{"id":"https://openalex.org/W7124150463","doi":"https://doi.org/10.1109/tsmc.2025.3649593","title":"Optimal Scalability-Aware Allocation of Swarm Robots: From Linear to Retrograde Performance via Marginal Gains","display_name":"Optimal Scalability-Aware Allocation of Swarm Robots: From Linear to Retrograde Performance via Marginal Gains","publication_year":2026,"publication_date":"2026-01-14","ids":{"openalex":"https://openalex.org/W7124150463","doi":"https://doi.org/10.1109/tsmc.2025.3649593"},"language":null,"primary_location":{"id":"doi:10.1109/tsmc.2025.3649593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3649593","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/A5120538972","display_name":"Simay Atasoy Bing\u00f6l","orcid":null},"institutions":[{"id":"https://openalex.org/I189712700","display_name":"University of Konstanz","ror":"https://ror.org/0546hnb39","country_code":"DE","type":"education","lineage":["https://openalex.org/I189712700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Simay Atasoy Bing\u00f6l","raw_affiliation_strings":["Department of Computer and Information Science and the Centre for the Advanced Study of Collective Behaviour (CASCB), Universität Konstanz, Konstanz, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science and the Centre for the Advanced Study of Collective Behaviour (CASCB), Universität Konstanz, Konstanz, Germany","institution_ids":["https://openalex.org/I189712700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121690598","display_name":"Tobias T\u00f6pfer","orcid":null},"institutions":[{"id":"https://openalex.org/I189712700","display_name":"University of Konstanz","ror":"https://ror.org/0546hnb39","country_code":"DE","type":"education","lineage":["https://openalex.org/I189712700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tobias T\u00f6pfer","raw_affiliation_strings":["Department of Computer and Information Science, Universität Konstanz, Konstanz, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, Universität Konstanz, Konstanz, Germany","institution_ids":["https://openalex.org/I189712700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049639443","display_name":"Sven Kosub","orcid":"https://orcid.org/0000-0001-6316-8546"},"institutions":[{"id":"https://openalex.org/I189712700","display_name":"University of Konstanz","ror":"https://ror.org/0546hnb39","country_code":"DE","type":"education","lineage":["https://openalex.org/I189712700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sven Kosub","raw_affiliation_strings":["Department of Computer and Information Science, Universität Konstanz, Konstanz, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, Universität Konstanz, Konstanz, Germany","institution_ids":["https://openalex.org/I189712700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123009813","display_name":"Heiko Hamann","orcid":null},"institutions":[{"id":"https://openalex.org/I189712700","display_name":"University of Konstanz","ror":"https://ror.org/0546hnb39","country_code":"DE","type":"education","lineage":["https://openalex.org/I189712700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Heiko Hamann","raw_affiliation_strings":["Department of Computer and Information Science and the Centre for the Advanced Study of Collective Behaviour (CASCB), Universität Konstanz, Konstanz, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science and the Centre for the Advanced Study of Collective Behaviour (CASCB), Universität Konstanz, Konstanz, Germany","institution_ids":["https://openalex.org/I189712700"]}]},{"author_position":"last","author":{"id":null,"display_name":"Andreagiovanni Reina","orcid":"https://orcid.org/0000-0003-4745-992X"},"institutions":[{"id":"https://openalex.org/I189712700","display_name":"University of Konstanz","ror":"https://ror.org/0546hnb39","country_code":"DE","type":"education","lineage":["https://openalex.org/I189712700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreagiovanni Reina","raw_affiliation_strings":["Department of Computer and Information Science and the Centre for the Advanced Study of Collective Behaviour (CASCB), Universität Konstanz, Konstanz, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science and the Centre for the Advanced Study of Collective Behaviour (CASCB), Universität Konstanz, Konstanz, Germany","institution_ids":["https://openalex.org/I189712700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5120538972"],"corresponding_institution_ids":["https://openalex.org/I189712700"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08707007,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"56","issue":"3","first_page":"2089","last_page":"2103"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9244999885559082,"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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9244999885559082,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.04170000180602074,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.00989999994635582,"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/robot","display_name":"Robot","score":0.6366000175476074},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.614799976348877},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6050999760627747},{"id":"https://openalex.org/keywords/resource-allocation","display_name":"Resource allocation","score":0.5166000127792358},{"id":"https://openalex.org/keywords/information-exchange","display_name":"Information exchange","score":0.41449999809265137},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.39160001277923584},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.37439998984336853},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.37220001220703125}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6665999889373779},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6366000175476074},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.614799976348877},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6050999760627747},{"id":"https://openalex.org/C29202148","wikidata":"https://www.wikidata.org/wiki/Q287260","display_name":"Resource allocation","level":2,"score":0.5166000127792358},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4977000057697296},{"id":"https://openalex.org/C189693848","wikidata":"https://www.wikidata.org/wiki/Q6031064","display_name":"Information exchange","level":2,"score":0.41449999809265137},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.39419999718666077},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.39160001277923584},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.37439998984336853},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.37220001220703125},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.35749998688697815},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.3569999933242798},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.35109999775886536},{"id":"https://openalex.org/C2780609101","wikidata":"https://www.wikidata.org/wiki/Q17156588","display_name":"Resource management (computing)","level":2,"score":0.3125999867916107},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.288100004196167},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.28519999980926514},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.28459998965263367},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.26570001244544983},{"id":"https://openalex.org/C130120984","wikidata":"https://www.wikidata.org/wiki/Q2835898","display_name":"Distributed algorithm","level":2,"score":0.262800008058548},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.25290000438690186},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2025.3649593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3649593","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":[],"awards":[{"id":"https://openalex.org/G8778862029","display_name":null,"funder_award_id":"EXC 2117-422037984","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320309207","display_name":"Grant Foundation","ror":null},{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320331822","display_name":"Hector Stiftung II","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1513873506","https://openalex.org/W1521226446","https://openalex.org/W1969004317","https://openalex.org/W1979566015","https://openalex.org/W1984752860","https://openalex.org/W2004759812","https://openalex.org/W2031794358","https://openalex.org/W2033572282","https://openalex.org/W2087018957","https://openalex.org/W2100527071","https://openalex.org/W2108162188","https://openalex.org/W2134660637","https://openalex.org/W2138328817","https://openalex.org/W2145291058","https://openalex.org/W2145510175","https://openalex.org/W2153772799","https://openalex.org/W2155811809","https://openalex.org/W2157488300","https://openalex.org/W2343765183","https://openalex.org/W2486991554","https://openalex.org/W2507838947","https://openalex.org/W2575523922","https://openalex.org/W2769878314","https://openalex.org/W2790892475","https://openalex.org/W2808536168","https://openalex.org/W2911841231","https://openalex.org/W2913738567","https://openalex.org/W2971039579","https://openalex.org/W3017099865","https://openalex.org/W3022321359","https://openalex.org/W3034478737","https://openalex.org/W3091292765","https://openalex.org/W3093895742","https://openalex.org/W3094167262","https://openalex.org/W3138386522","https://openalex.org/W3165286664","https://openalex.org/W3175547404","https://openalex.org/W4292414934","https://openalex.org/W4312723233","https://openalex.org/W4401414322","https://openalex.org/W4405785086","https://openalex.org/W7124190810"],"related_works":[],"abstract_inverted_index":{"In":[0,153],"collective":[1,18,105,118],"systems,":[2],"the":[3,21,45,71,109,168,212],"available":[4],"agents":[5,26,56,75,91,123],"are":[6],"a":[7,31,79,113,132,164,179],"limited":[8],"resource":[9],"that":[10,196],"must":[11],"be":[12,35,200],"allocated":[13,74],"among":[14,117,185,205],"tasks":[15,29,52,93],"to":[16,27,57,62,92,130,210],"maximize":[17],"performance.":[19,106],"Computing":[20],"optimal":[22],"allocation":[23],"of":[24,47,73,147,214],"several":[25],"numerous":[28],"through":[30],"brute-force":[32],"approach":[33,208],"can":[34,199],"infeasible,":[36],"especially":[37],"when":[38],"each":[39,159],"task\u2019s":[40],"performance":[41,66,86,157],"scales":[42,161],"differently":[43],"with":[44,94],"increase":[46],"agents.":[48],"For":[49],"example,":[50],"difficult":[51],"may":[53,67],"require":[54],"more":[55],"achieve":[58,103],"similar":[59],"performances":[60],"compared":[61],"simpler":[63],"tasks,":[64,120],"but":[65],"saturate":[68],"nonlinearly":[69],"as":[70,163,178],"number":[72],"increases.":[76],"We":[77,107,139],"propose":[78],"computationally":[80],"efficient":[81],"algorithm,":[82],"based":[83],"on":[84,134],"marginal":[85],"gains,":[87],"for":[88],"optimally":[89],"allocating":[90,112,203],"concave":[95],"scalability":[96],"functions\u2014including":[97],"linear,":[98],"saturating,":[99],"and":[100,127],"retrograde":[101,180],"scaling\u2014to":[102],"maximum":[104],"test":[108],"algorithm":[110,198],"by":[111,143],"simulated":[114],"robot":[115,192],"swarm":[116],"decision-making":[119],"where":[121],"embodied":[122],"sample":[124],"their":[125,188],"environment":[126],"exchange":[128],"information":[129],"reach":[131],"consensus":[133],"spatially":[135],"distributed":[136],"environmental":[137,148],"features.":[138],"vary":[140],"task":[141,160],"difficulties":[142],"different":[144],"geometrical":[145],"arrangements":[146],"features":[149],"in":[150,158,173,202],"space":[151],"(patchiness).":[152],"this":[154],"scenario,":[155],"decision":[156],"either":[162],"saturating":[165],"curve":[166,181],"(following":[167],"Condorcet\u2019s":[169],"Jury":[170],"Theorem":[171],"(CJT)":[172],"an":[174],"interference-free":[175],"setup)":[176],"or":[177],"(when":[182],"physical":[183],"interference":[184],"robots":[186,204],"restricts":[187],"movement).":[189],"Using":[190],"simple":[191],"simulations,":[193],"we":[194],"show":[195],"our":[197],"useful":[201],"tasks.":[206],"Our":[207],"aims":[209],"advance":[211],"deployment":[213],"future":[215],"real-world":[216],"multirobot":[217],"systems.":[218]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-01-15T00:00:00"}