Research Foundation of Chugoku","ror":"https://ror.org/02va37h22"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W2063781249","https://openalex.org/W2107306351","https://openalex.org/W2107941094","https://openalex.org/W2120633474","https://openalex.org/W2124610085","https://openalex.org/W2135524320","https://openalex.org/W2141967156","https://openalex.org/W2150473588","https://openalex.org/W2152745641"],"related_works":["https://openalex.org/W2002102264","https://openalex.org/W4237964977","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"For":[0],"the":[1,19,64,69,72,99,103,110,161,167,178,193,204],"transportation":[2,21,88,132],"in":[3,92],"semiconductor":[4,93],"fabricating":[5,94],"bay,":[6],"route":[7,36,62,77,89,162,197],"planning":[8,37,90],"of":[9,75,98,125,135,148,169,190],"multiple":[10,40],"AGVs":[11,70,140,158],"(Automated":[12],"Guided":[13],"Vehicles)":[14],"is":[15,84,106,154,164,174,200],"expected":[16],"to":[17,87,184],"minimize":[18],"total":[20],"time":[22],"without":[23,202],"collision":[24],"and":[25,71,138,160],"deadlock":[26],"among":[27,68],"AGVs.":[28],"In":[29],"this":[30],"paper,":[31],"we":[32],"propose":[33],"a":[34,51,59,129],"distributed":[35],"method":[38,49,83,105,153,180],"for":[39,128,187,198],"mobile":[41,55],"robots":[42],"using":[43,78,109,115],"Lagrangian":[44,116],"decomposition":[45],"technique.":[46],"The":[47,81,96,151],"proposed":[48,82,104,152,179],"has":[50],"characteristic":[52],"that":[53,177,195],"each":[54,196],"robot":[56],"individually":[57],"creates":[58],"near":[60,120],"optimal":[61,121],"through":[63],"repetitive":[65],"data":[66],"exchange":[67],"local":[73],"optimization":[74],"its":[76],"Dijkstra's":[79],"algorithm.":[80],"successively":[85],"applied":[86],"problem":[91],"bay.":[95],"optimality":[97],"solution":[100,122],"generated":[101],"by":[102,108,114],"evaluated":[107],"duality":[111,126],"gap":[112,127],"derived":[113,165],"relaxation":[117],"method.":[118],"A":[119],"within":[123,145],"5%":[124],"large":[130],"scale":[131],"system":[133,159],"consisting":[134],"143":[136],"nodes":[137],"15":[139],"can":[141,181],"be":[142,182,185],"obtained":[143],"only":[144],"five":[146],"seconds":[147],"computation":[149],"time.":[150],"implemented":[155],"on":[156],"3":[157],"plan":[163],"taking":[166],"size":[168],"AGV":[170,199],"into":[171],"account.":[172],"It":[173],"experimentally":[175],"shown":[176],"found":[183],"effective":[186],"various":[188],"types":[189],"problems":[191],"despite":[192],"fact":[194],"created":[201],"considering":[203],"entire":[205],"objective":[206],"function.":[207]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}