{"id":"https://openalex.org/W7133304617","doi":"https://doi.org/10.1109/tase.2026.3670128","title":"Distributed Task Planning Method for Synchronous Execution of Heterogeneous Tasks in Uncertain Environments","display_name":"Distributed Task Planning Method for Synchronous Execution of Heterogeneous Tasks in Uncertain Environments","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7133304617","doi":"https://doi.org/10.1109/tase.2026.3670128"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3670128","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3670128","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":null,"display_name":"Liang Lu","orcid":"https://orcid.org/0009-0005-2774-5357"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]},{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liang Lu","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, and the School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0005-2774-5357","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, and the School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641","https://openalex.org/I43922553"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114210188","display_name":"Xiangquan Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangquan Gao","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0004-0015-6651","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127890397","display_name":"Hao Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao Wang","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-2392-1008","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121195941","display_name":"Ming Xiang","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Xiang","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhiyang Zhang","orcid":"https://orcid.org/0009-0003-7539-8391"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyang Zhang","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0009-0003-7539-8391","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5127913311","display_name":"Bin Han","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Han","raw_affiliation_strings":["State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-0049-822X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I43922553","https://openalex.org/I47720641"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.33241964,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"6204","last_page":"6217"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.22020000219345093,"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"}},"topics":[{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.22020000219345093,"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/T12177","display_name":"Resource-Constrained Project Scheduling","score":0.13379999995231628,"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/T12423","display_name":"Software Reliability and Analysis Research","score":0.08889999985694885,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/scalability","display_name":"Scalability","score":0.689300000667572},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6259999871253967},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5340999960899353},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.46059998869895935},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.44929999113082886},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4068000018596649},{"id":"https://openalex.org/keywords/dependency","display_name":"Dependency (UML)","score":0.3926999866962433},{"id":"https://openalex.org/keywords/execution-time","display_name":"Execution time","score":0.387800008058548}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7677000164985657},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.7044000029563904},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.689300000667572},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6259999871253967},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5340999960899353},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.46059998869895935},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.44929999113082886},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4068000018596649},{"id":"https://openalex.org/C19768560","wikidata":"https://www.wikidata.org/wiki/Q320727","display_name":"Dependency (UML)","level":2,"score":0.3926999866962433},{"id":"https://openalex.org/C2989134064","wikidata":"https://www.wikidata.org/wiki/Q288510","display_name":"Execution time","level":2,"score":0.387800008058548},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.3865000009536743},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35850000381469727},{"id":"https://openalex.org/C16311509","wikidata":"https://www.wikidata.org/wiki/Q4148050","display_name":"Dependency graph","level":3,"score":0.3465000092983246},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.34220001101493835},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.31700000166893005},{"id":"https://openalex.org/C2776834041","wikidata":"https://www.wikidata.org/wiki/Q25346349","display_name":"Execution model","level":2,"score":0.2944999933242798},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.2818000018596649},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.2694000005722046},{"id":"https://openalex.org/C130120984","wikidata":"https://www.wikidata.org/wiki/Q2835898","display_name":"Distributed algorithm","level":2,"score":0.26579999923706055},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.2651999890804291}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3670128","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3670128","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/G1699187470","display_name":null,"funder_award_id":"52375015","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5454507547","display_name":null,"funder_award_id":"2024JCYJ037","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1965760189","https://openalex.org/W2123030512","https://openalex.org/W2142544818","https://openalex.org/W2556502614","https://openalex.org/W2558448057","https://openalex.org/W2804655496","https://openalex.org/W2950688771","https://openalex.org/W2968779813","https://openalex.org/W2976344064","https://openalex.org/W3005764631","https://openalex.org/W3006277799","https://openalex.org/W3012489941","https://openalex.org/W3023013592","https://openalex.org/W3090939124","https://openalex.org/W3094704314","https://openalex.org/W3107659409","https://openalex.org/W3139047046","https://openalex.org/W3152770304","https://openalex.org/W3214218149","https://openalex.org/W4210320089","https://openalex.org/W4285209757","https://openalex.org/W4290648667","https://openalex.org/W4291671317","https://openalex.org/W4292692470","https://openalex.org/W4297493126","https://openalex.org/W4366378404","https://openalex.org/W4380905967","https://openalex.org/W4385741604","https://openalex.org/W4389065375","https://openalex.org/W4391290222","https://openalex.org/W4393902859","https://openalex.org/W4394862466","https://openalex.org/W4394994356","https://openalex.org/W4406610575","https://openalex.org/W4408591963","https://openalex.org/W4410639166","https://openalex.org/W4411086204","https://openalex.org/W4412610827","https://openalex.org/W6903731130","https://openalex.org/W7082964337"],"related_works":[],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,7,34,50],"challenges":[3],"in":[4,17,36,137,158,177],"planning":[5,26],"for":[6,171],"synchronized":[8,125],"execution":[9,67],"of":[10,52,174],"multiple":[11],"geometrically":[12],"heterogeneous":[13],"tasks":[14,73],"by":[15,40],"swarms":[16,176],"uncertain":[18],"environments,":[19],"this":[20],"work":[21,162],"proposes":[22],"a":[23,56,91,99,164],"distributed":[24,100],"task":[25,42,66,93,119],"method.":[27],"This":[28,161],"method":[29],"is":[30,61,96,121,146],"intended":[31],"to":[32,46,63,107,123],"overcome":[33],"inefficiencies":[35],"traditional":[37],"methods":[38],"caused":[39],"fragmented":[41],"modeling,":[43],"high":[44],"sensitivity":[45],"environmental":[47],"uncertainty,":[48],"and":[49,87,110,126,142,168,179],"risk":[51],"collaborative":[53],"deadlocks.":[54],"First,":[55],"Conditional":[57],"Value-at-Risk":[58],"(CVaR)":[59],"model":[60],"introduced":[62],"dynamically":[64],"estimate":[65],"time":[68],"under":[69],"uncertainty.":[70],"Second,":[71],"multi-geometry":[72],"(area,":[74],"line,":[75],"point)":[76],"are":[77],"uniformly":[78],"transformed":[79],"into":[80,98],"equivalent":[81],"point-task":[82],"sets":[83],"via":[84],"grid-based":[85],"decomposition":[86],"key-point":[88],"discretization.":[89],"Finally,":[90],"cooperative":[92,113],"dependency":[94],"graph":[95],"embedded":[97],"auction":[101],"consensus":[102],"mechanism":[103],"with":[104],"cycle":[105],"detection":[106],"prevent":[108],"deadlocks,":[109],"an":[111],"adaptive":[112],"obstacle":[114],"avoidance":[115],"strategy":[116],"based":[117],"on":[118],"progress":[120],"integrated":[122],"ensure":[124],"collision-free":[127],"motion.":[128],"Simulation":[129],"results":[130],"demonstrate":[131],"our":[132],"method\u2019s":[133],"superiority":[134],"over":[135],"benchmarks":[136],"completion":[138],"time,":[139],"success":[140],"rate,":[141],"efficiency.":[143],"Its":[144],"practicality":[145],"validated":[147],"through":[148],"real-world":[149],"UAV":[150],"tests,":[151],"while":[152],"scalability":[153],"experiments":[154],"confirm":[155],"its":[156],"robustness":[157],"large-scale":[159],"scenarios.":[160],"provides":[163],"solid":[165],"theoretical":[166],"foundation":[167],"technical":[169],"support":[170],"efficient":[172],"coordination":[173],"unmanned":[175],"complex":[178],"dynamic":[180],"environments.":[181]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2026-03-04T00:00:00"}
