{"id":"https://openalex.org/W2798007869","doi":"https://doi.org/10.1109/tii.2018.2824405","title":"Multiagent Gathering With Collision Avoidance and a Minimax Distance Criterion\u2014Efficient Algorithms and Hardware Realization","display_name":"Multiagent Gathering With Collision Avoidance and a Minimax Distance Criterion\u2014Efficient Algorithms and Hardware Realization","publication_year":2018,"publication_date":"2018-04-09","ids":{"openalex":"https://openalex.org/W2798007869","doi":"https://doi.org/10.1109/tii.2018.2824405","mag":"2798007869"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2018.2824405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2018.2824405","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Industrial Informatics","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/A5049203481","display_name":"Bhaskar Vundurthy","orcid":"https://orcid.org/0000-0002-6876-4424"},"institutions":[{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"education","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Bhaskar Vundurthy","raw_affiliation_strings":["Department of Electrical Engineering, Indian Institute of Technology Madras, Chennai, India"],"raw_orcid":"https://orcid.org/0000-0002-6876-4424","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Indian Institute of Technology Madras, Chennai, India","institution_ids":["https://openalex.org/I24676775"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008124905","display_name":"K. Sridharan","orcid":null},"institutions":[{"id":"https://openalex.org/I24676775","display_name":"Indian Institute of Technology Madras","ror":"https://ror.org/03v0r5n49","country_code":"IN","type":"education","lineage":["https://openalex.org/I24676775"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"K. Sridharan","raw_affiliation_strings":["Department of Electrical Engineering, Indian Institute of Technology Madras, Chennai, India"],"raw_orcid":"https://orcid.org/0000-0001-5279-7830","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Indian Institute of Technology Madras, Chennai, India","institution_ids":["https://openalex.org/I24676775"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I24676775"],"apc_list":null,"apc_paid":null,"fwci":0.3953,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.6467475,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"15","issue":"2","first_page":"699","last_page":"709"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994000196456909,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994000196456909,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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/T12288","display_name":"Optimization and Search Problems","score":0.9984999895095825,"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/algorithm","display_name":"Algorithm","score":0.5958194136619568},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5701225996017456},{"id":"https://openalex.org/keywords/minimax","display_name":"Minimax","score":0.4709499776363373},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4504550099372864},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.42465150356292725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3648809790611267},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2636101245880127},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.1702595353126526},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10083833336830139}],"concepts":[{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5958194136619568},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5701225996017456},{"id":"https://openalex.org/C149728462","wikidata":"https://www.wikidata.org/wiki/Q751319","display_name":"Minimax","level":2,"score":0.4709499776363373},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4504550099372864},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.42465150356292725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3648809790611267},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2636101245880127},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.1702595353126526},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10083833336830139},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2018.2824405","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2018.2824405","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Industrial Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.41999998688697815,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1887541254","https://openalex.org/W1984995133","https://openalex.org/W1987128502","https://openalex.org/W1996900395","https://openalex.org/W2008515416","https://openalex.org/W2012812921","https://openalex.org/W2014618792","https://openalex.org/W2015410655","https://openalex.org/W2034471176","https://openalex.org/W2058510050","https://openalex.org/W2061925106","https://openalex.org/W2074290597","https://openalex.org/W2079589234","https://openalex.org/W2084836983","https://openalex.org/W2099175737","https://openalex.org/W2107396783","https://openalex.org/W2126266565","https://openalex.org/W2134212165","https://openalex.org/W2165744313","https://openalex.org/W2324508853","https://openalex.org/W2510767233","https://openalex.org/W2515370279","https://openalex.org/W2548830031","https://openalex.org/W4233375621","https://openalex.org/W4285719527","https://openalex.org/W6601436438"],"related_works":["https://openalex.org/W2016058626","https://openalex.org/W2474724840","https://openalex.org/W2895916002","https://openalex.org/W1530911128","https://openalex.org/W1814049089","https://openalex.org/W2369683208","https://openalex.org/W2084836983","https://openalex.org/W1977348009","https://openalex.org/W2362133437","https://openalex.org/W2963760573"],"abstract_inverted_index":{"Multiple":[0],"autonomous":[1],"agents":[2,31,49,106,139,185,228],"working":[3],"cooperatively":[4],"have":[5],"contributed":[6],"to":[7,51,62,72,87,155,191],"the":[8,48,93,105,109,148,208,223],"development":[9],"of":[10,111,129,150,162,202,207],"robust":[11],"large-scale":[12],"systems.":[13],"While":[14],"substantial":[15],"work":[16],"has":[17],"been":[18],"done":[19],"in":[20,33],"manufacturing":[21],"and":[22,37,44,65,140,186,218],"domestic":[23],"environments,":[24],"a":[25,55,89,151,192],"key":[26],"consideration":[27],"for":[28,53,60,69,104,127,134,174,180],"small":[29],"hardware":[30,205],"engaged":[32],"collaborative":[34],"factory":[35],"automation":[36],"welfare":[38],"support":[39],"systems":[40],"is":[41,58,67,195],"limited":[42],"area":[43],"power":[45],"on-board.":[46],"When":[47],"attempt":[50],"meet":[52],"performing":[54],"task,":[56],"it":[57,66],"natural":[59],"them":[61],"encounter":[63],"obstacles":[64,236],"desirable":[68],"each":[70],"agent":[71],"optimize":[73],"its":[74,77],"resources":[75],"during":[76],"navigation.":[78],"In":[79,114],"this":[80],"paper,":[81],"we":[82,116],"develop":[83],"efficient":[84,158,204],"geometric":[85],"algorithms":[86],"find":[88],"point,":[90],"termed":[91],"as":[92,232,234],"gathering":[94],"point":[95,154],"(and":[96],"denoted":[97],"by":[98],"P":[99,130,176],"<sub":[100,121,131,170,177],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[101,122,132,165,171,178],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">G</sub>":[102,133,179],"),":[103],"that":[107],"minimizes":[108],"maximum":[110],"path":[112],"lengths.":[113],"particular,":[115],"present":[117,200],"an":[118,135,157,181,203,215],"O(n":[119],"log":[120,169],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sub>":[123,172],"n)":[124],"time":[125],"algorithm":[126,159],"calculation":[128],"environment":[136,182,194],"with":[137,183,213,226],"two":[138],"n":[141,187],"static":[142,231],"polygonal":[143],"obstacles.":[144,188],"We":[145,198],"then":[146,196],"use":[147],"notion":[149],"weighted":[152],"minimax":[153],"derive":[156],"(with":[160],"complexity":[161],"O(k":[163],"<sup":[164],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[166],"+":[167],"kn":[168],"n))":[173],"computing":[175],"k":[184],"An":[189],"enhancement":[190],"dynamic":[193,235],"presented.":[197],"also":[199],"details":[201],"realization":[206],"algorithms.":[209,224],"Each":[210],"agent,":[211],"equipped":[212],"only":[214],"ATmega328P":[216],"microcontroller":[217],"no":[219],"external":[220],"memory,":[221],"executes":[222],"Experiments":[225],"multiple":[227],"navigating":[229],"amidst":[230],"well":[233],"are":[237],"reported.":[238]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}