{"id":"https://openalex.org/W7131812943","doi":"https://doi.org/10.1109/sii64115.2026.11404490","title":"Combining High Level Scheduling and Low Level Control to Manage Fleets of Mobile Robots","display_name":"Combining High Level Scheduling and Low Level Control to Manage Fleets of Mobile Robots","publication_year":2026,"publication_date":"2026-01-11","ids":{"openalex":"https://openalex.org/W7131812943","doi":"https://doi.org/10.1109/sii64115.2026.11404490"},"language":null,"primary_location":{"id":"doi:10.1109/sii64115.2026.11404490","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii64115.2026.11404490","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 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/A5064831005","display_name":"Sabino Francesco Roselli","orcid":"https://orcid.org/0000-0002-4845-3565"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Sabino Francesco Roselli","raw_affiliation_strings":["Chalmers University of Technology,Division of Systems and Control,Department of Electrical Engineering,G&#x00F6;teborg,Sweden"],"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Division of Systems and Control,Department of Electrical Engineering,G&#x00F6;teborg,Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036155189","display_name":"Z. Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Ze Zhang","raw_affiliation_strings":["Chalmers University of Technology,Division of Systems and Control,Department of Electrical Engineering,G&#x00F6;teborg,Sweden"],"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Division of Systems and Control,Department of Electrical Engineering,G&#x00F6;teborg,Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5123210764","display_name":"Knut \u00c5kesson","orcid":null},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Knut \u00c5kesson","raw_affiliation_strings":["Chalmers University of Technology,Division of Systems and Control,Department of Electrical Engineering,G&#x00F6;teborg,Sweden"],"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Division of Systems and Control,Department of Electrical Engineering,G&#x00F6;teborg,Sweden","institution_ids":["https://openalex.org/I66862912"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5064831005"],"corresponding_institution_ids":["https://openalex.org/I66862912"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35227928,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1143","last_page":"1148"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.2506999969482422,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T10933","display_name":"Real-Time Systems Scheduling","score":0.2506999969482422,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T12203","display_name":"Mobile Agent-Based Network Management","score":0.15459999442100525,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.06639999896287918,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/software-deployment","display_name":"Software deployment","score":0.7427999973297119},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.6996999979019165},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5936999917030334},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.582099974155426},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5250999927520752},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5178999900817871},{"id":"https://openalex.org/keywords/dynamic-priority-scheduling","display_name":"Dynamic priority scheduling","score":0.43860000371932983},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4334999918937683}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.7427999973297119},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.6996999979019165},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6204000115394592},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5936999917030334},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.582099974155426},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5250999927520752},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5178999900817871},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4618000090122223},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4544999897480011},{"id":"https://openalex.org/C107568181","wikidata":"https://www.wikidata.org/wiki/Q5319000","display_name":"Dynamic priority scheduling","level":3,"score":0.43860000371932983},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4334999918937683},{"id":"https://openalex.org/C55416958","wikidata":"https://www.wikidata.org/wiki/Q6206757","display_name":"Job shop scheduling","level":3,"score":0.34950000047683716},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.34950000047683716},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.3418999910354614},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3366999924182892},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3319999873638153},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.311599999666214},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.2782000005245209},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.2770000100135803},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2743000090122223},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.2734000086784363},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2728999853134155},{"id":"https://openalex.org/C19012869","wikidata":"https://www.wikidata.org/wiki/Q578372","display_name":"Response time","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25690001249313354},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25029999017715454}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii64115.2026.11404490","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii64115.2026.11404490","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321030","display_name":"VINNOVA","ror":"https://ror.org/01kd5m353"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1480909796","https://openalex.org/W2094764575","https://openalex.org/W2169528473","https://openalex.org/W2940740707","https://openalex.org/W2963888662","https://openalex.org/W3046666013","https://openalex.org/W3109386843","https://openalex.org/W3125055412","https://openalex.org/W3184996842","https://openalex.org/W4225140882","https://openalex.org/W4313006688","https://openalex.org/W4387740277","https://openalex.org/W4389920843","https://openalex.org/W4390492561","https://openalex.org/W4401415691","https://openalex.org/W4402508308","https://openalex.org/W4403678750","https://openalex.org/W4410949852"],"related_works":[],"abstract_inverted_index":{"The":[0,77,124],"deployment":[1,140],"of":[2,14,127],"mobile":[3],"robots":[4],"for":[5,47,72,131,139],"material":[6],"handling":[7],"in":[8,17,63,87,102,141],"industrial":[9,144],"environments":[10,105],"requires":[11],"scalable":[12],"coordination":[13],"large":[15],"fleets":[16],"dynamic":[18,75],"settings.":[19],"This":[20],"paper":[21],"presents":[22],"a":[23,56],"two-layer":[24],"framework":[25,129],"that":[26],"combines":[27],"high-level":[28],"scheduling":[29],"with":[30,106],"low-level":[31],"control.":[32],"Tasks":[33],"are":[34,52],"assigned":[35],"and":[36,74,83,110,118,134],"scheduled":[37],"using":[38],"the":[39,100,128],"compositional":[40],"algorithm":[41],"ComSat,":[42],"which":[43],"generates":[44],"time-parameterized":[45],"routes":[46],"each":[48],"robot.":[49],"These":[50],"schedules":[51],"then":[53],"used":[54],"by":[55],"distributed":[57],"Model":[58],"Predictive":[59],"Control":[60],"(MPC)":[61],"system":[62],"real":[64],"time":[65],"to":[66,89],"compute":[67],"local":[68],"reference":[69],"trajectories,":[70],"accounting":[71],"static":[73],"obstacles.":[76],"approach":[78],"ensures":[79],"safe,":[80],"collision-free":[81],"operation":[82],"supports":[84],"rapid":[85],"rescheduling":[86],"response":[88],"disruptions":[90],"such":[91],"as":[92],"robot":[93],"failures":[94],"or":[95],"environmental":[96],"changes.":[97],"We":[98],"evaluate":[99],"method":[101],"simulated":[103],"2D":[104],"varying":[107],"road":[108],"capacities":[109],"traffic":[111],"conditions,":[112],"demonstrating":[113],"high":[114],"task":[115],"completion":[116],"rates":[117],"robust":[119],"behavior":[120],"even":[121],"under":[122],"congestion.":[123],"modular":[125],"structure":[126],"allows":[130],"computational":[132],"tractability":[133],"flexibility,":[135],"making":[136],"it":[137],"suitable":[138],"complex,":[142],"real-world":[143],"scenarios.":[145]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-02-28T00:00:00"}
