{"id":"https://openalex.org/W2044709959","doi":"https://doi.org/10.1109/tro.2014.2337571","title":"Coordinated Navigation of Multiple Independent Disk-Shaped Robots","display_name":"Coordinated Navigation of Multiple Independent Disk-Shaped Robots","publication_year":2014,"publication_date":"2014-09-17","ids":{"openalex":"https://openalex.org/W2044709959","doi":"https://doi.org/10.1109/tro.2014.2337571","mag":"2044709959"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2014.2337571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2014.2337571","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5057557665","display_name":"C.S. Karag\u00f6z","orcid":null},"institutions":[{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"C. Serkan Karagoz","raw_affiliation_strings":["Ford Motor Company, Cologne, Germany","Intelligent Systems Laboratory, Bogazi\u00e7i University, Istanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ford Motor Company, Cologne, Germany","institution_ids":[]},{"raw_affiliation_string":"Intelligent Systems Laboratory, Bogazi\u00e7i University, Istanbul, Turkey","institution_ids":["https://openalex.org/I4405392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081079933","display_name":"H. I\u015f\u0131l Bozma","orcid":"https://orcid.org/0000-0002-0903-2979"},"institutions":[{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"H. Isil Bozma","raw_affiliation_strings":["Intelligent Systems Laboratory, Department of Electrical and Electronic Engineering, Bogazi\u00e7i University, Istanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Laboratory, Department of Electrical and Electronic Engineering, Bogazi\u00e7i University, Istanbul, Turkey","institution_ids":["https://openalex.org/I4405392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082032878","display_name":"Daniel E. Koditschek","orcid":"https://orcid.org/0000-0001-5188-1352"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel E. Koditschek","raw_affiliation_strings":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.7082,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.94656057,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"30","issue":"6","first_page":"1289","last_page":"1304"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/workspace","display_name":"Workspace","score":0.7204919457435608},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7063690423965454},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6586909294128418},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5476060509681702},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5294498801231384},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47570639848709106},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4208933711051941},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4131550192832947},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2340087890625},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12246137857437134},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09215652942657471},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0819617509841919}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7204919457435608},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7063690423965454},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6586909294128418},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5476060509681702},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5294498801231384},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47570639848709106},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4208933711051941},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4131550192832947},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2340087890625},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12246137857437134},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09215652942657471},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0819617509841919},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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":7,"locations":[{"id":"doi:10.1109/tro.2014.2337571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2014.2337571","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:repository.upenn.edu:cis_reports-1673","is_oa":false,"landing_page_url":"https://repository.upenn.edu/cgi/viewcontent.cgi?article=1673&context=cis_reports","pdf_url":null,"source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Technical Reports (CIS)","raw_type":"text"},{"id":"pmh:oai:repository.upenn.edu:ese_papers-1756","is_oa":false,"landing_page_url":"https://repository.upenn.edu/cgi/viewcontent.cgi?article=1756&context=ese_papers","pdf_url":null,"source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (ESE)","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.485.9047","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.485.9047","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.eecs.umich.edu/techreports/cse/04/CSE-TR-486-04.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.649.8491","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.649.8491","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:repository.upenn.edu:20.500.14332/33943","is_oa":false,"landing_page_url":"https://repository.upenn.edu/handle/20.500.14332/33943","pdf_url":null,"source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"30","raw_type":"Article"},{"id":"pmh:oai:repository.upenn.edu:20.500.14332/7585","is_oa":false,"landing_page_url":"https://repository.upenn.edu/handle/20.500.14332/7585","pdf_url":null,"source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"published","raw_type":"Report"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":92,"referenced_works":["https://openalex.org/W20444823","https://openalex.org/W66184116","https://openalex.org/W94944938","https://openalex.org/W101508493","https://openalex.org/W179184258","https://openalex.org/W567930972","https://openalex.org/W1424654272","https://openalex.org/W1487366841","https://openalex.org/W1516027685","https://openalex.org/W1521785144","https://openalex.org/W1535866048","https://openalex.org/W1551299901","https://openalex.org/W1551360398","https://openalex.org/W1557324374","https://openalex.org/W1578630563","https://openalex.org/W1844162177","https://openalex.org/W1864797539","https://openalex.org/W1903576784","https://openalex.org/W1978301848","https://openalex.org/W1979266617","https://openalex.org/W1980034979","https://openalex.org/W1981204784","https://openalex.org/W1990677634","https://openalex.org/W1993638076","https://openalex.org/W2000428182","https://openalex.org/W2001409397","https://openalex.org/W2004815408","https://openalex.org/W2008559161","https://openalex.org/W2022020194","https://openalex.org/W2030250960","https://openalex.org/W2033633841","https://openalex.org/W2034469604","https://openalex.org/W2044709959","https://openalex.org/W2044725657","https://openalex.org/W2046344033","https://openalex.org/W2055145273","https://openalex.org/W2063973166","https://openalex.org/W2069522844","https://openalex.org/W2072089840","https://openalex.org/W2072839015","https://openalex.org/W2073043151","https://openalex.org/W2076738229","https://openalex.org/W2098508993","https://openalex.org/W2101029914","https://openalex.org/W2103120971","https://openalex.org/W2109087172","https://openalex.org/W2110144538","https://openalex.org/W2111328745","https://openalex.org/W2111438581","https://openalex.org/W2113286054","https://openalex.org/W2114787680","https://openalex.org/W2116507931","https://openalex.org/W2117795877","https://openalex.org/W2119955255","https://openalex.org/W2128525534","https://openalex.org/W2129209579","https://openalex.org/W2131418280","https://openalex.org/W2133682745","https://openalex.org/W2136260553","https://openalex.org/W2139421395","https://openalex.org/W2141195113","https://openalex.org/W2141626174","https://openalex.org/W2143926258","https://openalex.org/W2148719714","https://openalex.org/W2148933384","https://openalex.org/W2154722715","https://openalex.org/W2156542538","https://openalex.org/W2160352419","https://openalex.org/W2164836127","https://openalex.org/W2166462345","https://openalex.org/W2166640715","https://openalex.org/W2169742265","https://openalex.org/W2177274602","https://openalex.org/W2244481680","https://openalex.org/W2321821268","https://openalex.org/W2611243847","https://openalex.org/W2735847404","https://openalex.org/W2963533163","https://openalex.org/W3126588943","https://openalex.org/W3140579943","https://openalex.org/W3146037025","https://openalex.org/W3216679212","https://openalex.org/W4213199372","https://openalex.org/W4229836090","https://openalex.org/W4234910518","https://openalex.org/W4244044799","https://openalex.org/W4247762894","https://openalex.org/W4300449797","https://openalex.org/W6603833547","https://openalex.org/W6629054924","https://openalex.org/W6677167051","https://openalex.org/W6681937600"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1999333556","https://openalex.org/W2903025760","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,14,35,47,51,60,67,70,74,84],"coordinated":[4],"navigation":[5,102],"of":[6,50,62,69,73,76,108,122],"multiple":[7],"independently":[8],"actuated":[9],"disk-shaped":[10,16],"robots-all":[11],"placed":[12],"within":[13],"same":[15],"workspace.":[17],"Assuming":[18],"perfect":[19,28],"sensing,":[20],"shared-centralized":[21],"communications":[22],"and":[23,38,136],"computation,":[24],"as":[25,27,131],"well":[26],"actuation,":[29],"we":[30],"encode":[31],"complete":[32],"information":[33],"about":[34],"goal,":[36],"obstacles,":[37],"workspace":[39],"boundary":[40],"using":[41],"an":[42,100,123],"artificial":[43],"potential":[44],"function":[45,103],"over":[46],"configuration":[48],"space":[49],"robots'":[52],"simultaneous":[53],"nonoverlapping":[54],"positions.":[55],"The":[56,120],"closed-loop":[57],"dynamics":[58],"governing":[59],"motion":[61,107],"each":[63,109],"(velocity-controlled)":[64],"robot":[65,110],"take":[66],"form":[68],"appropriate":[71],"projection":[72],"gradient":[75],"this":[77,97],"function.":[78],"We":[79,94],"impose":[80],"(conservative)":[81],"restrictions":[82],"on":[83],"allowable":[85],"goal":[86],"positions":[87],"that":[88,96,104],"yield":[89],"sufficient":[90],"conditions":[91],"for":[92],"convergence:":[93],"prove":[95],"construction":[98],"is":[99],"essential":[101],"guarantees":[105],"collision-free":[106],"to":[111],"its":[112],"destination":[113],"from":[114],"almost":[115],"all":[116],"initial":[117],"free":[118],"placements.":[119],"results":[121],"extensive":[124],"simulation":[125],"study":[126],"investigate":[127],"practical":[128],"issues":[129],"such":[130],"average":[132],"resulting":[133],"trajectory":[134],"length":[135],"robustness":[137],"against":[138],"simulated":[139],"sensor":[140],"noise.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
