{"id":"https://openalex.org/W2021702776","doi":"https://doi.org/10.1109/robot.2010.5509713","title":"Multi-agent path planning with multiple tasks and distance constraints","display_name":"Multi-agent path planning with multiple tasks and distance constraints","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2021702776","doi":"https://doi.org/10.1109/robot.2010.5509713","mag":"2021702776"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509713","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509713","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5101463763","display_name":"Subhrajit Bhattacharya","orcid":"https://orcid.org/0000-0001-9139-054X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Subhrajit Bhattacharya","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, 19104 USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, 19104 USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103257510","display_name":"Maxim Likhachev","orcid":"https://orcid.org/0000-0002-9539-2398"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maxim Likhachev","raw_affiliation_strings":["Department of Computer and Information Science, University of Pennsylvania Philadelphia, 19104, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, University of Pennsylvania Philadelphia, 19104, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, 19104 USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, 19104 USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101463763"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":0.9697,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.76732056,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"953","last_page":"959"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9975000023841858,"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"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9962000250816345,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.761406660079956},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6699420213699341},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.6020371317863464},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5606440305709839},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.542375922203064},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.4497619867324829},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.44899410009384155},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.44657084345817566},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4299914538860321},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.40932801365852356},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.35672256350517273},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27923887968063354},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2683216333389282},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14058738946914673}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.761406660079956},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6699420213699341},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.6020371317863464},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5606440305709839},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.542375922203064},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.4497619867324829},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.44899410009384155},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.44657084345817566},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4299914538860321},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.40932801365852356},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.35672256350517273},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27923887968063354},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2683216333389282},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14058738946914673},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2010.5509713","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509713","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.175.4922","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.175.4922","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/%7Emaxim/files/DPCT_icra10.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W4958369","https://openalex.org/W1424654272","https://openalex.org/W1492112041","https://openalex.org/W1522365498","https://openalex.org/W1969483458","https://openalex.org/W1989241525","https://openalex.org/W2048249293","https://openalex.org/W2098432798","https://openalex.org/W2109138377","https://openalex.org/W2111521610","https://openalex.org/W2120633474","https://openalex.org/W2130338305","https://openalex.org/W2132977074","https://openalex.org/W2144827113","https://openalex.org/W2146174147","https://openalex.org/W2147928602","https://openalex.org/W2166462345","https://openalex.org/W2168520354","https://openalex.org/W2335913215","https://openalex.org/W2611243847","https://openalex.org/W4232238193","https://openalex.org/W4236174139","https://openalex.org/W4244044799","https://openalex.org/W6629207097"],"related_works":["https://openalex.org/W2051058708","https://openalex.org/W1494268238","https://openalex.org/W154868527","https://openalex.org/W1983207144","https://openalex.org/W2490706771","https://openalex.org/W2480116122","https://openalex.org/W4255576661","https://openalex.org/W1516574938","https://openalex.org/W2625725254","https://openalex.org/W2563912921"],"abstract_inverted_index":{"Abstract":[0],"\u2014":[1],"The":[2,99],"DPC":[3,41,63],"algorithm":[4,100],"developed":[5],"in":[6,21,162],"our":[7],"previous":[8],"work":[9,38],"is":[10,67,86,114],"an":[11,70,111,155],"efficient":[12,156],"way":[13],"of":[14,33,45,60,73,104,106,127,144],"computing":[15],"optimal":[16,112],"trajectories":[17],"for":[18,159],"multiple":[19,46],"robots":[20],"a":[22,96,136,142],"distributed":[23],"fashion":[24],"with":[25,124],"timeparameterized":[26],"constraints":[27,59,120],"on":[28,91],"the":[29,36,43,55,61,92,102,107,117,128,145,149],"distances":[30],"between":[31],"pairs":[32],"robots.":[34],"In":[35],"present":[37],"we":[39],"extend":[40],"to":[42,78,95],"problem":[44,52,133],"task":[47,150],"execution.":[48],"While":[49],"this":[50,132,163],"extended":[51],"inherits":[53],"all":[54],"objectives,":[56],"complexities":[57],"and":[58,148],"basic":[62],"algorithm,":[64],"each":[65],"robot":[66],"also":[68],"given":[69],"unordered":[71],"set":[72],"tasks":[74,93,108],"that":[75,110,140],"it":[76,81],"has":[77],"execute":[79],"before":[80],"reaches":[82],"its":[83],"goal.":[84],"There":[85],"no":[87],"specific":[88],"order":[89,103],"imposed":[90],"assigned":[94],"particular":[97],"robot.":[98],"decides":[101],"execution":[105,126],"such":[109],"solution":[113],"attained":[115],"while":[116],"time-parametrized":[118],"distance":[119],"are":[121],"satisfied":[122],"along":[123],"successful":[125],"tasks.":[129],"We":[130,152],"solve":[131],"by":[134],"designing":[135],"\u201cState-task":[137],"Graph":[138],"\u201d":[139],"represents":[141],"product":[143],"state-space":[146],"graph":[147],"graph.":[151,164],"then":[153],"develop":[154],"heuristic":[157],"function":[158],"performing":[160],"searches":[161],"I.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
