{"id":"https://openalex.org/W2147981290","doi":"https://doi.org/10.1109/robot.2009.5152829","title":"Local Voronoi Decomposition for multi-agent task allocation","display_name":"Local Voronoi Decomposition for multi-agent task allocation","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2147981290","doi":"https://doi.org/10.1109/robot.2009.5152829","mag":"2147981290"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5050331499","display_name":"James Guo Ming Fu","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"James Guo Ming Fu","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010359470","display_name":"Tirthankar Bandyopadhyay","orcid":"https://orcid.org/0000-0003-2229-5383"},"institutions":[{"id":"https://openalex.org/I4210167254","display_name":"Singapore-MIT Alliance for Research and Technology","ror":"https://ror.org/05yb3w112","country_code":"SG","type":"education","lineage":["https://openalex.org/I4210167254"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Tirthankar Bandyopadhyay","raw_affiliation_strings":["CENSAM IRG, SMART, Singapore"],"affiliations":[{"raw_affiliation_string":"CENSAM IRG, SMART, Singapore","institution_ids":["https://openalex.org/I4210167254"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Marcelo H. Ang","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050331499"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":2.0571,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.8834718,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1935","last_page":"1940"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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/voronoi-diagram","display_name":"Voronoi diagram","score":0.9726001024246216},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6920652389526367},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.6827245354652405},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6767481565475464},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.46174389123916626},{"id":"https://openalex.org/keywords/distributive-property","display_name":"Distributive property","score":0.43865346908569336},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.4379901885986328},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32645657658576965},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31190112233161926},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21484661102294922},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09826421737670898}],"concepts":[{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.9726001024246216},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6920652389526367},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.6827245354652405},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6767481565475464},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.46174389123916626},{"id":"https://openalex.org/C11821877","wikidata":"https://www.wikidata.org/wiki/Q187959","display_name":"Distributive property","level":2,"score":0.43865346908569336},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.4379901885986328},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32645657658576965},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31190112233161926},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21484661102294922},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09826421737670898},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"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":2,"locations":[{"id":"doi:10.1109/robot.2009.5152829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/73576","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/73576","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":[],"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":"Scopus","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1508840430","https://openalex.org/W1542670833","https://openalex.org/W1596794201","https://openalex.org/W1832534480","https://openalex.org/W1868863306","https://openalex.org/W1966213627","https://openalex.org/W1989587773","https://openalex.org/W1994649922","https://openalex.org/W2087422927","https://openalex.org/W2101508824","https://openalex.org/W2107591285","https://openalex.org/W2119520055","https://openalex.org/W2123604997","https://openalex.org/W2124924388","https://openalex.org/W2129041413","https://openalex.org/W2135524320","https://openalex.org/W2141577832","https://openalex.org/W2142473881","https://openalex.org/W2143814744","https://openalex.org/W2167485994","https://openalex.org/W2535384155","https://openalex.org/W6630605703","https://openalex.org/W6632413949","https://openalex.org/W6635545103","https://openalex.org/W6638704531","https://openalex.org/W6648807557","https://openalex.org/W6681530013","https://openalex.org/W6681551849"],"related_works":["https://openalex.org/W3020555194","https://openalex.org/W2793256277","https://openalex.org/W4360958759","https://openalex.org/W2348235448","https://openalex.org/W2116218375","https://openalex.org/W2389906634","https://openalex.org/W176898926","https://openalex.org/W288156810","https://openalex.org/W1562406979","https://openalex.org/W2366903352"],"abstract_inverted_index":{"We":[0,96],"propose":[1],"a":[2,13,47,74,87],"local":[3,25,29],"Voronoi":[4,37,54,57],"decomposition":[5],"(LVD)":[6],"algorithm":[7,127],"which":[8],"is":[9,31,80,139],"able":[10,82],"to":[11,83],"perform":[12],"robust":[14],"and":[15,128],"online":[16],"task":[17],"allocation":[18],"for":[19],"multiple":[20],"agents":[21,63],"based":[22,50],"purely":[23],"on":[24,51],"information.":[26],"Because":[27],"only":[28],"information":[30],"required":[32],"in":[33,46,86,103,108],"determining":[34],"each":[35,39],"agent's":[36],"region,":[38],"agent":[40],"can":[41],"then":[42],"make":[43],"its":[44,52],"decision":[45],"distributive":[48],"fashion":[49],"allocated":[53],"region.":[55],"These":[56],"regions":[58],"eliminates":[59],"the":[60,77,104,123,129,141],"occurrence":[61],"of":[62,76,94,101,106],"executing":[64],"instantaneous":[65],"overlapping":[66],"tasks.":[67],"As":[68],"our":[69,99,113,119,137],"method":[70,120,138],"does":[71],"not":[72],"require":[73],"pre-processing":[75],"map,":[78],"it":[79],"also":[81,134],"work":[84],"well":[85],"dynamically":[88],"changing":[89,92],"map":[90],"with":[91],"number":[93],"agents.":[95],"will":[97],"show":[98,117,135],"proof":[100],"concept":[102],"problem":[105],"exploration":[107],"an":[109],"unknown":[110],"environment.":[111],"In":[112],"experimental":[114],"evaluation,":[115],"we":[116],"that":[118,136],"significantly":[121],"outperforms":[122],"competing":[124],"algorithms:":[125],"Ants":[126],"Brick&Mortar":[130],"algorithm.":[131],"Our":[132],"results":[133],"near":[140],"theoretical":[142],"best":[143],"solution.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
