{"id":"https://openalex.org/W3181923028","doi":"https://doi.org/10.1109/tro.2021.3088764","title":"Distributed Motion Coordination for Multirobot Systems Under LTL Specifications","display_name":"Distributed Motion Coordination for Multirobot Systems Under LTL Specifications","publication_year":2021,"publication_date":"2021-07-02","ids":{"openalex":"https://openalex.org/W3181923028","doi":"https://doi.org/10.1109/tro.2021.3088764","mag":"3181923028"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3088764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3088764","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":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-312133","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022512002","display_name":"Pian Yu","orcid":"https://orcid.org/0000-0001-6046-7129"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Pian Yu","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055348953","display_name":"Dimos V. Dimarogonas","orcid":"https://orcid.org/0000-0001-7309-8086"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Dimos V. Dimarogonas","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5022512002"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":4.4391,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.94960174,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"38","issue":"2","first_page":"1047","last_page":"1062"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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":0.9988999962806702,"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":0.9930999875068665,"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/workspace","display_name":"Workspace","score":0.7340443134307861},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.7219308614730835},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7062387466430664},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6723056435585022},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6287798881530762},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6058568954467773},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5905223488807678},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4672911763191223},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44121846556663513},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4035152196884155},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2985207438468933}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7340443134307861},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7219308614730835},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7062387466430664},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6723056435585022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6287798881530762},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6058568954467773},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5905223488807678},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4672911763191223},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44121846556663513},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4035152196884155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2985207438468933},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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":2,"locations":[{"id":"doi:10.1109/tro.2021.3088764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3088764","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:DiVA.org:kth-312133","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-312133","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-312133","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-312133","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"},{"id":"https://openalex.org/F4320322581","display_name":"Vetenskapsr\u00e5det","ror":"https://ror.org/03zttf063"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1498432697","https://openalex.org/W1540972459","https://openalex.org/W1559302327","https://openalex.org/W1567215980","https://openalex.org/W1568049844","https://openalex.org/W1612453857","https://openalex.org/W1994511055","https://openalex.org/W2004805052","https://openalex.org/W2009638220","https://openalex.org/W2025984802","https://openalex.org/W2031369387","https://openalex.org/W2045811332","https://openalex.org/W2056549180","https://openalex.org/W2070224057","https://openalex.org/W2073548775","https://openalex.org/W2077245982","https://openalex.org/W2077578897","https://openalex.org/W2089003125","https://openalex.org/W2104332709","https://openalex.org/W2120633474","https://openalex.org/W2138856440","https://openalex.org/W2140929789","https://openalex.org/W2142475097","https://openalex.org/W2150335178","https://openalex.org/W2152745641","https://openalex.org/W2293883387","https://openalex.org/W2335799662","https://openalex.org/W2571516894","https://openalex.org/W2588802774","https://openalex.org/W2620840602","https://openalex.org/W2743098504","https://openalex.org/W2782493803","https://openalex.org/W2784322399","https://openalex.org/W2852897855","https://openalex.org/W2908047041","https://openalex.org/W2921715710","https://openalex.org/W2963118121","https://openalex.org/W2998208410","https://openalex.org/W3020363938","https://openalex.org/W3021964239","https://openalex.org/W3104753760","https://openalex.org/W4242811155","https://openalex.org/W6779852484"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2150982344","https://openalex.org/W4292862729","https://openalex.org/W2170661558"],"abstract_inverted_index":{"This":[0],"article":[1],"investigates":[2],"the":[3,31,66,78,85,87,169,173,177,180,197,201],"online":[4,106,115],"motion":[5,58,67],"coordination":[6,59,68,107,116],"problem":[7],"for":[8,81,168,188],"a":[9,16,24,54,92,125,141,148,158],"group":[10],"of":[11,20,71,154,179,200],"mobile":[12],"robots":[13,190],"moving":[14],"in":[15,84],"shared":[17],"workspace,":[18,86],"each":[19,35,64,82,152],"which":[21,131,171],"is":[22,37,61,118,129,143,161,183,204],"assigned":[23],"linear":[25],"temporal":[26],"logic":[27],"specification.":[28,181],"Based":[29],"on":[30],"realistic":[32],"assumptions":[33],"that":[34],"robot":[36],"subject":[38],"to":[39,145,151,163,185],"both":[40],"state":[41],"and":[42,45,51,91,196],"input":[43],"constraints":[44],"can":[46],"have":[47],"only":[48],"local":[49,52,165],"view":[50],"information,":[53],"fully":[55],"distributed":[56],"multirobot":[57],"strategy":[60,69],"proposed.":[62],"For":[63],"robot,":[65,170],"consists":[70],"three":[72,122],"layers.":[73],"An":[74,96,105],"offline":[75],"layer":[76,98,108,117],"precomputes":[77],"braking":[79],"area":[80],"region":[83],"controlled":[88],"transition":[89],"system,":[90],"so-called":[93],"potential":[94],"function.":[95],"initialization":[97],"outputs":[99],"an":[100],"initially":[101],"safely":[102],"satisfying":[103],"trajectory.":[104],"resolves":[109],"conflicts":[110,133,138],"when":[111],"one":[112],"occurs.":[113],"The":[114,194],"further":[119],"decomposed":[120],"into":[121],"steps.":[123],"First,":[124],"conflict":[126],"detection":[127],"algorithm":[128,160],"implemented,":[130],"detects":[132],"with":[134],"neighboring":[135,155],"robots.":[136,156],"Whenever":[137],"are":[139],"detected,":[140],"rule":[142],"designed":[144,162],"assign":[146],"dynamically":[147],"planning":[149],"order":[150],"pair":[153],"Finally,":[157],"sampling-based":[159],"generate":[164],"collision-free":[166],"trajectories":[167],"at":[172,191],"same":[174],"time":[175],"guarantees":[176],"feasibility":[178],"Safety":[182],"proven":[184],"be":[186],"guaranteed":[187],"all":[189],"any":[192],"time.":[193],"effectiveness":[195],"computational":[198],"tractability":[199],"resulting":[202],"solution":[203],"verified":[205],"numerically":[206],"by":[207],"two":[208],"case":[209],"studies.":[210]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
