{"id":"https://openalex.org/W4205603810","doi":"https://doi.org/10.1109/smc52423.2021.9659070","title":"Probability-based Path Planning for Multi-Robot Systems with Stochastic Behavior in a Grid Map","display_name":"Probability-based Path Planning for Multi-Robot Systems with Stochastic Behavior in a Grid Map","publication_year":2021,"publication_date":"2021-10-17","ids":{"openalex":"https://openalex.org/W4205603810","doi":"https://doi.org/10.1109/smc52423.2021.9659070"},"language":"en","primary_location":{"id":"doi:10.1109/smc52423.2021.9659070","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc52423.2021.9659070","pdf_url":null,"source":{"id":"https://openalex.org/S4363607761","display_name":"2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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":0.0653,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.36635945,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"263","issue":null,"first_page":"2310","last_page":"2315"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T12288","display_name":"Optimization and Search Problems","score":0.9965999722480774,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9962999820709229,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.8037839531898499},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7434483766555786},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6732686758041382},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6590970754623413},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6454182863235474},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.5870710611343384},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.48137810826301575},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.4764169454574585},{"id":"https://openalex.org/keywords/grid-reference","display_name":"Grid reference","score":0.4264729917049408},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41584187746047974},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37693867087364197},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33405739068984985},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32252973318099976},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16946172714233398}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.8037839531898499},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7434483766555786},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6732686758041382},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6590970754623413},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6454182863235474},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.5870710611343384},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.48137810826301575},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.4764169454574585},{"id":"https://openalex.org/C156172958","wikidata":"https://www.wikidata.org/wiki/Q3438407","display_name":"Grid reference","level":4,"score":0.4264729917049408},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41584187746047974},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37693867087364197},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33405739068984985},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32252973318099976},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16946172714233398},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc52423.2021.9659070","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc52423.2021.9659070","pdf_url":null,"source":{"id":"https://openalex.org/S4363607761","display_name":"2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4399999976158142}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1514478159","https://openalex.org/W1555623254","https://openalex.org/W1592813209","https://openalex.org/W1989407213","https://openalex.org/W2130422193","https://openalex.org/W2149951504","https://openalex.org/W2241553860","https://openalex.org/W2294562513","https://openalex.org/W2336416123","https://openalex.org/W2407888013","https://openalex.org/W6629161821","https://openalex.org/W6630914802","https://openalex.org/W6635545125","https://openalex.org/W6681926268","https://openalex.org/W6714284582"],"related_works":["https://openalex.org/W2140013578","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W2132105173","https://openalex.org/W2908094156","https://openalex.org/W2130588278","https://openalex.org/W2551663027","https://openalex.org/W1605073378","https://openalex.org/W2140110270","https://openalex.org/W3005878929"],"abstract_inverted_index":{"For":[0],"the":[1,9,46,59,68,74,78,86,143],"multi-robot":[2,64,132],"path":[3,22,65,110,129],"planning":[4,62],"on":[5,67,119],"a":[6,21,51,63,115,131],"grid":[7],"map,":[8],"widely":[10],"adopted":[11],"robot":[12,47,69,79],"model":[13,77],"assumes":[14],"that":[15,107],"its":[16],"motion":[17,71],"is":[18,29],"deterministic":[19],"once":[20],"has":[23],"been":[24],"decided.":[25],"However,":[26],"this":[27,55,120],"assumption":[28],"not":[30],"quite":[31],"realistic":[32],"because":[33],"some":[34],"interferences":[35],"such":[36,106],"as":[37],"noise,":[38],"friction":[39],"and":[40,96,147],"inaccurate":[41],"control":[42],"input":[43],"could":[44],"disturb":[45],"motion,":[48],"leading":[49],"to":[50,126],"stochastic":[52],"behavior.":[53],"In":[54],"paper,":[56],"we":[57,76,122,141],"tackle":[58],"problem":[60],"of":[61],"based":[66],"probabilistic":[70],"model.":[72],"At":[73],"beginning,":[75],"action":[80],"with":[81],"several":[82],"probability":[83,135],"distributions,":[84],"where":[85],"basic":[87],"actions":[88,105],"include":[89],"going":[90,94],"forward,":[91],"turning":[92],"left/right,":[93],"backward,":[95],"wait.":[97],"We":[98],"then":[99],"extend":[100],"A-star":[101],"algorithm":[102],"incorporating":[103],"these":[104],"an":[108],"optimal":[109],"can":[111],"be":[112],"planned":[113],"for":[114,130,151],"single":[116],"robot.":[117],"Based":[118],"result,":[121],"apply":[123],"conflict-based":[124],"search":[125],"optimally":[127],"plan":[128],"system.":[133],"Because":[134],"calculation":[136],"demands":[137],"too":[138],"much":[139],"computation":[140],"simplify":[142],"conflict":[144],"detection":[145],"scheme":[146],"make":[148],"it":[149],"applicable":[150],"online":[152],"practice.":[153]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
