{"id":"https://openalex.org/W3176499451","doi":"https://doi.org/10.1109/tro.2022.3216068","title":"Robust Task Scheduling for Heterogeneous Robot Teams Under Capability Uncertainty","display_name":"Robust Task Scheduling for Heterogeneous Robot Teams Under Capability Uncertainty","publication_year":2022,"publication_date":"2022-11-08","ids":{"openalex":"https://openalex.org/W3176499451","doi":"https://doi.org/10.1109/tro.2022.3216068","mag":"3176499451"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3216068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3216068","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/A5076921353","display_name":"Bo Fu","orcid":"https://orcid.org/0000-0002-2078-3781"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bo Fu","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-2078-3781","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068394454","display_name":"William Smith","orcid":"https://orcid.org/0000-0002-2315-5772"},"institutions":[{"id":"https://openalex.org/I1304082316","display_name":"United States Department of the Army","ror":"https://ror.org/035w1gb98","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796"]},{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I4210088792","display_name":"United States Army","ror":"https://ror.org/00afsp483","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I4210088792"]},{"id":"https://openalex.org/I4388482723","display_name":"U.S. Army Combat Capabilities Development Command Ground Vehicle System Center","ror":"https://ror.org/026zar759","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437","https://openalex.org/I4388482723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William Smith","raw_affiliation_strings":["U.S. Army DEVCOM Ground Vehicle Systems Center, Warren, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-2315-5772","affiliations":[{"raw_affiliation_string":"U.S. Army DEVCOM Ground Vehicle Systems Center, Warren, MI, USA","institution_ids":["https://openalex.org/I1304082316","https://openalex.org/I2802705668","https://openalex.org/I4210088792","https://openalex.org/I4388482723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051091377","display_name":"Denise Rizzo","orcid":"https://orcid.org/0000-0002-0028-1880"},"institutions":[{"id":"https://openalex.org/I1304082316","display_name":"United States Department of the Army","ror":"https://ror.org/035w1gb98","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796"]},{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I4210088792","display_name":"United States Army","ror":"https://ror.org/00afsp483","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I4210088792"]},{"id":"https://openalex.org/I4388482723","display_name":"U.S. Army Combat Capabilities Development Command Ground Vehicle System Center","ror":"https://ror.org/026zar759","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437","https://openalex.org/I4388482723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Denise M. Rizzo","raw_affiliation_strings":["U.S. Army DEVCOM Ground Vehicle Systems Center, Warren, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"U.S. Army DEVCOM Ground Vehicle Systems Center, Warren, MI, USA","institution_ids":["https://openalex.org/I1304082316","https://openalex.org/I2802705668","https://openalex.org/I4210088792","https://openalex.org/I4388482723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071482044","display_name":"Matthew P. Castanier","orcid":"https://orcid.org/0000-0002-3646-382X"},"institutions":[{"id":"https://openalex.org/I1304082316","display_name":"United States Department of the Army","ror":"https://ror.org/035w1gb98","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796"]},{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]},{"id":"https://openalex.org/I4210088792","display_name":"United States Army","ror":"https://ror.org/00afsp483","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I4210088792"]},{"id":"https://openalex.org/I4388482723","display_name":"U.S. Army Combat Capabilities Development Command Ground Vehicle System Center","ror":"https://ror.org/026zar759","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437","https://openalex.org/I4388482723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Castanier","raw_affiliation_strings":["U.S. Army DEVCOM Ground Vehicle Systems Center, Warren, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-3646-382X","affiliations":[{"raw_affiliation_string":"U.S. Army DEVCOM Ground Vehicle Systems Center, Warren, MI, USA","institution_ids":["https://openalex.org/I1304082316","https://openalex.org/I2802705668","https://openalex.org/I4210088792","https://openalex.org/I4388482723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046777734","display_name":"Maani Ghaffari","orcid":"https://orcid.org/0000-0002-4734-4295"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maani Ghaffari","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-4734-4295","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084847741","display_name":"Kira Barton","orcid":"https://orcid.org/0000-0003-1047-8078"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kira Barton","raw_affiliation_strings":["Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0003-1047-8078","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9792,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.91066623,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"39","issue":"2","first_page":"1087","last_page":"1105"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11413","display_name":"Risk and Portfolio Optimization","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.9918000102043152,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7029850482940674},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5877972841262817},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5873926281929016},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5271869897842407},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.525642991065979},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.49807000160217285},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4783467948436737},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3611134886741638},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3197166323661804}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7029850482940674},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5877972841262817},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5873926281929016},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5271869897842407},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.525642991065979},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.49807000160217285},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4783467948436737},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3611134886741638},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3197166323661804},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2022.3216068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3216068","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":[{"score":0.7900000214576721,"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310328","display_name":"Automotive Research Center","ror":"https://ror.org/00jmfr291"},{"id":"https://openalex.org/F4320332447","display_name":"U.S. Army","ror":"https://ror.org/00afsp483"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":89,"referenced_works":["https://openalex.org/W242065599","https://openalex.org/W1471578414","https://openalex.org/W1549280300","https://openalex.org/W1569990960","https://openalex.org/W1647779468","https://openalex.org/W1746819321","https://openalex.org/W1791558954","https://openalex.org/W1950636128","https://openalex.org/W1972391046","https://openalex.org/W1978295341","https://openalex.org/W1992679414","https://openalex.org/W1997488333","https://openalex.org/W2022760091","https://openalex.org/W2023993537","https://openalex.org/W2036930518","https://openalex.org/W2038517147","https://openalex.org/W2047346158","https://openalex.org/W2088557785","https://openalex.org/W2103613137","https://openalex.org/W2107905629","https://openalex.org/W2123587459","https://openalex.org/W2136644454","https://openalex.org/W2138739434","https://openalex.org/W2139883176","https://openalex.org/W2140873064","https://openalex.org/W2154342426","https://openalex.org/W2157488300","https://openalex.org/W2169665763","https://openalex.org/W2171072500","https://openalex.org/W2212535562","https://openalex.org/W2401610261","https://openalex.org/W2409715576","https://openalex.org/W2488157181","https://openalex.org/W2518264398","https://openalex.org/W2530592706","https://openalex.org/W2537545174","https://openalex.org/W2567083789","https://openalex.org/W2575523922","https://openalex.org/W2576232503","https://openalex.org/W2594436207","https://openalex.org/W2735487780","https://openalex.org/W2768636722","https://openalex.org/W2789896918","https://openalex.org/W2809832501","https://openalex.org/W2886548593","https://openalex.org/W2936516903","https://openalex.org/W2947472817","https://openalex.org/W2950540542","https://openalex.org/W2963352580","https://openalex.org/W2963732412","https://openalex.org/W2964302474","https://openalex.org/W2967031190","https://openalex.org/W2970857152","https://openalex.org/W2988480584","https://openalex.org/W3001014358","https://openalex.org/W3006248364","https://openalex.org/W3013809080","https://openalex.org/W3021487874","https://openalex.org/W3022966133","https://openalex.org/W3023617420","https://openalex.org/W3024346452","https://openalex.org/W3035781016","https://openalex.org/W3037590229","https://openalex.org/W3087214131","https://openalex.org/W3099064152","https://openalex.org/W3099894453","https://openalex.org/W3100570005","https://openalex.org/W3120310250","https://openalex.org/W3122845169","https://openalex.org/W3123887222","https://openalex.org/W3128218606","https://openalex.org/W3133434001","https://openalex.org/W3156846220","https://openalex.org/W3187466129","https://openalex.org/W3190887399","https://openalex.org/W3204005813","https://openalex.org/W3206527737","https://openalex.org/W3214501121","https://openalex.org/W4205578701","https://openalex.org/W4211042066","https://openalex.org/W4211049957","https://openalex.org/W6607689546","https://openalex.org/W6632662516","https://openalex.org/W6640981774","https://openalex.org/W6731523216","https://openalex.org/W6732396017","https://openalex.org/W6782834711","https://openalex.org/W6784902358","https://openalex.org/W6801872719"],"related_works":["https://openalex.org/W2389214306","https://openalex.org/W2965083567","https://openalex.org/W4235240664","https://openalex.org/W1838576100","https://openalex.org/W2757182831","https://openalex.org/W2095886385","https://openalex.org/W2089704382","https://openalex.org/W1983399550","https://openalex.org/W97075385","https://openalex.org/W2357523926"],"abstract_inverted_index":{"This":[0,94],"article":[1],"develops":[2],"a":[3,60,82,100,132,148,159,171,208,239],"stochastic":[4],"programming":[5],"framework":[6,21,193,216],"for":[7,99,138,228],"multiagent":[8,55,133],"systems,":[9],"where":[10,103],"task":[11,83,102,120,154],"decomposition,":[12],"assignment,":[13],"and":[14,40,42,53,70,108,122,129,153,190,203,225,233],"scheduling":[15],"problems":[16,65],"are":[17,57,145,156],"simultaneously":[18],"optimized.":[19],"The":[20,163],"can":[22,87,106,125],"be":[23,89,126],"applied":[24,58],"to":[25,49,80,91,177,186,222],"heterogeneous":[26,46,68],"mobile":[27],"robot":[28],"teams":[29],"with":[30,45],"distributed":[31],"subtasks.":[32],"Examples":[33],"include":[34],"pandemic":[35,209],"robotic":[36,204],"service":[37,205],"coordination,":[38],"explore":[39],"rescue,":[41],"delivery":[43],"systems":[44,56],"vehicles.":[47],"Owing":[48],"their":[50],"inherent":[51],"flexibility":[52],"robustness,":[54],"in":[59,119,173,196],"growing":[61],"range":[62],"of":[63,150,242],"real-world":[64],"that":[66,86,214,237],"involve":[67],"tasks":[69,140,227],"uncertain":[71],"information.":[72],"Most":[73],"previous":[74],"works":[75],"assume":[76],"one":[77],"fixed":[78],"way":[79],"decompose":[81],"into":[84],"roles":[85,105],"later":[88],"assigned":[90],"the":[92,104,174,188,191,215,229],"agents.":[93],"assumption":[95],"is":[96,115,141,168,184,194,217,219],"not":[97],"valid":[98],"complex":[101,139],"vary":[107],"multiple":[109],"decomposition":[110],"structures":[111],"exist.":[112],"Meanwhile,":[113],"it":[114],"unclear":[116],"how":[117],"uncertainties":[118],"requirements":[121,155],"agent":[123,143],"capabilities":[124,144],"systematically":[127],"quantified":[128],"optimized":[130],"under":[131],"system":[134],"setting.":[135],"A":[136],"representation":[137],"proposed:":[142],"represented":[146],"as":[147,170],"vector":[149],"random":[151],"distributions,":[152],"verified":[157],"by":[158],"generalizable":[160],"binary":[161],"function.":[162],"conditional":[164],"value":[165],"at":[166],"risk":[167],"chosen":[169],"metric":[172],"objective":[175],"function":[176],"generate":[178],"robust":[179],"plans.":[180],"An":[181],"efficient":[182],"algorithm":[183],"described":[185],"solve":[187],"model,":[189],"whole":[192],"evaluated":[195],"two":[197],"different":[198],"practical":[199],"test":[200,231],"cases:":[201],"capture-the-flag":[202],"coordination":[206],"during":[207],"(e.g.,":[210],"COVID-19).":[211],"Results":[212],"demonstrate":[213],"generalizable,":[218],"scalable":[220],"up":[221],"140":[223],"agents":[224],"40":[226],"example":[230],"cases,":[232],"provides":[234],"low-cost":[235],"plans":[236],"ensure":[238],"high":[240],"probability":[241],"success.":[243]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":9}],"updated_date":"2026-06-16T09:24:06.705377","created_date":"2025-10-10T00:00:00"}