{"id":"https://openalex.org/W2974732445","doi":"https://doi.org/10.1109/tro.2019.2937468","title":"Robots in the Huddle: Upfront Computation to Reduce Global Communication at Run Time in Multirobot Task Allocation","display_name":"Robots in the Huddle: Upfront Computation to Reduce Global Communication at Run Time in Multirobot Task Allocation","publication_year":2019,"publication_date":"2019-09-18","ids":{"openalex":"https://openalex.org/W2974732445","doi":"https://doi.org/10.1109/tro.2019.2937468","mag":"2974732445"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2019.2937468","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2937468","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/A5084244126","display_name":"Changjoo Nam","orcid":"https://orcid.org/0000-0002-9169-0785"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Changjoo Nam","raw_affiliation_strings":["Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-9169-0785","affiliations":[{"raw_affiliation_string":"Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035574727","display_name":"Dylan A. Shell","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dylan A. Shell","raw_affiliation_strings":["Department of Computer Science and Engineering, Texas A&M University, College Station, USA"],"raw_orcid":"https://orcid.org/0000-0002-9310-7231","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Texas A&M University, College Station, USA","institution_ids":["https://openalex.org/I91045830"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5084244126"],"corresponding_institution_ids":["https://openalex.org/I58716616"],"apc_list":null,"apc_paid":null,"fwci":1.3,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.82635154,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"36","issue":"1","first_page":"125","last_page":"141"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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":0.9997000098228455,"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/T12288","display_name":"Optimization and Search Problems","score":0.9994999766349792,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9988999962806702,"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/computer-science","display_name":"Computer science","score":0.7595700621604919},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7382605075836182},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.736932098865509},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.7306381464004517},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4847283363342285},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4661404490470886},{"id":"https://openalex.org/keywords/variation","display_name":"Variation (astronomy)","score":0.41004347801208496},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3484463691711426},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13567903637886047},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12215599417686462}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7595700621604919},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7382605075836182},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.736932098865509},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.7306381464004517},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4847283363342285},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4661404490470886},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.41004347801208496},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3484463691711426},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13567903637886047},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12215599417686462},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C44870925","wikidata":"https://www.wikidata.org/wiki/Q37547","display_name":"Astrophysics","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/tro.2019.2937468","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2937468","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3353520282","display_name":null,"funder_award_id":"#ECCS-1637889","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8962165726","display_name":null,"funder_award_id":"#IIS-1453652","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320325370","display_name":"National Research Council of Science and Technology","ror":"https://ror.org/058rymf81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W39785869","https://openalex.org/W152613852","https://openalex.org/W214151489","https://openalex.org/W250680325","https://openalex.org/W1530501119","https://openalex.org/W1562533727","https://openalex.org/W1568307856","https://openalex.org/W1983398636","https://openalex.org/W2045294654","https://openalex.org/W2054826067","https://openalex.org/W2060932505","https://openalex.org/W2086950720","https://openalex.org/W2089315616","https://openalex.org/W2102198082","https://openalex.org/W2108556117","https://openalex.org/W2108772522","https://openalex.org/W2116226399","https://openalex.org/W2117678422","https://openalex.org/W2117909803","https://openalex.org/W2132543913","https://openalex.org/W2166016858","https://openalex.org/W2222512263","https://openalex.org/W2289193708","https://openalex.org/W2462276508","https://openalex.org/W2573735589","https://openalex.org/W2963642217","https://openalex.org/W3021947017","https://openalex.org/W4230129068","https://openalex.org/W4244228825","https://openalex.org/W6609426983","https://openalex.org/W6679811478","https://openalex.org/W6696222581","https://openalex.org/W6718747770","https://openalex.org/W6732164838","https://openalex.org/W6777169163"],"related_works":["https://openalex.org/W2386430105","https://openalex.org/W2356521405","https://openalex.org/W2038534795","https://openalex.org/W2384358604","https://openalex.org/W1567829292","https://openalex.org/W3001063351","https://openalex.org/W3196905815","https://openalex.org/W2351370765","https://openalex.org/W2110944602","https://openalex.org/W3213722473"],"abstract_inverted_index":{"In":[0,52],"this":[1],"article,":[2],"we":[3,106,133,158],"study":[4],"multirobot":[5,199,223],"task":[6,10,40,65],"allocation":[7],"problems":[8],"where":[9],"costs":[11,94],"vary.":[12],"The":[13,217],"variation":[14],"may":[15,95],"be,":[16],"for":[17,137],"example,":[18],"due":[19],"to":[20,42,123,162,238],"the":[21,44,55,60,63,139,147,168,171,185,192,202,239],"revelation":[22],"of":[23,62,92,101,114,170,177,194,210],"new":[24,45],"information":[25,46],"or":[26],"other":[27],"dynamic":[28,53],"circumstances.":[29],"As":[30],"robots":[31,56,115,144],"update":[32,39],"their":[33],"cost":[34,141,165],"estimates,":[35],"typically":[36],"they":[37],"will":[38],"assignments":[41],"reflect":[43],"using":[47,88],"additional":[48],"communication":[49,71,80,154,179,212],"and":[50,72,81,97,150,155,236],"computation.":[51,73,156],"settings,":[54],"are":[57,121,188,219],"continually":[58],"repairing":[59],"optimality":[61,126,169],"system's":[64],"assignments,":[66],"which":[67,225],"can":[68,78],"incur":[69],"substantial":[70],"We":[74],"investigate":[75],"how":[76,93],"one":[77],"reduce":[79],"centralized":[82],"computation":[83,100],"expense":[84],"during":[85],"execution":[86],"by":[87,127,197],"a":[89,112,135,175,198],"prior":[90],"model":[91],"change":[96],"performing":[98],"upfront":[99],"possible":[102],"robot-task":[103],"assignments.":[104],"First,":[105],"develop":[107],"an":[108,160],"algorithm":[109,161],"that":[110,120,184],"partitions":[111],"team":[113],"into":[116],"several":[117],"independent":[118],"subteams":[119],"able":[122],"maintain":[124],"global":[125,211],"communicating":[128],"entirely":[129],"amongst":[130],"themselves.":[131],"Second,":[132],"propose":[134],"method":[136,204],"computing":[138],"worst-case":[140],"suboptimality":[142],"if":[143],"persist":[145],"with":[146,228],"initial":[148],"assignment":[149,173],"perform":[151],"no":[152],"further":[153],"Finally,":[157],"introduce":[159],"assess":[163],"whether":[164],"changes":[166],"affect":[167],"current":[172],"through":[174],"succession":[176],"local":[178],"exchanges.":[180],"Experimental":[181],"results":[182],"show":[183],"proposed":[186],"methods":[187,218],"helpful":[189],"in":[190,221,230],"reducing":[191],"degree":[193],"centralization":[195],"needed":[196],"system":[200],"(e.g.,":[201],"third":[203],"gave":[205],"at":[206],"least":[207],"45%":[208],"reduction":[209],"across":[213],"all":[214],"scenarios":[215],"studied).":[216],"valuable":[220],"transitioning":[222],"techniques,":[224],"have":[226],"met":[227],"success":[229],"structured":[231],"applications":[232],"(such":[233],"as":[234],"factories":[235],"warehouses)":[237],"broader,":[240],"wilder":[241],"world.":[242]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
