{"id":"https://openalex.org/W7083032291","doi":"https://doi.org/10.1109/tro.2025.3613566","title":"Efficient Decentralized Parallel Task Allocation for Multiple Robots","display_name":"Efficient Decentralized Parallel Task Allocation for Multiple Robots","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W7083032291","doi":"https://doi.org/10.1109/tro.2025.3613566"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3613566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3613566","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":null,"display_name":"Teng Li","orcid":"https://orcid.org/0009-0005-6686-1131"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Teng Li","raw_affiliation_strings":["Centre for AI, Robotics and Space, FEAS, Cranfield University, Cranfield, U.K"],"raw_orcid":"https://orcid.org/0009-0005-6686-1131","affiliations":[{"raw_affiliation_string":"Centre for AI, Robotics and Space, FEAS, Cranfield University, Cranfield, U.K","institution_ids":["https://openalex.org/I82284825"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hyo-Sang Shin","orcid":"https://orcid.org/0000-0001-9938-0370"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyo-Sang Shin","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-9938-0370","affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":null,"display_name":"Antonios Tsourdos","orcid":"https://orcid.org/0000-0002-3966-7633"},"institutions":[{"id":"https://openalex.org/I82284825","display_name":"Cranfield University","ror":"https://ror.org/05cncd958","country_code":"GB","type":"education","lineage":["https://openalex.org/I82284825"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Antonios Tsourdos","raw_affiliation_strings":["Centre for AI, Robotics and Space, FEAS, Cranfield University, Cranfield, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3966-7633","affiliations":[{"raw_affiliation_string":"Centre for AI, Robotics and Space, FEAS, Cranfield University, Cranfield, U.K","institution_ids":["https://openalex.org/I82284825"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.792,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.92721265,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"41","issue":null,"first_page":"6006","last_page":"6023"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.6553000211715698,"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"}},"topics":[{"id":"https://openalex.org/T12157","display_name":"Geochemistry and Geologic Mapping","score":0.6553000211715698,"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"}},{"id":"https://openalex.org/T13067","display_name":"Geological Modeling and Analysis","score":0.02759999968111515,"subfield":{"id":"https://openalex.org/subfields/1906","display_name":"Geochemistry and Petrology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14311","display_name":"Electrical and Electromagnetic Research","score":0.01860000006854534,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7900000214576721},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.7070000171661377},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.580299973487854},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.5300999879837036},{"id":"https://openalex.org/keywords/submodular-set-function","display_name":"Submodular set function","score":0.4171999990940094},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4099999964237213},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.3953999876976013}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7900000214576721},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.7070000171661377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6901000142097473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.580299973487854},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5720999836921692},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.5300999879837036},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4350999891757965},{"id":"https://openalex.org/C178621042","wikidata":"https://www.wikidata.org/wiki/Q7631710","display_name":"Submodular set function","level":2,"score":0.4171999990940094},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4099999964237213},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.3953999876976013},{"id":"https://openalex.org/C180518391","wikidata":"https://www.wikidata.org/wiki/Q355217","display_name":"Time allocation","level":2,"score":0.3619999885559082},{"id":"https://openalex.org/C2780609101","wikidata":"https://www.wikidata.org/wiki/Q17156588","display_name":"Resource management (computing)","level":2,"score":0.3165999948978424},{"id":"https://openalex.org/C29202148","wikidata":"https://www.wikidata.org/wiki/Q287260","display_name":"Resource allocation","level":2,"score":0.3059000074863434},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3012000024318695},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28780001401901245},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.2549000084400177}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3613566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3613566","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1471578414","https://openalex.org/W1497395440","https://openalex.org/W1972391046","https://openalex.org/W2100774789","https://openalex.org/W2125626250","https://openalex.org/W2142544818","https://openalex.org/W2144827113","https://openalex.org/W2148150086","https://openalex.org/W2157488300","https://openalex.org/W2332116241","https://openalex.org/W2500139799","https://openalex.org/W2569511777","https://openalex.org/W2605147510","https://openalex.org/W2739335553","https://openalex.org/W2765933650","https://openalex.org/W2769878314","https://openalex.org/W2788352579","https://openalex.org/W2886401384","https://openalex.org/W2904310653","https://openalex.org/W2914661444","https://openalex.org/W2915041254","https://openalex.org/W2939752533","https://openalex.org/W2950688771","https://openalex.org/W2963642217","https://openalex.org/W2964283858","https://openalex.org/W2968779813","https://openalex.org/W2976344064","https://openalex.org/W2987371559","https://openalex.org/W3005764631","https://openalex.org/W3011439212","https://openalex.org/W3091739094","https://openalex.org/W3106620284","https://openalex.org/W3114859621","https://openalex.org/W3134246921","https://openalex.org/W3138865409","https://openalex.org/W3171695584","https://openalex.org/W3176056406","https://openalex.org/W3190591843","https://openalex.org/W3214218149","https://openalex.org/W4231490457","https://openalex.org/W4287217479","https://openalex.org/W4291671317","https://openalex.org/W4321254709","https://openalex.org/W4385155193","https://openalex.org/W4388983790","https://openalex.org/W4400352413"],"related_works":[],"abstract_inverted_index":{"This":[0,30],"paper":[1,31],"deals":[2],"with":[3,18,101,183],"large-scale":[4,181],"decentralised":[5,19,34,67],"task":[6,20,172],"allocation":[7,21,44,173],"problems":[8,22],"for":[9,26,62,81,114],"multiple":[10,63],"heterogeneous":[11],"robots.":[12,188],"One":[13],"of":[14,75,78,96,104,129,139,145,185],"the":[15,24,52,76,79,123,126,130,137,143,146],"grand":[16],"challenges":[17],"is":[23,122,136],"NP-hardness":[25],"computation":[27,58,102],"and":[28,59,187],"communication.":[29],"proposes":[32],"a":[33,47,66,72,155],"Decreasing":[35],"Threshold":[36],"Task":[37],"Allocation":[38],"(DTTA)":[39],"algorithm":[40],"that":[41,89,162],"enables":[42],"parallel":[43],"by":[45],"leveraging":[46],"decreasing":[48,127],"threshold":[49],"to":[50],"handle":[51],"NP-hardness.":[53],"DTTA":[54,70,90,163],"can":[55,91],"release":[56],"both":[57],"communication":[60],"burdens":[61],"robots":[64],"in":[65,180],"network.":[68],"Additionally,":[69],"provides":[71],"theoretical":[73],"guarantee":[74,95],"quality":[77,167],"solution":[80,166],"maximising":[82],"submodular":[83],"utility":[84],"functions.":[85],"Theoretical":[86],"analysis":[87],"indicates":[88],"provide":[92],"an":[93],"optimality":[94],"<inline-formula":[97,105,118,132],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[98,106,119,133],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[99,107,120,134],"notation=\"LaTeX\">$(1-\\epsilon)/2$</tex-math></inline-formula>":[100],"complexity":[103],"notation=\"LaTeX\">$O(\\min":[108],"(r^{2},":[109],"\\frac{r}{\\epsilon":[110,112],"}\\ln":[111],"}))$</tex-math></inline-formula>":[113],"each":[115],"robot,":[116],"where":[117],"notation=\"LaTeX\">$\\epsilon$</tex-math></inline-formula>":[121],"parameter":[124],"controlling":[125],"speed":[128],"threshold,":[131],"notation=\"LaTeX\">$r$</tex-math></inline-formula>":[135],"number":[138],"tasks.":[140],"To":[141],"examine":[142],"performance":[144],"proposed":[147],"algorithm,":[148],"we":[149],"conduct":[150],"numerical":[151],"simulations":[152],"based":[153],"on":[154],"multi-target":[156],"surveillance":[157],"scenario.":[158],"Simulation":[159],"results":[160],"demonstrate":[161],"delivers":[164],"comparable":[165],"significantly":[168],"faster":[169],"than":[170],"state-of-the-art":[171],"algorithms.":[174],"Its":[175],"advantages":[176],"are":[177],"particularly":[178],"pronounced":[179],"missions":[182],"thousands":[184],"tasks":[186]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}