{"id":"https://openalex.org/W3023013592","doi":"https://doi.org/10.1109/tase.2020.2986641","title":"Robust Assignment Using Redundant Robots on Transport Networks With Uncertain Travel Time","display_name":"Robust Assignment Using Redundant Robots on Transport Networks With Uncertain Travel Time","publication_year":2020,"publication_date":"2020-05-05","ids":{"openalex":"https://openalex.org/W3023013592","doi":"https://doi.org/10.1109/tase.2020.2986641","mag":"3023013592"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2020.2986641","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2020.2986641","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.17863/cam.51301","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066624177","display_name":"Amanda Prorok","orcid":"https://orcid.org/0000-0001-7313-5983"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Amanda Prorok","raw_affiliation_strings":["Department of Computer Science and Technology, University of Cambridge, Cambridge, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, University of Cambridge, Cambridge, U.K","institution_ids":["https://openalex.org/I241749"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5066624177"],"corresponding_institution_ids":["https://openalex.org/I241749"],"apc_list":null,"apc_paid":null,"fwci":2.2569,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.88632786,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"17","issue":"4","first_page":"2025","last_page":"2037"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9986000061035156,"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":0.9986000061035156,"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11502","display_name":"Facility Location and Emergency Management","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/1407","display_name":"Organizational Behavior and Human Resource Management"},"field":{"id":"https://openalex.org/fields/14","display_name":"Business, Management and Accounting"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6711506843566895},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6000178456306458},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.579873263835907},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5048335194587708},{"id":"https://openalex.org/keywords/greedy-algorithm","display_name":"Greedy algorithm","score":0.47017043828964233},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.46903523802757263},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4579147398471832},{"id":"https://openalex.org/keywords/robust-optimization","display_name":"Robust optimization","score":0.43082401156425476},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.41817939281463623},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19898313283920288},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17277196049690247}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6711506843566895},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6000178456306458},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.579873263835907},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5048335194587708},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.47017043828964233},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.46903523802757263},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4579147398471832},{"id":"https://openalex.org/C193254401","wikidata":"https://www.wikidata.org/wiki/Q2160088","display_name":"Robust optimization","level":2,"score":0.43082401156425476},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.41817939281463623},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19898313283920288},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17277196049690247},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tase.2020.2986641","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2020.2986641","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:www.repository.cam.ac.uk:1810/304217","is_oa":false,"landing_page_url":"https://www.repository.cam.ac.uk/handle/1810/304217","pdf_url":null,"source":{"id":"https://openalex.org/S4306401777","display_name":"Apollo (University of Cambridge)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I241749","host_organization_name":"University of Cambridge","host_organization_lineage":["https://openalex.org/I241749"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.17863/cam.51301","is_oa":true,"landing_page_url":"https://doi.org/10.17863/cam.51301","pdf_url":null,"source":{"id":"https://openalex.org/S7407050737","display_name":"Apollo","issn_l":null,"issn":[],"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":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.17863/cam.51301","is_oa":true,"landing_page_url":"https://doi.org/10.17863/cam.51301","pdf_url":null,"source":{"id":"https://openalex.org/S7407050737","display_name":"Apollo","issn_l":null,"issn":[],"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":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3284630616","display_name":null,"funder_award_id":"DCIST CRA W911NF-17-2-0181","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"},{"id":"https://openalex.org/G5238519728","display_name":null,"funder_award_id":"RG96233","funder_id":"https://openalex.org/F4320335087","funder_display_name":"Innovate UK"},{"id":"https://openalex.org/G8137529292","display_name":null,"funder_award_id":"EP/S015493/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8484150415","display_name":"Resilient Path Coordination in Connected Vehicle Systems","funder_award_id":"EP/S015493/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320335087","display_name":"Innovate UK","ror":"https://ror.org/05ar5fy68"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W105408422","https://openalex.org/W1562533727","https://openalex.org/W1576820654","https://openalex.org/W1680189815","https://openalex.org/W1975967782","https://openalex.org/W1977000744","https://openalex.org/W1989453388","https://openalex.org/W1997477922","https://openalex.org/W2004045061","https://openalex.org/W2009990213","https://openalex.org/W2014846325","https://openalex.org/W2037879427","https://openalex.org/W2049451257","https://openalex.org/W2064526960","https://openalex.org/W2080178200","https://openalex.org/W2110896443","https://openalex.org/W2119963881","https://openalex.org/W2125069195","https://openalex.org/W2129799459","https://openalex.org/W2141263345","https://openalex.org/W2143996311","https://openalex.org/W2157488300","https://openalex.org/W2252172643","https://openalex.org/W2264640675","https://openalex.org/W2338797491","https://openalex.org/W2341794759","https://openalex.org/W2462276508","https://openalex.org/W2487891494","https://openalex.org/W2603253225","https://openalex.org/W2735532146","https://openalex.org/W2739335553","https://openalex.org/W2757107770","https://openalex.org/W2774807875","https://openalex.org/W2883975974","https://openalex.org/W2891317153","https://openalex.org/W2901232217","https://openalex.org/W2962795549","https://openalex.org/W2963300745","https://openalex.org/W2964202295","https://openalex.org/W2966869984","https://openalex.org/W3099664902","https://openalex.org/W3103031824","https://openalex.org/W4231490457","https://openalex.org/W6676553512","https://openalex.org/W6679300373","https://openalex.org/W6693294226","https://openalex.org/W6718747770"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W17155033"],"abstract_inverted_index":{"This":[0,111],"article":[1,205],"considers":[2],"the":[3,32,67,78,128,168,177,196,209,281,286,291,295,313,319,338,380,385,394,407,410],"problem":[4,70,84,96,210,304,322],"of":[5,61,81,130,179,199,211,264,285,397,412],"assigning":[6,212],"mobile":[7,213],"robots":[8,214,273,288],"to":[9,26,56,86,100,107,114,149,155,193,203,219,227,259,276,332,336,351,370],"goals":[10,220],"on":[11,135,176,379],"transport":[12,136,333],"networks":[13,137],"with":[14,133,138,237],"uncertain":[15,140,144,354],"and":[16,143,164,181,217,355,388,418,421],"potentially":[17,356],"correlated":[18,139],"information":[19],"about":[20],"travel":[21,42,151,222,346,416],"times.":[22,373],"Our":[23,359],"aim":[24],"is":[25,38,72,206,305,366,384],"produce":[27],"optimal":[28],"assignments":[29],"such":[30],"that":[31,53,94,147,159,256,283,362,382],"average":[33,339],"waiting":[34,340,372],"time":[35,43,152,383],"at":[36,342],"destinations":[37,352],"minimized.":[39],"Since":[40],"noisy":[41,150],"estimates":[44],"result":[45],"in":[46,183,280],"suboptimal":[47],"assignments,":[48],"we":[49,76,122,251,270,316,377,389],"propose":[50,87,252],"a":[51,88,102,108,116,253,277],"method":[52,161,255],"offers":[54,257],"robustness":[55,258],"uncertainty":[57,194,238,260],"by":[58,208,239,243,261],"making":[59,262],"use":[60,263],"redundant":[62,68,184,287,302,320,399],"robot":[63,185,200,225,265,364,419],"assignments.":[64],"However,":[65,299],"solving":[66,300],"assignment":[69,118,234,303,321,330],"optimally":[71],"strongly":[73],"NP-hard.":[74],"Hence,":[75],"exploit":[77],"structural":[79],"properties":[80],"our":[82,95,131,160,172,329],"mathematical":[83,314],"formulation":[85],"polynomial-time,":[89],"near-optimal":[90],"solution.":[91],"We":[92,126,327],"demonstrate":[93,127],"can":[97,323],"be":[98,324],"reduced":[99],"minimizing":[101,240],"supermodular":[103],"cost":[104,396,411],"function":[105],"subject":[106],"matroid":[109],"constraint.":[110],"allows":[112],"us":[113],"develop":[115],"greedy":[117],"algorithm,":[119],"for":[120,308],"which":[121],"derive":[123],"suboptimality":[124],"bounds.":[125],"effectiveness":[129],"approach":[132,369],"simulations":[134],"edge":[141],"costs":[142,417],"node":[145],"positions":[146],"lead":[148],"estimates.":[153],"Comparisons":[154],"benchmark":[156],"algorithms":[157],"show":[158,317,361],"performs":[162],"near-optimally":[163],"significantly":[165],"better":[166],"than":[167,274],"nonredundant":[169],"assignment.":[170],"Finally,":[171],"findings":[173],"include":[174],"results":[175,360],"benefit":[178],"diversity":[180],"complementarity":[182],"coalitions;":[186],"these":[187],"insights":[188],"contribute":[189],"toward":[190],"providing":[191,413],"resilience":[192],"through":[195],"targeted":[197],"composition":[198],"coalitions.":[201],"Note":[202],"Practitioners-This":[204],"motivated":[207],"(e.g.,":[215,415],"vehicles":[216],"drones)":[218],"when":[221,345],"times":[223,341,347],"from":[224,348],"origins":[226,350],"goal":[228,292,343],"locations":[229,344],"are":[230,353],"uncertain.":[231],"Existing":[232],"robust":[233],"methods":[235],"deal":[236],"risk":[241,246],"or":[242],"predefining":[244],"acceptable":[245],"thresholds.":[247],"In":[248,267,374],"this":[249,301,375],"article,":[250],"complementary":[254],"redundancy.":[266],"other":[268],"words,":[269],"assign":[271],"more":[272,404],"necessary":[275],"given":[278],"goal,":[279],"expectation":[282],"one":[284],"will":[289],"reach":[290],"faster":[293],"(than":[294],"originally":[296],"assigned":[297],"robot).":[298],"computationally":[306],"intractable":[307],"large":[309],"systems.":[310],"By":[311],"characterizing":[312],"problem,":[315],"how":[318],"solved":[325],"efficiently.":[326],"apply":[328],"algorithm":[331],"network":[334],"problems":[335],"reduce":[337],"vehicle":[349],"also":[357],"correlated.":[358],"exploiting":[363],"redundancy":[365,414],"an":[367],"effective":[368],"reducing":[371],"work,":[376],"build":[378],"premise":[381],"primary":[386],"commodity,":[387],"do":[390],"not":[391],"explicitly":[392,405],"model":[393],"additional":[395],"utilizing":[398],"robots.":[400],"Future":[401],"work":[402],"should":[403],"address":[406],"tradeoff":[408],"between":[409],"costs)":[420],"performance":[422],"gains.":[423]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
