{"id":"https://openalex.org/W2761151150","doi":"https://doi.org/10.1109/tsmc.2017.2750911","title":"A Real-Time and Fully Distributed Approach to Motion Planning for Multirobot Systems","display_name":"A Real-Time and Fully Distributed Approach to Motion Planning for Multirobot Systems","publication_year":2017,"publication_date":"2017-10-02","ids":{"openalex":"https://openalex.org/W2761151150","doi":"https://doi.org/10.1109/tsmc.2017.2750911","mag":"2761151150"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2017.2750911","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2017.2750911","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5083918663","display_name":"Yuan Zhou","orcid":"https://orcid.org/0000-0002-1583-7570"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Yuan Zhou","raw_affiliation_strings":["School of Computer Science and Engineering, College of Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, College of Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080332732","display_name":"Hesuan Hu","orcid":"https://orcid.org/0000-0002-8724-2058"},"institutions":[{"id":"https://openalex.org/I149594827","display_name":"Xidian University","ror":"https://ror.org/05s92vm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I149594827"]},{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]},{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN","SG"],"is_corresponding":false,"raw_author_name":"Hesuan Hu","raw_affiliation_strings":["School of Computer Science and Engineering, College of Engineering, Nanyang Technological University, Singapore","School of Electro-Mechanical Engineering, Xidian University, Xi\u2019an, China","State Key Laboratory for Manufacturing Systems Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, China","School of Electro-Mechanical Engineering, Xidian University, Xi'an, China","State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, College of Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electro-Mechanical Engineering, Xidian University, Xi\u2019an, China","institution_ids":["https://openalex.org/I149594827"]},{"raw_affiliation_string":"State Key Laboratory for Manufacturing Systems Engineering, Xi\u2019an Jiaotong University, Xi\u2019an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"School of Electro-Mechanical Engineering, Xidian University, Xi'an, China","institution_ids":["https://openalex.org/I149594827"]},{"raw_affiliation_string":"State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100355692","display_name":"Yang Liu","orcid":"https://orcid.org/0000-0001-7300-9215"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yang Liu","raw_affiliation_strings":["School of Computer Science and Engineering, College of Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, College of Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072863865","display_name":"Shang\u2010Wei Lin","orcid":"https://orcid.org/0000-0002-9726-3434"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Shang-Wei Lin","raw_affiliation_strings":["School of Computer Science and Engineering, College of Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, College of Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077615805","display_name":"Zuohua Ding","orcid":"https://orcid.org/0000-0002-9671-7836"},"institutions":[{"id":"https://openalex.org/I1328775524","display_name":"Zhejiang Sci-Tech University","ror":"https://ror.org/03893we55","country_code":"CN","type":"education","lineage":["https://openalex.org/I1328775524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zuohua Ding","raw_affiliation_strings":["School of Information Sciences, Zhejiang Sci-Tech University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Information Sciences, Zhejiang Sci-Tech University, Hangzhou, China","institution_ids":["https://openalex.org/I1328775524"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5083918663"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":2.0348,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.92537711,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"49","issue":"12","first_page":"2636","last_page":"2650"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.708524227142334},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6560191512107849},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6352593302726746},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6352279186248779},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6286048889160156},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.5839834213256836},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5746076107025146},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.45923835039138794},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.4227638840675354},{"id":"https://openalex.org/keywords/linear-programming","display_name":"Linear programming","score":0.41399556398391724},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3366934657096863},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32205232977867126},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30340901017189026},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.15597301721572876},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11495381593704224}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.708524227142334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6560191512107849},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6352593302726746},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6352279186248779},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6286048889160156},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.5839834213256836},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5746076107025146},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.45923835039138794},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.4227638840675354},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.41399556398391724},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3366934657096863},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32205232977867126},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30340901017189026},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.15597301721572876},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11495381593704224},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2017.2750911","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2017.2750911","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7099999785423279,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1749319218","display_name":null,"funder_award_id":"K5051304004","funder_id":"https://openalex.org/F4320321392","funder_display_name":"Northwestern Polytechnical University"},{"id":"https://openalex.org/G2636002203","display_name":null,"funder_award_id":"61210004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G326964915","display_name":null,"funder_award_id":"K7215581201","funder_id":"https://openalex.org/F4320321392","funder_display_name":"Northwestern Polytechnical University"},{"id":"https://openalex.org/G3458316172","display_name":null,"funder_award_id":"K5051304021","funder_id":"https://openalex.org/F4320321392","funder_display_name":"Northwestern Polytechnical University"},{"id":"https://openalex.org/G4118317121","display_name":null,"funder_award_id":"51305321","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G426835721","display_name":null,"funder_award_id":"61203037","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4326781678","display_name":null,"funder_award_id":"NCET-12-0921","funder_id":"https://openalex.org/F4320334924","funder_display_name":"Program for New Century Excellent Talents in University"},{"id":"https://openalex.org/G5374755975","display_name":null,"funder_award_id":"61170015","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8411548885","display_name":null,"funder_award_id":"61573265","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321392","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86"},{"id":"https://openalex.org/F4320334924","display_name":"Program for New Century Excellent Talents in University","ror":"https://ror.org/01mv9t934"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W192919555","https://openalex.org/W1424654272","https://openalex.org/W1471578414","https://openalex.org/W1489244333","https://openalex.org/W1521785144","https://openalex.org/W1587371456","https://openalex.org/W1605218591","https://openalex.org/W1957861458","https://openalex.org/W1968478252","https://openalex.org/W1990131206","https://openalex.org/W1992157405","https://openalex.org/W1997872704","https://openalex.org/W1997880753","https://openalex.org/W2002440441","https://openalex.org/W2003380002","https://openalex.org/W2012298116","https://openalex.org/W2016501629","https://openalex.org/W2030250960","https://openalex.org/W2047083748","https://openalex.org/W2051493878","https://openalex.org/W2062731992","https://openalex.org/W2067508429","https://openalex.org/W2072839015","https://openalex.org/W2079144454","https://openalex.org/W2113261006","https://openalex.org/W2125240595","https://openalex.org/W2125503755","https://openalex.org/W2127617835","https://openalex.org/W2130940433","https://openalex.org/W2155974215","https://openalex.org/W2162882860","https://openalex.org/W2167708614","https://openalex.org/W2167805536","https://openalex.org/W2294538342","https://openalex.org/W2317713946","https://openalex.org/W2388591084","https://openalex.org/W2593272389","https://openalex.org/W2611243847","https://openalex.org/W3149551512","https://openalex.org/W4231761304","https://openalex.org/W4242811155","https://openalex.org/W4250589301","https://openalex.org/W4292510839"],"related_works":["https://openalex.org/W2799225442","https://openalex.org/W2895956935","https://openalex.org/W2906267174","https://openalex.org/W134501823","https://openalex.org/W2013239059","https://openalex.org/W2295626654","https://openalex.org/W4286622840","https://openalex.org/W2536121351","https://openalex.org/W2809608782","https://openalex.org/W2333245620"],"abstract_inverted_index":{"Motion":[0],"planning":[1,39,68],"is":[2,15,52,92,113,187],"one":[3],"of":[4,57,104],"the":[5,29,37,41,75,82,96,102,141,144,149,154,159,174,179],"most":[6],"critical":[7],"problems":[8],"in":[9,45,115,148,189],"multirobot":[10,42],"systems.":[11,72],"The":[12,89,184],"basic":[13],"target":[14,30],"to":[16,28,67,94,130,135],"generate":[17],"a":[18,63,110,126],"collision-free":[19],"trajectory":[20,38],"for":[21,40,70,158],"each":[22,108,167],"robot":[23,51,127,142,168,180],"from":[24,162],"its":[25,116,122,133,163,170,190],"initial":[26],"position":[27],"position.":[31],"In":[32],"this":[33],"paper,":[34],"we":[35],"study":[36],"systems":[43],"operating":[44],"unstructured":[46],"and":[47,81,152],"changing":[48],"environments.":[49],"Each":[50],"equipped":[53],"with":[54,101,132],"some":[55],"sensors":[56],"limited":[58],"sensing":[59],"ranges.":[60],"We":[61],"propose":[62],"fully":[64],"distributed":[65],"approach":[66],"trajectories":[69],"such":[71,177],"It":[73],"combines":[74],"model":[76],"predictive":[77],"control":[78],"(MPC)":[79],"strategy":[80],"incremental":[83],"sequential":[84],"convex":[85],"programming":[86,112],"(iSCP)":[87],"method.":[88],"MPC":[90],"framework":[91],"applied":[93],"detect":[95],"local":[97],"running":[98],"environment":[99],"real-timely":[100],"concept":[103],"receding":[105],"horizon.":[106,119],"For":[107],"robot,":[109],"nonlinear":[111],"built":[114],"current":[117,138,150],"prediction":[118,160],"To":[120],"construct":[121],"own":[123],"optimization":[124],"problem,":[125],"first":[128],"needs":[129],"communicate":[131],"neighbors":[134],"retrieve":[136],"their":[137],"states.":[139],"Then,":[140],"predicts":[143],"neighbors'":[145],"future":[146],"positions":[147],"horizon":[151],"constructs":[153],"problem":[155,171],"without":[156],"waiting":[157],"information":[161],"neighbors.":[164],"At":[165],"last,":[166],"solves":[169],"independently":[172],"via":[173],"iSCP":[175],"method":[176,186],"that":[178],"can":[181],"move":[182],"autonomously.":[183],"proposed":[185],"polynomial":[188],"computational":[191],"complexity.":[192]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":4}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
