{"id":"https://openalex.org/W4413155362","doi":"https://doi.org/10.1109/tro.2025.3598139","title":"Simultaneous Task Allocation and Planning for Multirobots Under Hierarchical Temporal Logic Specifications","display_name":"Simultaneous Task Allocation and Planning for Multirobots Under Hierarchical Temporal Logic Specifications","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4413155362","doi":"https://doi.org/10.1109/tro.2025.3598139"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3598139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3598139","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/A5009405571","display_name":"Xusheng Luo","orcid":"https://orcid.org/0000-0003-4342-7234"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xusheng Luo","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4342-7234","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040156274","display_name":"Changliu Liu","orcid":"https://orcid.org/0000-0002-3767-5517"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changliu Liu","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3767-5517","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":3.422,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.93309542,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"41","issue":null,"first_page":"5040","last_page":"5059"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.994700014591217,"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":0.994700014591217,"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":0.9894000291824341,"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/T10126","display_name":"Logic, programming, and type systems","score":0.9886000156402588,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/computer-science","display_name":"Computer science","score":0.6818262934684753},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6743353605270386},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6640390157699585},{"id":"https://openalex.org/keywords/temporal-logic","display_name":"Temporal logic","score":0.5900105237960815},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4796755313873291},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22249633073806763},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1894308626651764},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.17771580815315247}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6818262934684753},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6743353605270386},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6640390157699585},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.5900105237960815},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4796755313873291},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22249633073806763},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1894308626651764},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.17771580815315247}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3598139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3598139","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/G4501799862","display_name":"CAREER: Toward Lifelong Safety of Autonomous Systems in Uncertain and Interactive Environments","funder_award_id":"2144489","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/F4320306185","display_name":"Richard King Mellon Foundation","ror":"https://ror.org/03qevzg44"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1972391046","https://openalex.org/W2006625750","https://openalex.org/W2007193228","https://openalex.org/W2023808162","https://openalex.org/W2048269309","https://openalex.org/W2067638058","https://openalex.org/W2073266192","https://openalex.org/W2077578897","https://openalex.org/W2082451678","https://openalex.org/W2117927826","https://openalex.org/W2123713131","https://openalex.org/W2124015815","https://openalex.org/W2130786035","https://openalex.org/W2135132740","https://openalex.org/W2139477375","https://openalex.org/W2141088850","https://openalex.org/W2142544818","https://openalex.org/W2143760481","https://openalex.org/W2150189917","https://openalex.org/W2151645094","https://openalex.org/W2157488300","https://openalex.org/W2343223723","https://openalex.org/W2604825101","https://openalex.org/W2783378806","https://openalex.org/W2784322399","https://openalex.org/W2789239344","https://openalex.org/W2798923485","https://openalex.org/W2804655496","https://openalex.org/W2955404434","https://openalex.org/W2963117388","https://openalex.org/W2963352580","https://openalex.org/W2966537673","https://openalex.org/W2973769628","https://openalex.org/W2998208410","https://openalex.org/W3005764631","https://openalex.org/W3011955568","https://openalex.org/W3021964239","https://openalex.org/W3034758614","https://openalex.org/W3040033145","https://openalex.org/W3089553867","https://openalex.org/W3091739094","https://openalex.org/W3119321206","https://openalex.org/W3127794374","https://openalex.org/W3136316167","https://openalex.org/W3158757609","https://openalex.org/W3176904019","https://openalex.org/W3181923028","https://openalex.org/W4205533104","https://openalex.org/W4240967973","https://openalex.org/W4288601052","https://openalex.org/W4312316805","https://openalex.org/W4313071350","https://openalex.org/W4321254709","https://openalex.org/W4377246895","https://openalex.org/W4382568173","https://openalex.org/W4385063004","https://openalex.org/W4385155193","https://openalex.org/W4387993858","https://openalex.org/W4399526604"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W3213722473","https://openalex.org/W2110944602"],"abstract_inverted_index":{"Research":[0],"in":[1,189],"robotic":[2],"planning":[3,198],"with":[4,67],"temporal":[5,11],"logic":[6,12],"specifications,":[7],"such":[8],"as":[9,20],"linear":[10],"(LTL),":[13],"has":[14],"relied":[15],"on":[16,56,149],"single":[17,151],"formulas.":[18],"However,":[19],"task":[21,126],"complexity":[22],"increases,":[23],"LTL":[24],"formulas":[25],"become":[26],"lengthy,":[27],"making":[28],"them":[29],"difficult":[30],"to":[31,118,142,154,168,185],"interpret":[32],"and":[33,35,71,99,128,182],"generate,":[34],"straining":[36],"the":[37,93,110,133,160,171],"computational":[38],"capacities":[39],"of":[40,162],"planners.":[41],"To":[42],"address":[43],"this,":[44],"we":[45,86],"introduce":[46],"a":[47,51,88,115,150],"hierarchical":[48,97,111],"structure":[49],"for":[50,121,192],"widely":[52],"used":[53,188],"specification":[54],"type\u2014LTL":[55],"finite":[57],"traces":[58],"(LTL$_{f}$).":[59],"The":[60,145],"resulting":[61],"language,":[62],"termed":[63],"H-LTL$_{f}$,":[64],"is":[65],"defined":[66],"both":[68],"its":[69,81],"syntax":[70],"semantics.":[72],"We":[73,113,164],"further":[74],"prove":[75],"that":[76,91,101],"H-LTL$_{f}$is":[77],"more":[78,104],"expressive":[79],"than":[80],"standard":[82,94],"\u201cflat\u201d":[83],"counterparts.":[84],"Moreover,":[85],"conducted":[87,176],"user":[89],"study":[90],"compared":[92],"LTL$_{f}$with":[95],"our":[96,195],"version":[98],"found":[100],"users":[102],"could":[103],"easily":[105],"comprehend":[106],"complex":[107],"tasks":[108],"using":[109],"structure.":[112],"develop":[114,165],"search-based":[116],"approach":[117,196],"synthesize":[119],"plans":[120],"multirobot":[122],"systems,":[123],"achieving":[124],"simultaneous":[125],"allocation":[127],"planning.":[129],"This":[130],"method":[131],"approximates":[132],"search":[134,146],"space":[135],"by":[136,159],"loosely":[137],"interconnected":[138],"subspaces,":[139],"each":[140],"corresponding":[141],"an":[143],"LTL$_{f}$specification.":[144],"primarily":[147],"focuses":[148],"subspace,":[152],"transitioning":[153],"another":[155],"under":[156,177],"conditions":[157],"determined":[158],"decomposition":[161],"automata.":[163],"multiple":[166],"heuristics":[167],"significantly":[169],"expedite":[170],"search.":[172],"Our":[173],"theoretical":[174],"analysis,":[175],"mild":[178],"assumptions,":[179],"addresses":[180],"completeness":[181],"optimality.":[183],"Compared":[184],"existing":[186],"methods":[187],"various":[190],"simulators":[191],"service":[193],"tasks,":[194],"improves":[197],"times":[199],"while":[200],"maintaining":[201],"comparable":[202],"solution":[203],"quality.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}