{"id":"https://openalex.org/W4406611276","doi":"https://doi.org/10.1109/smc54092.2024.10831140","title":"Adaptive Anytime Multi-Agent Path Finding with Density and Delay in Large Neighborhood Search","display_name":"Adaptive Anytime Multi-Agent Path Finding with Density and Delay in Large Neighborhood Search","publication_year":2024,"publication_date":"2024-10-06","ids":{"openalex":"https://openalex.org/W4406611276","doi":"https://doi.org/10.1109/smc54092.2024.10831140"},"language":"en","primary_location":{"id":"doi:10.1109/smc54092.2024.10831140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc54092.2024.10831140","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5044331942","display_name":"Zhihe Wu","orcid":"https://orcid.org/0009-0000-6734-755X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zixian Wu","raw_affiliation_strings":["School of Artificial Intelligence, Sun Yat-sen University,Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Sun Yat-sen University,Guangzhou,China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101806438","display_name":"Zitong Chen","orcid":"https://orcid.org/0000-0003-3467-7311"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zitong Chen","raw_affiliation_strings":["School of Artificial Intelligence, Sun Yat-sen University,Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Sun Yat-sen University,Guangzhou,China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5044331942"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26853478,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5238","last_page":"5244"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"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":0.9988999962806702,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9907000064849854,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9800000190734863,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/computer-science","display_name":"Computer science","score":0.6860946416854858},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6279157996177673},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.15788692235946655}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6860946416854858},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6279157996177673},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.15788692235946655}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc54092.2024.10831140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc54092.2024.10831140","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1488757178","https://openalex.org/W1549280300","https://openalex.org/W1989407213","https://openalex.org/W2105002757","https://openalex.org/W2137514195","https://openalex.org/W2137849348","https://openalex.org/W2404271123","https://openalex.org/W2740333758","https://openalex.org/W2914296650","https://openalex.org/W2964211993","https://openalex.org/W2964997335","https://openalex.org/W3175724379","https://openalex.org/W3190828211","https://openalex.org/W4246623349","https://openalex.org/W4283790961","https://openalex.org/W4393147142","https://openalex.org/W6603775515","https://openalex.org/W6744401026","https://openalex.org/W7037869552"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"The":[0],"Multi-Agent":[1],"Path":[2],"Finding":[3],"(MAPF)":[4,59],"problem":[5],"is":[6,33,42,60,75],"to":[7,112],"find":[8],"a":[9,18,61,93,129],"set":[10,166],"of":[11,52,78,105,117,146,155,157,162,170,187,194],"collision-free":[12],"paths":[13,102],"for":[14,64,88,103],"multiple":[15,160],"agents":[16,106],"within":[17],"shared":[19],"environment":[20],"while":[21],"minimizing":[22],"the":[23,50,53,76,79,115,118,142,147,163,185,188,192],"total":[24],"time":[25],"spent.":[26],"In":[27,124],"MAPF,":[28],"finding":[29,39],"an":[30],"optimal":[31],"solution":[32,95,119,190],"NP-hard.":[34],"And":[35],"in":[36,67,183],"some":[37],"cases,":[38],"suboptimal":[40],"solutions":[41],"also":[43],"NP-hard,":[44],"with":[45,167],"severe":[46],"limitations":[47],"imposed":[48],"by":[49],"scale":[51],"problem.":[54],"Anytime":[55],"multi-agent":[56,69],"path":[57,65],"planning":[58],"promising":[62],"method":[63],"optimization":[66],"large-scale":[68,89],"systems.":[70],"Large":[71],"Neighborhood":[72],"Search":[73],"(LNS)":[74],"foundation":[77],"state-of-the-art":[80,149],"anytime":[81],"MAPF":[82,164],"and":[83,98,137,191],"can":[84],"even":[85],"perform":[86],"well":[87],"issues.":[90],"It":[91],"discovers":[92],"fast":[94],"at":[96],"first,":[97],"then":[99],"iteratively":[100],"plans":[101],"subsets":[104],"produced":[107],"via":[108],"de-structive":[109],"heuristic":[110],"techniques":[111],"gradually":[113],"enhance":[114],"quality":[116,186],"until":[120],"it":[121],"approaches":[122],"optimality.":[123],"this":[125],"paper,":[126],"we":[127],"propose":[128],"subset":[130,143],"selection":[131,144],"algorithm":[132],"based":[133],"on":[134,159],"maximum":[135],"latency":[136],"density,":[138],"which":[139],"improves":[140],"upon":[141],"rule":[145],"existing":[148],"solver,":[150,178],"MAPF-LNS.":[151],"We":[152],"conducted":[153],"tens":[154],"thousands":[156],"experiments":[158],"maps":[161],"benchmark":[165],"larger":[168],"numbers":[169],"agents.":[171],"Our":[172],"experimental":[173],"results":[174],"indicate":[175],"that":[176],"our":[177],"MAPF-DD-LNS,":[179],"significantly":[180],"outperforms":[181],"MAPF-LNS":[182],"both":[184],"final":[189],"speed":[193],"resolution.":[195]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}