{"id":"https://openalex.org/W3121490723","doi":"https://doi.org/10.1109/ssrr50563.2020.9292605","title":"Cooperative and load-balancing auctions for heterogeneous multi-robot teams dealing with spatial and non-atomic tasks","display_name":"Cooperative and load-balancing auctions for heterogeneous multi-robot teams dealing with spatial and non-atomic tasks","publication_year":2020,"publication_date":"2020-11-04","ids":{"openalex":"https://openalex.org/W3121490723","doi":"https://doi.org/10.1109/ssrr50563.2020.9292605","mag":"3121490723"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr50563.2020.9292605","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5066193405","display_name":"Mohammed Ishaq Ansari","orcid":"https://orcid.org/0000-0002-3243-6541"},"institutions":[{"id":"https://openalex.org/I4210089979","display_name":"Carnegie Mellon University Qatar","ror":"https://ror.org/00az5dt38","country_code":"QA","type":"education","lineage":["https://openalex.org/I4210089979","https://openalex.org/I74973139"]}],"countries":["QA"],"is_corresponding":true,"raw_author_name":"Ishaq Ansari","raw_affiliation_strings":["Carnegie Mellon University Qatar, Doha, Qatar"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University Qatar, Doha, Qatar","institution_ids":["https://openalex.org/I4210089979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080888124","display_name":"Abubakr Mohamed","orcid":"https://orcid.org/0000-0002-7854-7589"},"institutions":[{"id":"https://openalex.org/I4210089979","display_name":"Carnegie Mellon University Qatar","ror":"https://ror.org/00az5dt38","country_code":"QA","type":"education","lineage":["https://openalex.org/I4210089979","https://openalex.org/I74973139"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Abubakr Mohamed","raw_affiliation_strings":["Carnegie Mellon University Qatar, Doha, Qatar"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University Qatar, Doha, Qatar","institution_ids":["https://openalex.org/I4210089979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044318367","display_name":"Eduardo Feo Flushing","orcid":"https://orcid.org/0000-0002-0005-7133"},"institutions":[{"id":"https://openalex.org/I4210089979","display_name":"Carnegie Mellon University Qatar","ror":"https://ror.org/00az5dt38","country_code":"QA","type":"education","lineage":["https://openalex.org/I4210089979","https://openalex.org/I74973139"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Eduardo Feo Flushing","raw_affiliation_strings":["Carnegie Mellon University Qatar, Doha, Qatar"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University Qatar, Doha, Qatar","institution_ids":["https://openalex.org/I4210089979"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045906691","display_name":"Saquib Razak","orcid":"https://orcid.org/0000-0002-8825-1052"},"institutions":[{"id":"https://openalex.org/I4210089979","display_name":"Carnegie Mellon University Qatar","ror":"https://ror.org/00az5dt38","country_code":"QA","type":"education","lineage":["https://openalex.org/I4210089979","https://openalex.org/I74973139"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"Saquib Razak","raw_affiliation_strings":["Carnegie Mellon University Qatar, Doha, Qatar"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University Qatar, Doha, Qatar","institution_ids":["https://openalex.org/I4210089979"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5066193405"],"corresponding_institution_ids":["https://openalex.org/I4210089979"],"apc_list":null,"apc_paid":null,"fwci":0.1542,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.554265,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"213","last_page":"220"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9987000226974487,"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"}},"topics":[{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9987000226974487,"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/T11182","display_name":"Auction Theory and Applications","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9929999709129333,"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/computer-science","display_name":"Computer science","score":0.7985638380050659},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6821357011795044},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6150652766227722},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5899099111557007},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.5580005645751953},{"id":"https://openalex.org/keywords/disjoint-sets","display_name":"Disjoint sets","score":0.5353121757507324},{"id":"https://openalex.org/keywords/atomicity","display_name":"Atomicity","score":0.4721013605594635},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.46390530467033386},{"id":"https://openalex.org/keywords/load-balancing","display_name":"Load balancing (electrical power)","score":0.4466514587402344},{"id":"https://openalex.org/keywords/common-value-auction","display_name":"Common value auction","score":0.4275965094566345},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30707526206970215},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.20681002736091614}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7985638380050659},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6821357011795044},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6150652766227722},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5899099111557007},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.5580005645751953},{"id":"https://openalex.org/C45340560","wikidata":"https://www.wikidata.org/wiki/Q215382","display_name":"Disjoint sets","level":2,"score":0.5353121757507324},{"id":"https://openalex.org/C188045909","wikidata":"https://www.wikidata.org/wiki/Q3306359","display_name":"Atomicity","level":3,"score":0.4721013605594635},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.46390530467033386},{"id":"https://openalex.org/C138959212","wikidata":"https://www.wikidata.org/wiki/Q1806783","display_name":"Load balancing (electrical power)","level":3,"score":0.4466514587402344},{"id":"https://openalex.org/C163239763","wikidata":"https://www.wikidata.org/wiki/Q5153637","display_name":"Common value auction","level":2,"score":0.4275965094566345},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30707526206970215},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.20681002736091614},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C75949130","wikidata":"https://www.wikidata.org/wiki/Q848010","display_name":"Database transaction","level":2,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/ssrr50563.2020.9292605","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals","score":0.46000000834465027}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310207","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W89605384","https://openalex.org/W1430617670","https://openalex.org/W1968155726","https://openalex.org/W1972391046","https://openalex.org/W1980964496","https://openalex.org/W2003808711","https://openalex.org/W2032443917","https://openalex.org/W2043981050","https://openalex.org/W2049287714","https://openalex.org/W2104087708","https://openalex.org/W2116226399","https://openalex.org/W2142544818","https://openalex.org/W2144827113","https://openalex.org/W2157464905","https://openalex.org/W2157488300","https://openalex.org/W2245790804","https://openalex.org/W2496475380","https://openalex.org/W2537545174","https://openalex.org/W2804655496","https://openalex.org/W2914661444","https://openalex.org/W2920252816","https://openalex.org/W2961713522","https://openalex.org/W3022092025","https://openalex.org/W6603615271","https://openalex.org/W6628285262","https://openalex.org/W6677391755","https://openalex.org/W6690990499","https://openalex.org/W6728592232"],"related_works":["https://openalex.org/W1591836442","https://openalex.org/W2357517130","https://openalex.org/W1990697576","https://openalex.org/W1520405624","https://openalex.org/W1582361381","https://openalex.org/W2001866549","https://openalex.org/W1600422503","https://openalex.org/W2115269980","https://openalex.org/W4303183859","https://openalex.org/W2914992480"],"abstract_inverted_index":{"In":[0,52],"our":[1],"research,":[2],"we":[3,55],"address":[4],"the":[5,85,109,113,147,160,174,202,205],"problem":[6,28,36],"of":[7,19,22,64,79,87,112,149,173,204],"coordination":[8],"and":[9,59,106,134,151,182,194],"planning":[10],"in":[11,72,104,178],"heterogeneous":[12],"multi-robot":[13],"systems":[14],"for":[15,84,208],"missions":[16],"that":[17,37,47,66],"consists":[18],"a":[20,33,61,89,129,169],"set":[21],"spatially":[23],"localized":[24],"tasks.":[25],"Conventionally,":[26],"this":[27,53,57],"has":[29],"been":[30],"framed":[31],"as":[32],"task":[34,90,132,175],"allocation":[35,133,176],"maps":[38],"tasks":[39,48,65,71,150],"to":[40,82,187],"robots.":[41],"However,":[42],"all":[43],"previous":[44],"work":[45,54],"assume":[46],"are":[49],"atomic":[50],"procedures.":[51],"relax":[56],"assumption":[58],"adopt":[60],"non-atomic":[62],"model":[63,100],"enables":[67],"robot":[68],"accomplishing":[69],"mission":[70,212],"an":[73,184],"incremental":[74],"manner":[75],"over":[76,97],"disjoint":[77],"periods":[78],"time,":[80],"precisely":[81],"account":[83],"possibility":[86],"having":[88],"being":[91],"serviced":[92],"by":[93,121],"multiple":[94],"individual":[95],"contributions":[96],"time.":[98],"This":[99],"can":[101,115],"be":[102,116],"useful":[103],"search":[105],"rescue":[107],"scenarios:":[108],"same":[110,161],"portion":[111],"environment":[114],"explored":[117],"at":[118,159],"different":[119,122,125],"times":[120],"agents":[123,155],"using":[124],"sensors.":[126],"We":[127,166],"propose":[128,183],"cooperative,":[130],"load-balancing":[131],"scheduling":[135],"algorithm":[136],"based":[137],"on":[138],"sequential":[139],"single-item":[140],"auctions":[141],"(CoLoSSI).":[142],"Our":[143],"approach":[144,177,207],"explicitly":[145],"considers":[146],"non-atomicity":[148],"promotes":[152],"synergies":[153],"between":[154],"enabling":[156],"cooperation":[157],"while":[158],"time":[162],"maintaining":[163],"computational":[164,190,193,216],"tractability.":[165],"also":[167,198],"study":[168],"fully":[170],"distributed":[171],"implementation":[172],"sparse,":[179],"communication-restricted":[180],"scenarios,":[181],"effective":[185],"strategy":[186],"enhance":[188],"its":[189],"efficiency.":[191],"A":[192],"simulation":[195],"validation":[196],"is":[197],"carried":[199],"out,":[200],"confirming":[201],"efficacy":[203],"proposed":[206],"generating":[209],"good":[210],"quality":[211],"plans":[213],"with":[214],"low":[215],"effort.":[217]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}