{"id":"https://openalex.org/W4392309346","doi":"https://doi.org/10.1109/tase.2024.3370619","title":"Integrated Task Assignment and Trajectory Planning for a Massive Number of Agents Based on Bilayer-Coupled Mean Field Games","display_name":"Integrated Task Assignment and Trajectory Planning for a Massive Number of Agents Based on Bilayer-Coupled Mean Field Games","publication_year":2024,"publication_date":"2024-02-29","ids":{"openalex":"https://openalex.org/W4392309346","doi":"https://doi.org/10.1109/tase.2024.3370619"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3370619","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3370619","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"],"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/A5071732772","display_name":"Zijia Niu","orcid":"https://orcid.org/0000-0003-3769-2859"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zijia Niu","raw_affiliation_strings":["School of Mathematical Sciences, Beihang University, Beijing, China","Key Laboratory of Mathematics, Informatics and Behavioral Semantics (LMIB), Ministry of Education, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-3769-2859","affiliations":[{"raw_affiliation_string":"School of Mathematical Sciences, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Key Laboratory of Mathematics, Informatics and Behavioral Semantics (LMIB), Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030067518","display_name":"Wang Yao","orcid":"https://orcid.org/0000-0002-5316-1962"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Yao","raw_affiliation_strings":["Key Laboratory of Mathematics, Informatics and Behavioral Semantics (LMIB), Ministry of Education, Beijing, China","Institute of Artificial Intelligence, Beihang University, Beijing, China","Zhongguancun Laboratory, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5316-1962","affiliations":[{"raw_affiliation_string":"Key Laboratory of Mathematics, Informatics and Behavioral Semantics (LMIB), Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"Institute of Artificial Intelligence, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Zhongguancun Laboratory, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007251058","display_name":"Yuxin Jin","orcid":"https://orcid.org/0000-0001-7291-2015"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxin Jin","raw_affiliation_strings":["School of Mathematical Sciences, Beihang University, Beijing, China","Key Laboratory of Mathematics, Informatics and Behavioral Semantics (LMIB), Ministry of Education, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mathematical Sciences, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Key Laboratory of Mathematics, Informatics and Behavioral Semantics (LMIB), Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049820367","display_name":"S.K.Stephen Huang","orcid":"https://orcid.org/0009-0003-6934-2949"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sanjin Huang","raw_affiliation_strings":["School of Mathematical Sciences, Beihang University, Beijing, China","Key Laboratory of Mathematics, Informatics and Behavioral Semantics (LMIB), Ministry of Education, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0003-6934-2949","affiliations":[{"raw_affiliation_string":"School of Mathematical Sciences, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Key Laboratory of Mathematics, Informatics and Behavioral Semantics (LMIB), Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032417256","display_name":"Xiao Zhang","orcid":"https://orcid.org/0000-0003-4927-5016"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Zhang","raw_affiliation_strings":["School of Mathematical Sciences, Beihang University, Beijing, China","Key Laboratory of Mathematics, Informatics and Behavioral Semantics (LMIB), Ministry of Education, Beijing, China","Zhongguancun Laboratory, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4927-5016","affiliations":[{"raw_affiliation_string":"School of Mathematical Sciences, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Key Laboratory of Mathematics, Informatics and Behavioral Semantics (LMIB), Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"Zhongguancun Laboratory, Beijing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100312234","display_name":"Langyu Qian","orcid":null},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Langyu Qian","raw_affiliation_strings":["Institute of Artificial Intelligence, Beihang University, Beijing, China","Key Laboratory of Mathematics, Informatics and Behavioral Semantics (LMIB), Ministry of Education, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Key Laboratory of Mathematics, Informatics and Behavioral Semantics (LMIB), Ministry of Education, Beijing, China","institution_ids":["https://openalex.org/I1327237609"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9734,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.72428934,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"22","issue":null,"first_page":"1833","last_page":"1852"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9966999888420105,"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":0.9966999888420105,"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/T11942","display_name":"Transportation and Mobility Innovations","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T12288","display_name":"Optimization and Search Problems","score":0.9876999855041504,"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/trajectory","display_name":"Trajectory","score":0.7332276701927185},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6288702487945557},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5275050401687622},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4992403984069824},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.48321259021759033},{"id":"https://openalex.org/keywords/bilayer","display_name":"Bilayer","score":0.4102261960506439},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4033035933971405},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3834485113620758},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3317440152168274},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.323480486869812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2337401807308197},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2231508195400238},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19470897316932678},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.13759475946426392},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.09599217772483826},{"id":"https://openalex.org/keywords/membrane","display_name":"Membrane","score":0.08902943134307861}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7332276701927185},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6288702487945557},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5275050401687622},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4992403984069824},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.48321259021759033},{"id":"https://openalex.org/C192157962","wikidata":"https://www.wikidata.org/wiki/Q4087243","display_name":"Bilayer","level":3,"score":0.4102261960506439},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4033035933971405},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3834485113620758},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3317440152168274},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.323480486869812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2337401807308197},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2231508195400238},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19470897316932678},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.13759475946426392},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.09599217772483826},{"id":"https://openalex.org/C41625074","wikidata":"https://www.wikidata.org/wiki/Q176088","display_name":"Membrane","level":2,"score":0.08902943134307861},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"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/tase.2024.3370619","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3370619","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G543952736","display_name":null,"funder_award_id":"2022ZD0116401","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1968067611","https://openalex.org/W1977822596","https://openalex.org/W1983321045","https://openalex.org/W1997276729","https://openalex.org/W2011000015","https://openalex.org/W2028316825","https://openalex.org/W2038686546","https://openalex.org/W2057470999","https://openalex.org/W2065124438","https://openalex.org/W2138332178","https://openalex.org/W2545315352","https://openalex.org/W2734482142","https://openalex.org/W2745150499","https://openalex.org/W2803629276","https://openalex.org/W2911442729","https://openalex.org/W2921029037","https://openalex.org/W2968800074","https://openalex.org/W2994027021","https://openalex.org/W3009344227","https://openalex.org/W3025340030","https://openalex.org/W3035782080","https://openalex.org/W3046141473","https://openalex.org/W3079592479","https://openalex.org/W3124451384","https://openalex.org/W3124704233","https://openalex.org/W3138260770","https://openalex.org/W3158757609","https://openalex.org/W3161114626","https://openalex.org/W3169020617","https://openalex.org/W3175254818","https://openalex.org/W3183269529","https://openalex.org/W3189745262","https://openalex.org/W3204625264","https://openalex.org/W3217607648","https://openalex.org/W4210364010","https://openalex.org/W4211172432","https://openalex.org/W4225483569","https://openalex.org/W4285805325","https://openalex.org/W4297493126","https://openalex.org/W4367663209","https://openalex.org/W4382050786","https://openalex.org/W4384825547","https://openalex.org/W4385306761","https://openalex.org/W6754912291","https://openalex.org/W6808278336"],"related_works":["https://openalex.org/W1968568301","https://openalex.org/W2057652020","https://openalex.org/W1515536159","https://openalex.org/W1941703695","https://openalex.org/W4387730158","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W4248382324","https://openalex.org/W1964681251","https://openalex.org/W2903025760"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,18,43,53,69,74,83,98,106,120,127,132,138,143,157,163,176,210,221,237,257,266,278,286,297,311,331,337,353,372,384],"problem":[3],"of":[4,11,15,46,49,86,92,156,165,168,175,213,227,268,280,305,334,355,374,378,383],"integrated":[5,238],"task":[6,23,54,95,116,122,144,194,215,239,316,349,359],"assignment":[7,55,66,117,145,195,240],"and":[8,25,63,97,126,161,185,192,196,220,224,241,262,296,318,336,369,392],"trajectory":[9,47,85,133,197,242,333,356],"planning":[10,48,134,198,357],"a":[12,32,59,115,141,153,291,302,365],"massive":[13],"number":[14,267],"agents":[16,269],"in":[17,52,119,131,205,248,260,351],"scenario":[19,312],"with":[20,236,250,313],"different":[21,314],"priority":[22,93,315],"nodes":[24,317,360],"multiple":[26,214,319],"static":[27,320],"obstacles,":[28],"this":[29,274,299,379],"paper":[30,300],"proposes":[31,301],"general":[33,71,159,178,303,385],"framework":[34,160,179,304,386],"based":[35,104,276],"on":[36,105,277],"bilayer-coupled":[37,306],"mean":[38,76,112,170,281,307,324,343],"field":[39,77,113,171,282,308,325,344],"games,":[40],"which":[41,352],"couples":[42],"minimum":[44,99,128],"cost":[45,354],"an":[50,87,294,375],"agent":[51,88,252],"process":[56],"to":[57,81,188,256,273,329],"achieve":[58],"reasonable,":[60],"globally":[61],"optimal,":[62],"targeted":[64],"adjustable":[65],"result.":[67],"In":[68,271],"proposed":[70,158,177],"framework,":[72],"firstly,":[73],"multi-population":[75,323],"game":[78,283,287,292,326,345],"is":[79,124,180,327,346,361,387],"used":[80,328],"plan":[82,330],"optimal":[84,332],"between":[89,288,293,358],"each":[90],"pair":[91],"adjacent":[94],"nodes,":[96],"costs":[100,129,264],"are":[101,135,147,199,231],"calculated.":[102],"Then,":[103],"discrete":[107,121,338],"time":[108,339],"finite":[109,340],"state":[110,341],"space":[111,123,342],"game,":[114],"model":[118,139,368],"constructed,":[125],"obtained":[130],"coupled":[136],"into":[137,290],"as":[140,265],"reference,":[142],"strategies":[146],"finally":[148],"obtained.":[149],"Moreover,":[150],"we":[151],"give":[152],"specific":[154,366],"example":[155,367],"prove":[162,371],"existence":[164,373],"equilibrium":[166,376],"solutions":[167],"two":[169,200],"games.":[172],"The":[173,322,381],"effectiveness":[174,382],"demonstrated":[181],"through":[182],"simulation":[183,390],"experiments":[184,391],"results":[186,393],"analysis.Note":[187],"Practitioners\u2014In":[189],"multi-agent":[190],"decision-making":[191],"control,":[193],"fundamental":[201],"problems":[202],"that":[203,284],"coexist":[204],"many":[206,232],"scenarios.":[207],"Examples":[208],"include":[209],"collaborative":[211],"exploration":[212],"areas":[216],"by":[217,389],"UAV":[218],"swarm,":[219],"lane":[222],"selection":[223],"efficient":[225],"driving":[226],"autonomous":[228],"vehicles.":[229],"There":[230],"methods":[233],"for":[234,310,348],"dealing":[235,249],"planning.":[243],"However,":[244],"they":[245],"have":[246],"difficulties":[247],"large-scale":[251],"problems,":[253],"mainly":[254],"due":[255],"significant":[258],"increase":[259],"communication":[261],"computation":[263],"increases.":[270],"response":[272],"problem,":[275],"characteristic":[279],"transforms":[285],"individuals":[289],"individual":[295],"whole,":[298],"games":[309],"obstacles.":[321],"agents,":[335],"utilized":[347],"assignment,":[350],"considered.":[362],"We":[363],"propose":[364],"theoretically":[370],"solution":[377],"model.":[380],"verified":[388],"analysis.":[394]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}