{"id":"https://openalex.org/W2164592713","doi":"https://doi.org/10.1109/robot.2005.1570330","title":"Task Assignment with Dynamic Perception and Constrained Tasks in a Multi-Robot System","display_name":"Task Assignment with Dynamic Perception and Constrained Tasks in a Multi-Robot System","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2164592713","doi":"https://doi.org/10.1109/robot.2005.1570330","mag":"2164592713"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570330","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 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/A5045922629","display_name":"Alessandro Farinelli","orcid":"https://orcid.org/0000-0002-2592-5814"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"A. Farinelli","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, University of Roma La Sapienza, Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, University of Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026692089","display_name":"Luca Iocchi","orcid":"https://orcid.org/0000-0001-9057-8946"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"L. Iocchi","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, University of Roma La Sapienza, Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, University of Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075651762","display_name":"Daniele Nardi","orcid":"https://orcid.org/0000-0001-6606-200X"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"D. Nardi","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, University of Roma La Sapienza, Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, University of Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020335262","display_name":"V. A. Ziparo","orcid":null},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"V.A. Ziparo","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, University of Roma La Sapienza, Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, University of Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.0488,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.96028275,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1523","last_page":"1528"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9970999956130981,"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":0.9970999956130981,"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/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.9966999888420105,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9966999888420105,"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/robot","display_name":"Robot","score":0.8312433958053589},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7631801962852478},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7485948801040649},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.7420918345451355},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6445594429969788},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.538720428943634},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.5197477340698242},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.5071401596069336},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.48652878403663635},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.47015810012817383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3807857036590576},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1498241126537323},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.08862277865409851},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.06971371173858643}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8312433958053589},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7631801962852478},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7485948801040649},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.7420918345451355},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6445594429969788},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.538720428943634},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.5197477340698242},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.5071401596069336},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.48652878403663635},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.47015810012817383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3807857036590576},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1498241126537323},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.08862277865409851},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.06971371173858643},{"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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2005.1570330","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570330","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.59.6831","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.59.6831","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.dis.uniroma1.it/~iocchi/publications/iocchi-icra05b.pdf","raw_type":"text"},{"id":"pmh:oai:iris.uniroma1.it:11573/367489","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/367489","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321873","display_name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca","ror":"https://ror.org/0166hxq48"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W63102710","https://openalex.org/W93834893","https://openalex.org/W1577083826","https://openalex.org/W1595172192","https://openalex.org/W1721145547","https://openalex.org/W1800962324","https://openalex.org/W2014369282","https://openalex.org/W2099035446","https://openalex.org/W2109049890","https://openalex.org/W2119281439","https://openalex.org/W2121477941","https://openalex.org/W2128415126","https://openalex.org/W2135524320","https://openalex.org/W2137714578","https://openalex.org/W2143082482","https://openalex.org/W2147905576","https://openalex.org/W2162509910","https://openalex.org/W6677622662"],"related_works":["https://openalex.org/W3213722473","https://openalex.org/W1564680838","https://openalex.org/W2060591604","https://openalex.org/W2967461658","https://openalex.org/W2166791242","https://openalex.org/W3012440055","https://openalex.org/W2585162246","https://openalex.org/W2034202275","https://openalex.org/W1934413089","https://openalex.org/W1992291644"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"present":[4],"an":[5,40],"asynchronous":[6],"distributed":[7],"mechanism":[8],"for":[9,91],"allocating":[10],"tasks":[11],"in":[12,50,63,126],"a":[13,127],"team":[14,36,108],"of":[15,43,52,60,78],"robots.":[16,80],"Tasks":[17],"to":[18,69,85,99,103],"be":[19,29],"allocated":[20],"are":[21],"dynamically":[22],"perceived":[23],"from":[24],"the":[25,46,86],"environment":[26],"and":[27,54,74,110,122],"can":[28],"tied":[30],"by":[31,72],"execution":[32],"constraints.":[33],"Conflicts":[34],"among":[35,107],"mates":[37,109],"arise":[38],"when":[39],"uncontrolled":[41],"number":[42],"robots":[44,104,121],"execute":[45],"same":[47],"task,":[48],"resulting":[49],"waste":[51],"effort":[53],"spatial":[55],"conflicts.":[56],"The":[57,94],"critical":[58],"aspect":[59],"task":[61,87],"allocation":[62,88],"Multi":[64],"Robot":[65],"Systems":[66],"is":[67,97],"related":[68],"conflicts":[70,106],"generated":[71],"limited":[73],"noisy":[75],"perception":[76],"capabilities":[77],"real":[79],"This":[81],"requires":[82],"significant":[83],"extensions":[84],"techniques":[89],"developed":[90],"software":[92],"agents.":[93],"proposed":[95],"approach":[96],"able":[98],"successfully":[100],"allocate":[101],"roles":[102],"avoiding":[105],"maintaining":[111],"low":[112],"communication":[113],"overhead.":[114],"We":[115],"implemented":[116],"our":[117],"method":[118],"on":[119],"AIBO":[120],"performed":[123],"quantitative":[124],"analysis":[125],"simulated":[128],"environment.":[129]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}