{"id":"https://openalex.org/W2107501891","doi":"https://doi.org/10.1109/robot.2003.1242251","title":"Motion planning for a crowd of robots","display_name":"Motion planning for a crowd of robots","publication_year":2004,"publication_date":"2004-03-22","ids":{"openalex":"https://openalex.org/W2107501891","doi":"https://doi.org/10.1109/robot.2003.1242251","mag":"2107501891"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1242251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242251","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/A5072149684","display_name":"Tsai-Yen Li","orcid":null},"institutions":[{"id":"https://openalex.org/I87354575","display_name":"National Chengchi University","ror":"https://ror.org/03rqk8h36","country_code":"TW","type":"education","lineage":["https://openalex.org/I87354575"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Tsai-Yen Li","raw_affiliation_strings":["Computer Science Department, National Chengchi University, Taipei, Taiwan","Comput. Sci. Dept., Nat. Chenchi Univ., Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, National Chengchi University, Taipei, Taiwan","institution_ids":["https://openalex.org/I87354575"]},{"raw_affiliation_string":"Comput. Sci. Dept., Nat. Chenchi Univ., Taipei, Taiwan","institution_ids":["https://openalex.org/I87354575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110202187","display_name":"Hsu-Chi Chou","orcid":null},"institutions":[{"id":"https://openalex.org/I87354575","display_name":"National Chengchi University","ror":"https://ror.org/03rqk8h36","country_code":"TW","type":"education","lineage":["https://openalex.org/I87354575"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Hsu-Chi Chou","raw_affiliation_strings":["Computer Science Department, National Chengchi University, Taipei, Taiwan","Comput. Sci. Dept., Nat. Chenchi Univ., Taipei, Taiwan"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, National Chengchi University, Taipei, Taiwan","institution_ids":["https://openalex.org/I87354575"]},{"raw_affiliation_string":"Comput. Sci. Dept., Nat. Chenchi Univ., Taipei, Taiwan","institution_ids":["https://openalex.org/I87354575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5072149684"],"corresponding_institution_ids":["https://openalex.org/I87354575"],"apc_list":null,"apc_paid":null,"fwci":7.7243,"has_fulltext":false,"cited_by_count":62,"citation_normalized_percentile":{"value":0.97792178,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"3","issue":null,"first_page":"4215","last_page":"4221"},"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/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9904000163078308,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9840999841690063,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/planner","display_name":"Planner","score":0.8696094751358032},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8220407366752625},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7024590969085693},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.683402955532074},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5295575261116028},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.48184287548065186},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.4576503336429596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4295303225517273},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4234023690223694},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12399497628211975}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8696094751358032},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8220407366752625},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7024590969085693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.683402955532074},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5295575261116028},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.48184287548065186},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.4576503336429596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4295303225517273},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4234023690223694},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12399497628211975},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2003.1242251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1242251","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.10.2877","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.10.2877","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www3.nccu.edu.tw/~li/Publication/pdf/icra2003b.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6499999761581421,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321040","display_name":"National Science Council","ror":"https://ror.org/02kv4zf79"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1546814349","https://openalex.org/W1965244358","https://openalex.org/W1978301848","https://openalex.org/W2042106485","https://openalex.org/W2097836137","https://openalex.org/W2119476348","https://openalex.org/W2128203426","https://openalex.org/W2128990851","https://openalex.org/W2134741043","https://openalex.org/W2139062144","https://openalex.org/W2139638032","https://openalex.org/W2140581373","https://openalex.org/W2152628452","https://openalex.org/W2166462345","https://openalex.org/W2169147115","https://openalex.org/W4242811155","https://openalex.org/W4244044799","https://openalex.org/W6680635171","https://openalex.org/W6685289852"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W2618632915","https://openalex.org/W2077416514","https://openalex.org/W4292862729","https://openalex.org/W2150982344","https://openalex.org/W2157678966","https://openalex.org/W2118356379"],"abstract_inverted_index":{"Moving":[0],"a":[1,19,89,114],"crowd":[2],"of":[3,27,38,45,64,101,124,140],"robots":[4,96,125],"or":[5],"avatars":[6],"from":[7],"their":[8],"current":[9],"configurations":[10],"to":[11,94,112,134],"some":[12],"destination":[13],"area":[14],"without":[15],"causing":[16],"collisions":[17],"is":[18,49,54,77,126],"challenging":[20],"motion-planning":[21],"problem":[22,103],"because":[23],"the":[24,51,58,62,81,102,118,122,136,141],"high":[25],"degrees":[26],"freedom":[28],"involved.":[29],"Two":[30],"approaches":[31,48],"are":[32,110],"often":[33],"used":[34],"for":[35],"this":[36,68],"type":[37],"problems:":[39],"decoupled":[40,52],"and":[41,138],"centralized.":[42],"The":[43],"tradeoff":[44],"these":[46],"two":[47],"that":[50,76],"approach":[53,60,120],"considered":[55],"faster":[56,79],"while":[57],"centralized":[59,74,119],"has":[61],"advantage":[63,100],"being":[65],"complete.":[66],"In":[67],"paper,":[69],"we":[70,109],"propose":[71],"an":[72],"efficient":[73],"planner":[75,87,116],"much":[78],"than":[80],"traditional":[82],"randomized":[83],"planning":[84],"approaches.":[85],"This":[86],"uses":[88],"hierarchical":[90],"sphere":[91],"tree":[92],"structure":[93],"group":[95],"dynamically.":[97],"By":[98],"taking":[99],"characteristics":[104],"on":[105],"independently":[106],"moving":[107],"robots,":[108],"able":[111],"design":[113],"practical":[115],"with":[117],"when":[121],"number":[123],"rather":[127],"large.":[128],"We":[129],"use":[130],"several":[131],"simulation":[132],"examples":[133],"demonstrate":[135],"efficiency":[137],"effectiveness":[139],"planner.":[142]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
