{"id":"https://openalex.org/W4410297832","doi":"https://doi.org/10.1109/simpar62925.2025.10979152","title":"Augmented Costmap-Based Path Planning and Control for Multi-Mobile Robot Rigid Formation","display_name":"Augmented Costmap-Based Path Planning and Control for Multi-Mobile Robot Rigid Formation","publication_year":2025,"publication_date":"2025-04-14","ids":{"openalex":"https://openalex.org/W4410297832","doi":"https://doi.org/10.1109/simpar62925.2025.10979152"},"language":"en","primary_location":{"id":"doi:10.1109/simpar62925.2025.10979152","is_oa":false,"landing_page_url":"https://doi.org/10.1109/simpar62925.2025.10979152","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5072456985","display_name":"Stefano Mutti","orcid":"https://orcid.org/0000-0003-2180-908X"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Stefano Mutti","raw_affiliation_strings":["SUPSI DTI,Lugano,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SUPSI DTI,Lugano,Switzerland","institution_ids":["https://openalex.org/I15196421"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066166229","display_name":"Roberto Fausti","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roberto Fausti","raw_affiliation_strings":["CNR STIIMA,Milano,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNR STIIMA,Milano,Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090332923","display_name":"Nicola Pedrocchi","orcid":"https://orcid.org/0000-0002-1610-001X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nicola Pedrocchi","raw_affiliation_strings":["CNR STIIMA,Milano,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNR STIIMA,Milano,Italy","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088210442","display_name":"Anna Valente","orcid":"https://orcid.org/0000-0003-3257-4482"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Anna Valente","raw_affiliation_strings":["SUPSI DTI,Lugano,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SUPSI DTI,Lugano,Switzerland","institution_ids":["https://openalex.org/I15196421"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08781429,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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":0.9987999796867371,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9815000295639038,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9763000011444092,"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/mobile-robot","display_name":"Mobile robot","score":0.7712762355804443},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6977523565292358},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6686903238296509},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5277149081230164},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4341229796409607},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4313097894191742},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4287261664867401},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4246130585670471},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29006248712539673},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.14555588364601135}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7712762355804443},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6977523565292358},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6686903238296509},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5277149081230164},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4341229796409607},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4313097894191742},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4287261664867401},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4246130585670471},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29006248712539673},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.14555588364601135}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/simpar62925.2025.10979152","is_oa":false,"landing_page_url":"https://doi.org/10.1109/simpar62925.2025.10979152","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.550000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W3114279067","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2359600231"],"abstract_inverted_index":{"This":[0,115],"work":[1],"proposes":[2],"a":[3,13,22,26,30,45,59,107,141,168],"novel":[4],"method":[5,41,139,143],"to":[6,11,33,97,121,127,144],"generate":[7],"an":[8,99],"environment":[9,65],"costmap":[10,46],"plan":[12,98],"feasible":[14,132],"path":[15,101],"for":[16,102,135],"multiple":[17],"autonomous":[18],"mobile":[19,36,148],"robots":[20,37],"in":[21,49,150,162],"rigid":[23,69],"formation":[24,74],"using":[25,106],"leader-follower":[27],"approach":[28],"and":[29,67,166],"regulation":[31],"algorithm":[32,110],"control":[34,142],"the":[35,51,64,68,72,79,83,87,103,117,128,138,146,151,155],"during":[38,154],"navigation.":[39,156],"The":[40,90,157],"is":[42,94,160],"based":[43],"on":[44,82,167],"merging":[47],"technique":[48],"which":[50],"involved":[52],"robots\u2019":[53,104],"two-dimensional":[54],"costmaps":[55],"are":[56],"merged":[57],"into":[58],"three-dimensional":[60,92],"one":[61],"that":[62],"embeds":[63],"description":[66],"structure":[70],"of":[71,77,86],"multi-robot":[73],"by":[75],"means":[76],"sampling":[78],"leader\u2019s":[80],"rotations":[81],"additional":[84],"dimension":[85],"generated":[88],"costmap.":[89],"resulting":[91],"grid":[93],"then":[95],"employed":[96],"optimal":[100],"formation,":[105],"graph-based":[108],"path-finding":[109],"such":[111],"as":[112],"A\u2217or":[113],"Theta\u2217.":[114],"enables":[116],"whole":[118],"planning":[119],"task":[120],"be":[122],"pursued":[123],"only":[124],"with":[125],"respect":[126],"leader":[129],"while":[130],"generating":[131],"trajectories":[133],"also":[134],"followers.":[136],"Finally,":[137],"includes":[140],"regulate":[145],"following":[147],"platforms":[149],"nominal":[152],"configuration":[153],"devised":[158],"model":[159],"tested":[161],"different":[163],"simulated":[164],"scenarios":[165],"real":[169],"setup.":[170]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}