{"id":"https://openalex.org/W1508056422","doi":"https://doi.org/10.1109/robot.2005.1570754","title":"Towards Decentralization of Multi-robot Navigation Functions","display_name":"Towards Decentralization of Multi-robot Navigation Functions","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W1508056422","doi":"https://doi.org/10.1109/robot.2005.1570754","mag":"1508056422"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570754","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570754","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/A5059465693","display_name":"Herbert G. Tanner","orcid":"https://orcid.org/0000-0002-2069-8544"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"H.G. Tanner","raw_affiliation_strings":["Mechanical Engineering Department, University of New Mexico, Albuquerque, NM, USA","Mechanical Engineering Department University of New Mexico Albuquerque, NM 87131-0001; Email: tanner@unm.edu"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"Mechanical Engineering Department University of New Mexico Albuquerque, NM 87131-0001; Email: tanner@unm.edu","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073380385","display_name":"Amit Kumar","orcid":"https://orcid.org/0000-0002-0777-7715"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Kumar","raw_affiliation_strings":["Mechanical Engineering Department, University of New Mexico, Albuquerque, NM, USA","Email: tanner@unm.edu"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"Email: tanner@unm.edu","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5059465693"],"corresponding_institution_ids":["https://openalex.org/I169521973"],"apc_list":null,"apc_paid":null,"fwci":11.6688,"has_fulltext":false,"cited_by_count":145,"citation_normalized_percentile":{"value":0.98603997,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9993000030517578,"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/decentralization","display_name":"Decentralization","score":0.6366640329360962},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6227524280548096},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6045489311218262},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5996925830841064},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5754607915878296},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5638360381126404},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5247119665145874},{"id":"https://openalex.org/keywords/interconnection","display_name":"Interconnection","score":0.446249395608902},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4406173527240753},{"id":"https://openalex.org/keywords/graph-theory","display_name":"Graph theory","score":0.4396442174911499},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4279975891113281},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.41840702295303345},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3189598023891449},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27778303623199463},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19199016690254211},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1255912482738495},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09211823344230652},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.06873419880867004}],"concepts":[{"id":"https://openalex.org/C136810230","wikidata":"https://www.wikidata.org/wiki/Q188961","display_name":"Decentralization","level":2,"score":0.6366640329360962},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6227524280548096},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6045489311218262},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5996925830841064},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5754607915878296},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5638360381126404},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5247119665145874},{"id":"https://openalex.org/C123745756","wikidata":"https://www.wikidata.org/wiki/Q1665949","display_name":"Interconnection","level":2,"score":0.446249395608902},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4406173527240753},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.4396442174911499},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4279975891113281},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.41840702295303345},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3189598023891449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27778303623199463},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19199016690254211},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1255912482738495},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09211823344230652},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.06873419880867004},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2005.1570754","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570754","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:10.1.1.332.4821","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.332.4821","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://research.me.udel.edu/~btanner/Papers/Towards Decentralization of Multi-robot Navigation Functions.pdf","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":22,"referenced_works":["https://openalex.org/W1512235915","https://openalex.org/W1567230325","https://openalex.org/W2040900884","https://openalex.org/W2053407718","https://openalex.org/W2076738229","https://openalex.org/W2097466333","https://openalex.org/W2099397914","https://openalex.org/W2105625336","https://openalex.org/W2107497027","https://openalex.org/W2110144538","https://openalex.org/W2117148399","https://openalex.org/W2119955255","https://openalex.org/W2128928412","https://openalex.org/W2130647945","https://openalex.org/W2139369541","https://openalex.org/W2147798571","https://openalex.org/W2152998404","https://openalex.org/W2166766502","https://openalex.org/W2168520354","https://openalex.org/W2171353551","https://openalex.org/W4236879725","https://openalex.org/W4243808798"],"related_works":["https://openalex.org/W2481378325","https://openalex.org/W2186336397","https://openalex.org/W3140943723","https://openalex.org/W3125369811","https://openalex.org/W2330351317","https://openalex.org/W1512425042","https://openalex.org/W2010376978","https://openalex.org/W2347300234","https://openalex.org/W1813865132","https://openalex.org/W3140629649"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,7,17,82,95],"navigation":[3,49,69],"function":[4,50,78],"through":[5],"which":[6],"group":[8],"of":[9,23,47,67,97,105,109],"mobile":[10],"agents":[11],"can":[12],"be":[13],"coordinated":[14],"to":[15,44,63],"achieve":[16],"particular":[18],"formation,":[19],"both":[20],"in":[21,35,81,101,107],"terms":[22,108],"shape":[24,66],"and":[25,32,41,99],"orientation,":[26],"while":[27],"avoiding":[28],"collisions":[29],"between":[30],"themselves":[31],"with":[33,57],"obstacles":[34],"the":[36,45,48,58,65,68,76,103],"environment.":[37],"Convergence":[38],"is":[39,73,79],"global":[40],"complete,":[42],"subject":[43],"constraints":[46],"methodology.":[51],"Algebraic":[52],"graph":[53,60],"theoretic":[54],"properties":[55],"associated":[56],"interconnection":[59],"are":[61],"shown":[62],"affect":[64],"function.":[70],"The":[71,88],"approach":[72],"centralized":[74],"but":[75],"potential":[77],"constructed":[80],"way":[83],"that":[84],"facilitates":[85],"complete":[86],"decentralization.":[87],"strategy":[89],"presented":[90],"will":[91],"also":[92],"serve":[93],"as":[94],"point":[96],"reference":[98],"comparison":[100],"quantifying":[102],"cost":[104],"decentralization":[106],"performance.":[110]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":13}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}