{"id":"https://openalex.org/W4413925678","doi":"https://doi.org/10.1109/tcns.2025.3605291","title":"Optimal Multirobot Communication-Aware Trajectory Planning by Constraining the Fiedler Value","display_name":"Optimal Multirobot Communication-Aware Trajectory Planning by Constraining the Fiedler Value","publication_year":2025,"publication_date":"2025-09-02","ids":{"openalex":"https://openalex.org/W4413925678","doi":"https://doi.org/10.1109/tcns.2025.3605291"},"language":"en","primary_location":{"id":"doi:10.1109/tcns.2025.3605291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2025.3605291","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"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 Control of Network Systems","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/A5104144660","display_name":"Jeppe Heini Mikkelsen","orcid":null},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Jeppe Heini Mikkelsen","raw_affiliation_strings":["Technical University of Denmark, Kongens Lyngby, Denmark","Technical University of Denmark, Lyngby, Denmark"],"raw_orcid":"https://orcid.org/0009-0009-7683-0733","affiliations":[{"raw_affiliation_string":"Technical University of Denmark, Kongens Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]},{"raw_affiliation_string":"Technical University of Denmark, Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000288635","display_name":"Roberto Galeazzi","orcid":"https://orcid.org/0000-0002-6047-7922"},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Roberto Galeazzi","raw_affiliation_strings":["Technical University of Denmark, Kongens Lyngby, Denmark","Technical University of Denmark, Lyngby, Denmark"],"raw_orcid":"https://orcid.org/0000-0002-6047-7922","affiliations":[{"raw_affiliation_string":"Technical University of Denmark, Kongens Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]},{"raw_affiliation_string":"Technical University of Denmark, Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088786582","display_name":"Matteo Fumagalli","orcid":"https://orcid.org/0000-0003-1485-4616"},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Matteo Fumagalli","raw_affiliation_strings":["Technical University of Denmark, Kongens Lyngby, Denmark","Technical University of Denmark, Lyngby, Denmark"],"raw_orcid":"https://orcid.org/0000-0003-1485-4616","affiliations":[{"raw_affiliation_string":"Technical University of Denmark, Kongens Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]},{"raw_affiliation_string":"Technical University of Denmark, Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I96673099"],"apc_list":null,"apc_paid":null,"fwci":1.5311,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.84651589,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"12","issue":"4","first_page":"3015","last_page":"3026"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9959999918937683,"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":0.9959999918937683,"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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9811999797821045,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9790999889373779,"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/robot","display_name":"Robot","score":0.652675211429596},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6402627229690552},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5941670536994934},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5023844242095947},{"id":"https://openalex.org/keywords/value","display_name":"Value (mathematics)","score":0.4679037034511566},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.46064499020576477},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.452023983001709},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3656391501426697},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3491275906562805},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2688043713569641},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2479015290737152},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22998398542404175},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18488919734954834}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.652675211429596},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6402627229690552},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5941670536994934},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5023844242095947},{"id":"https://openalex.org/C2776291640","wikidata":"https://www.wikidata.org/wiki/Q2912517","display_name":"Value (mathematics)","level":2,"score":0.4679037034511566},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.46064499020576477},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.452023983001709},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3656391501426697},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3491275906562805},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2688043713569641},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2479015290737152},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22998398542404175},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18488919734954834},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcns.2025.3605291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2025.3605291","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"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 Control of Network Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W29366618","https://openalex.org/W1502739482","https://openalex.org/W1969703657","https://openalex.org/W1969785549","https://openalex.org/W1993693205","https://openalex.org/W2000340206","https://openalex.org/W2003808711","https://openalex.org/W2005182554","https://openalex.org/W2040298974","https://openalex.org/W2059061256","https://openalex.org/W2063801303","https://openalex.org/W2066005785","https://openalex.org/W2070842753","https://openalex.org/W2074032690","https://openalex.org/W2102626941","https://openalex.org/W2109158684","https://openalex.org/W2118776811","https://openalex.org/W2122024790","https://openalex.org/W2124705619","https://openalex.org/W2127760330","https://openalex.org/W2138892601","https://openalex.org/W2142943472","https://openalex.org/W2144752369","https://openalex.org/W2152244994","https://openalex.org/W2154839625","https://openalex.org/W2160643434","https://openalex.org/W2161069643","https://openalex.org/W2164562975","https://openalex.org/W2166188160","https://openalex.org/W2177274602","https://openalex.org/W2222512263","https://openalex.org/W2411683644","https://openalex.org/W2478448650","https://openalex.org/W2511015524","https://openalex.org/W2573311857","https://openalex.org/W2621460277","https://openalex.org/W2765860535","https://openalex.org/W2780134511","https://openalex.org/W2794292089","https://openalex.org/W2885515168","https://openalex.org/W2991613226","https://openalex.org/W3003257820","https://openalex.org/W3091217608","https://openalex.org/W3096656822","https://openalex.org/W3120581161","https://openalex.org/W3206594419","https://openalex.org/W4205812024","https://openalex.org/W4229786961","https://openalex.org/W4240313098","https://openalex.org/W4321254709","https://openalex.org/W4393380934","https://openalex.org/W4415824277"],"related_works":["https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W3114279067","https://openalex.org/W1972453571","https://openalex.org/W2077416514"],"abstract_inverted_index":{"The":[0,51,60],"paper":[1,105],"present":[2],"a":[3,18,116],"novel":[4],"approach":[5],"for":[6,72,112],"the":[7,10,23,37,40,63,73,82,85,90,104,108,113,120,124,131],"solution":[8],"of":[9,39,62,110,123],"Multi-Robot":[11],"Communication-Aware":[12],"Trajectory":[13],"Planning,":[14],"which":[15,126],"builds":[16],"on":[17,36,84],"general":[19],"optimisation":[20],"framework":[21],"where":[22],"changes":[24],"in":[25,65,77,119],"robots":[26,41,74],"positions":[27],"are":[28,42],"used":[29],"as":[30,56],"decision":[31],"variable,":[32],"and":[33,48,69],"linear":[34],"constraints":[35,114],"trajectories":[38,71],"introduced":[43],"to":[44,130],"ensure":[45],"communication":[46,57,98],"performance":[47,58],"collision":[49],"avoidance.":[50],"Fiedler":[52,86],"value":[53,87],"is":[54,75],"adopted":[55],"metric.":[59],"validity":[61],"method":[64],"computing":[66],"both":[67],"feasible":[68],"optimal":[70,132],"demonstrated":[76],"simulation.":[78],"Results":[79],"show":[80],"that":[81,89,107],"constraint":[83],"ensures":[88],"robot":[91],"network":[92],"fulfils":[93],"its":[94],"objective":[95],"while":[96],"maintaining":[97],"connectivity":[99],"at":[100],"all":[101],"times.":[102],"Further,":[103],"shows":[106],"introduction":[109],"approximations":[111],"enables":[115],"significant":[117],"improvement":[118],"computational":[121],"time":[122],"solution,":[125],"remain":[127],"very":[128],"close":[129],"solution.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}