{"id":"https://openalex.org/W4395069512","doi":"https://doi.org/10.1109/tac.2024.3393126","title":"Deadlock Resolution and Recursive Feasibility in MPC-Based Multirobot Trajectory Generation","display_name":"Deadlock Resolution and Recursive Feasibility in MPC-Based Multirobot Trajectory Generation","publication_year":2024,"publication_date":"2024-04-24","ids":{"openalex":"https://openalex.org/W4395069512","doi":"https://doi.org/10.1109/tac.2024.3393126"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2024.3393126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3393126","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-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/A5049358276","display_name":"Yuda Chen","orcid":"https://orcid.org/0000-0001-5674-7400"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuda Chen","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5674-7400","affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032581175","display_name":"Meng Guo","orcid":"https://orcid.org/0000-0003-4562-854X"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meng Guo","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4562-854X","affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091694797","display_name":"Zhongkui Li","orcid":"https://orcid.org/0000-0002-9361-4305"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongkui Li","raw_affiliation_strings":["State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9361-4305","affiliations":[{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.7005,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.96027592,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"69","issue":"9","first_page":"6058","last_page":"6073"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983000159263611,"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":0.9983000159263611,"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/T10933","display_name":"Real-Time Systems Scheduling","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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":0.9966999888420105,"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/trajectory","display_name":"Trajectory","score":0.7795544862747192},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6383151412010193},{"id":"https://openalex.org/keywords/deadlock-prevention-algorithms","display_name":"Deadlock prevention algorithms","score":0.5177971124649048},{"id":"https://openalex.org/keywords/deadlock","display_name":"Deadlock","score":0.4703882932662964},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4352525472640991},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4129871726036072},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3519659638404846},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.23755833506584167},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22010120749473572},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17578747868537903},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16711324453353882}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7795544862747192},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6383151412010193},{"id":"https://openalex.org/C113429609","wikidata":"https://www.wikidata.org/wiki/Q4060699","display_name":"Deadlock prevention algorithms","level":3,"score":0.5177971124649048},{"id":"https://openalex.org/C159023740","wikidata":"https://www.wikidata.org/wiki/Q623276","display_name":"Deadlock","level":2,"score":0.4703882932662964},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4352525472640991},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4129871726036072},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3519659638404846},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.23755833506584167},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22010120749473572},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17578747868537903},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16711324453353882},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2024.3393126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3393126","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3413265959","display_name":null,"funder_award_id":"62203017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G352320128","display_name":null,"funder_award_id":"2022ZD0116401","funder_id":"https://openalex.org/F4320329860","funder_display_name":"National Science and Technology Major Project"},{"id":"https://openalex.org/G4606779385","display_name":null,"funder_award_id":"62373008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5455908029","display_name":null,"funder_award_id":"U2241214","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8670534201","display_name":null,"funder_award_id":"T2121002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320329860","display_name":"National Science and Technology Major Project","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W192919555","https://openalex.org/W627911362","https://openalex.org/W1487127700","https://openalex.org/W1489244333","https://openalex.org/W1596877211","https://openalex.org/W2034182710","https://openalex.org/W2062731992","https://openalex.org/W2069830673","https://openalex.org/W2099550549","https://openalex.org/W2113286054","https://openalex.org/W2115986224","https://openalex.org/W2130519480","https://openalex.org/W2142943472","https://openalex.org/W2162991084","https://openalex.org/W2282034761","https://openalex.org/W2291649624","https://openalex.org/W2291822103","https://openalex.org/W2572948921","https://openalex.org/W2573311857","https://openalex.org/W2588802774","https://openalex.org/W2743098504","https://openalex.org/W2755238136","https://openalex.org/W2790268363","https://openalex.org/W2886374915","https://openalex.org/W2886401384","https://openalex.org/W2891214310","https://openalex.org/W2909324603","https://openalex.org/W2921615929","https://openalex.org/W2962946377","https://openalex.org/W2963809389","https://openalex.org/W2979765853","https://openalex.org/W2991570803","https://openalex.org/W3031798691","https://openalex.org/W3033592921","https://openalex.org/W3091228207","https://openalex.org/W3106159961","https://openalex.org/W3115747676","https://openalex.org/W3126305458","https://openalex.org/W3133981754","https://openalex.org/W3149551512","https://openalex.org/W3155100084","https://openalex.org/W3183413118","https://openalex.org/W3192144420","https://openalex.org/W3196920896","https://openalex.org/W3200397171","https://openalex.org/W3209213092","https://openalex.org/W4200163943","https://openalex.org/W4200336137","https://openalex.org/W4250589301","https://openalex.org/W4283733393","https://openalex.org/W4284968364","https://openalex.org/W4297825594","https://openalex.org/W4366678338","https://openalex.org/W6696497002"],"related_works":["https://openalex.org/W2050076411","https://openalex.org/W1542183432","https://openalex.org/W2001478969","https://openalex.org/W2360686363","https://openalex.org/W1900787600","https://openalex.org/W2136552483","https://openalex.org/W2117224408","https://openalex.org/W2166954426","https://openalex.org/W3137070212","https://openalex.org/W2379911191"],"abstract_inverted_index":{"Online":[0],"collision-free":[1],"trajectory":[2],"generation":[3],"within":[4],"a":[5,37,41,77,93,122],"shared":[6],"workspace":[7],"is":[8,90,113,128,187],"fundamental":[9],"for":[10,189],"most":[11],"multi-robot":[12,206],"applications.":[13],"However,":[14],"many":[15],"widely-used":[16],"methods":[17,56,220],"based":[18],"on":[19,27,106,161,210],"model":[20,82,185],"predictive":[21,83],"control":[22,84],"(MPC)":[23],"lack":[24],"theoretical":[25],"guarantees":[26],"the":[28,97,109,167,175],"feasibility":[29,173],"of":[30,111,174],"underlying":[31,176],"optimization.":[32],"Furthermore,":[33],"when":[34],"applied":[35],"in":[36,215,223],"distributed":[38],"manner":[39],"without":[40],"central":[42],"coordinator,":[43],"deadlocks":[44,112,134,155],"often":[45],"occur":[46],"where":[47],"several":[48],"robots":[49,191],"block":[50],"each":[51,179],"other":[52,218],"indefinitely.":[53],"Whereas":[54],"heuristic":[55],"such":[57],"as":[58,92],"introducing":[59],"random":[60],"perturbations":[61],"exist,":[62],"no":[63,153],"profound":[64],"analyses":[65],"are":[66,202,213],"given":[67],"to":[68,118,121,148],"validate":[69],"these":[70],"measures.":[71],"Towards":[72],"this":[73,107],"end,":[74],"we":[75],"propose":[76],"systematic":[78],"method":[79],"called":[80],"infinite-horizon":[81],"with":[85,102,217],"deadlock":[86],"resolution.":[87],"The":[88],"MPC":[89],"formulated":[91],"convex":[94],"optimization":[95,177],"over":[96,204],"proposed":[98,168],"modified":[99],"buffered":[100],"Voronoi":[101],"warning":[103],"band.":[104],"Based":[105],"formulation,":[108],"condition":[110],"formally":[114],"analyzed":[115],"and":[116,184,192,199,221,225],"proven":[117],"be":[119],"analogous":[120],"force":[123,146],"equilibrium.":[124],"A":[125],"detection-resolution":[126],"scheme":[127,147],"proposed,":[129],"which":[130,152],"can":[131,156],"effectively":[132],"detect":[133],"online":[135],"before":[136],"they":[137],"even":[138],"happen.":[139],"Once":[140],"detected,":[141],"it":[142],"utilizes":[143],"an":[144],"adaptive":[145],"resolve":[149],"deadlocks,":[150],"under":[151,158,181],"stable":[154],"exist":[157],"minor":[159],"conditions":[160],"robots'":[162],"target":[163],"positions.":[164],"In":[165],"addition,":[166],"planning":[169],"algorithm":[170],"ensures":[171],"recursive":[172],"at":[178],"replanning":[180],"both":[182],"input":[183],"constraints,":[186],"concurrent":[188],"all":[190],"requires":[193],"only":[194],"local":[195],"communication.":[196],"Comprehensive":[197],"simulation":[198],"experiment":[200],"studies":[201],"conducted":[203],"large-scale":[205],"systems.":[207],"Significant":[208],"improvements":[209],"success":[211],"rate":[212],"reported,":[214],"comparison":[216],"state-of-the-art":[219],"especially":[222],"crowded":[224],"high-speed":[226],"scenarios.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
