{"id":"https://openalex.org/W3112457812","doi":"https://doi.org/10.1109/smc42975.2020.9283286","title":"Heterogeneous Multi-Robot Path Planning Based on Probabilistic Motion Model","display_name":"Heterogeneous Multi-Robot Path Planning Based on Probabilistic Motion Model","publication_year":2020,"publication_date":"2020-10-11","ids":{"openalex":"https://openalex.org/W3112457812","doi":"https://doi.org/10.1109/smc42975.2020.9283286","mag":"3112457812"},"language":"en","primary_location":{"id":"doi:10.1109/smc42975.2020.9283286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc42975.2020.9283286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5101598277","display_name":"Biao Hu","orcid":"https://orcid.org/0000-0002-8968-7229"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Biao Hu","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100342615","display_name":"Haonan Wang","orcid":"https://orcid.org/0009-0006-6963-8987"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haonan Wang","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079155612","display_name":"Zhengcai Cao","orcid":"https://orcid.org/0000-0003-0344-0207"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengcai Cao","raw_affiliation_strings":["College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101598277"],"corresponding_institution_ids":["https://openalex.org/I75390827"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14920683,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"263","issue":null,"first_page":"1323","last_page":"1328"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10142","display_name":"Formal Methods in Verification","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/robot","display_name":"Robot","score":0.7914879322052002},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7675459384918213},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7038570642471313},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5962708592414856},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5605554580688477},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.48660171031951904},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.47201937437057495},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44621333479881287},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43771740794181824},{"id":"https://openalex.org/keywords/probability-distribution","display_name":"Probability distribution","score":0.41725873947143555},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3527982234954834},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3285452127456665},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16795343160629272}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7914879322052002},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7675459384918213},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7038570642471313},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5962708592414856},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5605554580688477},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.48660171031951904},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.47201937437057495},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44621333479881287},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43771740794181824},{"id":"https://openalex.org/C149441793","wikidata":"https://www.wikidata.org/wiki/Q200726","display_name":"Probability distribution","level":2,"score":0.41725873947143555},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3527982234954834},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3285452127456665},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16795343160629272},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc42975.2020.9283286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc42975.2020.9283286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1551562380","https://openalex.org/W1989407213","https://openalex.org/W2021042867","https://openalex.org/W2045403423","https://openalex.org/W2123030512","https://openalex.org/W2124015815","https://openalex.org/W2155313135","https://openalex.org/W2241553860","https://openalex.org/W2294562513","https://openalex.org/W2522427587","https://openalex.org/W2772821814","https://openalex.org/W2799139340","https://openalex.org/W2808475207","https://openalex.org/W6629161821"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2161428574","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2170661558","https://openalex.org/W2999143598","https://openalex.org/W2150982344","https://openalex.org/W2157678966"],"abstract_inverted_index":{"An":[0],"important":[1],"problem":[2],"in":[3,52],"multi-robot":[4,82],"system":[5,54],"is":[6,28,37,160],"how":[7],"to":[8,61,96,138],"coordinate":[9],"robot's":[10],"motion":[11,27,88,113,147],"such":[12,44,155],"that":[13,25,86,143,156],"each":[14],"robot":[15,58,92,106],"can":[16,98],"complete":[17],"its":[18,108],"task":[19],"without":[20],"collision.":[21],"Previous":[22],"approaches":[23],"assume":[24,85],"robots'":[26],"deterministic":[29],"once":[30],"their":[31],"paths":[32],"have":[33],"been":[34],"planned,":[35],"which":[36],"however":[38],"not":[39],"realistic":[40],"because":[41],"random":[42],"interferences":[43],"as":[45,101],"noise,":[46],"friction":[47],"and":[48,128],"inaccurate":[49],"control":[50],"input":[51],"real-life":[53],"could":[55],"disturb":[56],"the":[57,77,87,131,140,145,170],"motion,":[59],"leading":[60],"a":[62,80,91,94,102,122,164],"stochastic":[63,71],"behavior.":[64],"In":[65],"this":[66,70,126,152],"paper,":[67],"we":[68],"take":[69],"behavior":[72],"into":[73],"account":[74],"when":[75],"planning":[76],"path":[78,142],"for":[79,125,163],"heterogeneous":[81],"system.":[83,166],"We":[84,120,149],"time":[89,114],"of":[90,112,173],"from":[93],"location":[95],"another":[97],"be":[99],"modeled":[100],"probability":[103,110,136],"distribution.":[104],"Every":[105],"has":[107],"own":[109],"distribution":[111],"between":[115],"any":[116],"two":[117],"neighbor":[118],"locations.":[119],"develop":[121],"conflict-detection":[123],"scheme":[124],"model":[127],"propose":[129],"using":[130],"conflict-based":[132],"search":[133],"algorithm":[134],"via":[135],"calculation":[137],"find":[139],"optimal":[141],"minimizes":[144],"entire":[146],"time.":[148],"also":[150],"simplify":[151],"conflict":[153],"detection":[154],"our":[157,174],"proposed":[158,175],"approach":[159],"applicable":[161],"online":[162],"large-scale":[165],"Experimental":[167],"results":[168],"demonstrate":[169],"high":[171],"effectiveness":[172],"approaches.":[176]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}