{"id":"https://openalex.org/W3012289395","doi":"https://doi.org/10.1109/sii46433.2020.9026229","title":"Adaptive Hierarchical Distributed Control with Cooperative Task Allocation for Robot Swarms","display_name":"Adaptive Hierarchical Distributed Control with Cooperative Task Allocation for Robot Swarms","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3012289395","doi":"https://doi.org/10.1109/sii46433.2020.9026229","mag":"3012289395"},"language":"en","primary_location":{"id":"doi:10.1109/sii46433.2020.9026229","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii46433.2020.9026229","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/SICE International Symposium on System Integration (SII)","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/A5087202037","display_name":"Pham Duy Hung","orcid":"https://orcid.org/0000-0001-7878-9409"},"institutions":[{"id":"https://openalex.org/I22188714","display_name":"University of Prince Edward Island","ror":"https://ror.org/02xh9x144","country_code":"CA","type":"education","lineage":["https://openalex.org/I22188714"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Pham Duy Hung","raw_affiliation_strings":["More-Than-One Robotics Laboratory, University of Prince Edward Island, Canada"],"affiliations":[{"raw_affiliation_string":"More-Than-One Robotics Laboratory, University of Prince Edward Island, Canada","institution_ids":["https://openalex.org/I22188714"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060555317","display_name":"Hung Manh La","orcid":"https://orcid.org/0000-0003-2183-2634"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hung Manh La","raw_affiliation_strings":["Advanced Robotics and Automation (ARA) Laboratory, University of Nevada, Reno, USA"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics and Automation (ARA) Laboratory, University of Nevada, Reno, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051527233","display_name":"Trung Dung Ngo","orcid":"https://orcid.org/0000-0003-3630-8165"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Trung Dung Ngo","raw_affiliation_strings":["University of Engineering and Technology, Hanoi, Vietnam"],"affiliations":[{"raw_affiliation_string":"University of Engineering and Technology, Hanoi, Vietnam","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5087202037"],"corresponding_institution_ids":["https://openalex.org/I22188714"],"apc_list":null,"apc_paid":null,"fwci":0.3084,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.5884219,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1300","last_page":"1305"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.9976999759674072,"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/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7111688852310181},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6918091177940369},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6864055395126343},{"id":"https://openalex.org/keywords/neighbourhood","display_name":"Neighbourhood (mathematics)","score":0.6088884472846985},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.583342432975769},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.5389074087142944},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.507274329662323},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.47571641206741333},{"id":"https://openalex.org/keywords/pruning","display_name":"Pruning","score":0.4320542812347412},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4109938144683838},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31514638662338257},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.22828468680381775},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15434673428535461}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7111688852310181},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6918091177940369},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6864055395126343},{"id":"https://openalex.org/C161677786","wikidata":"https://www.wikidata.org/wiki/Q2478475","display_name":"Neighbourhood (mathematics)","level":2,"score":0.6088884472846985},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.583342432975769},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.5389074087142944},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.507274329662323},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.47571641206741333},{"id":"https://openalex.org/C108010975","wikidata":"https://www.wikidata.org/wiki/Q500094","display_name":"Pruning","level":2,"score":0.4320542812347412},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4109938144683838},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31514638662338257},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.22828468680381775},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15434673428535461},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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":1,"locations":[{"id":"doi:10.1109/sii46433.2020.9026229","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii46433.2020.9026229","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1126974217","https://openalex.org/W2043698158","https://openalex.org/W2108556117","https://openalex.org/W2150312211","https://openalex.org/W2161364298","https://openalex.org/W2191312089","https://openalex.org/W2408083888","https://openalex.org/W2603752963","https://openalex.org/W2610558458","https://openalex.org/W2783112349","https://openalex.org/W2900987377","https://openalex.org/W2946013114","https://openalex.org/W2962848788","https://openalex.org/W3021557823","https://openalex.org/W3100990023","https://openalex.org/W6762674606"],"related_works":["https://openalex.org/W4288714711","https://openalex.org/W3200708550","https://openalex.org/W2736680465","https://openalex.org/W2771637876","https://openalex.org/W4294093918","https://openalex.org/W4240853094","https://openalex.org/W2810496283","https://openalex.org/W2170656329","https://openalex.org/W3131977017","https://openalex.org/W3205823858"],"abstract_inverted_index":{"We":[0,103],"present":[1],"an":[2],"adaptive":[3],"hierarchical":[4,25],"distributed":[5,26],"control":[6,27],"strategy":[7],"(AHDC)":[8],"enabling":[9],"a":[10,91],"small":[11],"swarm":[12],"of":[13,57,71,109],"mobile":[14,49],"robots":[15],"to":[16,32,89,93],"explore":[17],"and":[18,69,80,106,115],"track":[19,94],"very":[20],"large":[21,100],"target":[22,77,98,101],"clouds.":[23,102],"The":[24],"architecture":[28],"(HDC)":[29],"is":[30,55,84],"designed":[31],"govern":[33],"not":[34],"only":[35],"robot":[36,50,64,92],"behaviours":[37],"but":[38],"also":[39],"their":[40],"neighbourhood":[41,60],"connectivities":[42,61],"for":[43],"global":[44],"network":[45],"integrity":[46],"preservation.":[47],"A":[48,75],"equipped":[51],"with":[52,67],"the":[53,63,87,110],"HDC":[54,88],"capable":[56],"adaptively":[58],"pruning":[59],"so":[62],"can":[65],"deal":[66],"complexity":[68],"constraints":[70],"local":[72],"connectivity":[73],"topologies.":[74],"cooperative":[76],"observation,":[78],"tracking,":[79],"release":[81],"(COTR)":[82],"algorithm":[83],"incorporated":[85],"into":[86],"allow":[90],"more":[95],"than":[96],"one":[97],"in":[99],"have":[104],"demonstrated":[105],"evaluated":[107],"effectiveness":[108],"AHDC":[111],"through":[112],"both":[113],"simulation":[114],"real-world":[116],"experiments.":[117]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}