{"id":"https://openalex.org/W7161238762","doi":"https://doi.org/10.1109/lra.2026.3693986","title":"CPP: Cooperative Priority Planning for Multi-Agent Path Finding With Coordination and Action Durations","display_name":"CPP: Cooperative Priority Planning for Multi-Agent Path Finding With Coordination and Action Durations","publication_year":2026,"publication_date":"2026-05-15","ids":{"openalex":"https://openalex.org/W7161238762","doi":"https://doi.org/10.1109/lra.2026.3693986"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3693986","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3693986","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","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/A5108088060","display_name":"Z.W. Li","orcid":null},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengchen Li","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0004-9515-3655","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100772380","display_name":"Boyu Li","orcid":"https://orcid.org/0000-0003-1269-8875"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boyu Li","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0004-4049-8955","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136192298","display_name":"Weimin Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weimin Wu","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-1958-1920","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5136235437","display_name":"Dacheng Li","orcid":null},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dacheng Li","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0004-1730-9300","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4391767838"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.60317587,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"7","first_page":"8976","last_page":"8983"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7973999977111816,"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":0.7973999977111816,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.06729999929666519,"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/T11596","display_name":"Constraint Satisfaction and Optimization","score":0.04450000077486038,"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/action","display_name":"Action (physics)","score":0.6065999865531921},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5196999907493591},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.32519999146461487},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.3098999857902527},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.30820000171661377}],"concepts":[{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6065999865531921},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5928999781608582},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5196999907493591},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3788999915122986},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.32519999146461487},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3098999857902527},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.30820000171661377},{"id":"https://openalex.org/C112758219","wikidata":"https://www.wikidata.org/wiki/Q16038819","display_name":"Duration (music)","level":2,"score":0.30140000581741333},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.29120001196861267},{"id":"https://openalex.org/C42475967","wikidata":"https://www.wikidata.org/wiki/Q194292","display_name":"Operations research","level":1,"score":0.2883000075817108},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2696000039577484},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2590999901294708}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3693986","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3693986","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","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":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Modern":[0],"multi-agent":[1],"systems":[2],"are":[3,12],"evolving":[4],"toward":[5],"scalability,":[6],"heterogeneity,":[7],"and":[8,35,63,73,81,117,154],"collaboration,":[9],"where":[10],"agents":[11],"required":[13],"to":[14,16,77,98,141],"coordinate":[15],"perform":[17],"shared":[18],"tasks.":[19],"However,":[20],"existing":[21,138],"Cooperative":[22,65],"Multi-Agent":[23],"Path":[24],"Finding":[25],"(Co-MAPF)":[26],"research":[27],"typically":[28],"assumes":[29],"instantaneous":[30],"actions.":[31],"In":[32],"reality,":[33],"individual":[34],"joint":[36],"actions":[37],"require":[38],"non-negligible":[39],"durations,":[40],"which":[41],"introduce":[42],"additional":[43],"state":[44],"dimensions":[45],"that":[46,91,110],"significantly":[47],"expand":[48],"the":[49,56,158],"conflict-resolution":[50],"search":[51],"space.":[52],"This":[53],"letter":[54],"formulates":[55],"problem":[57],"as":[58],"Co-MAPF":[59,139],"with":[60,95,103,125],"Action":[61],"Durations":[62],"proposes":[64],"Priority":[66],"Planning":[67],"(CPP).":[68],"CPP":[69,111],"maintains":[70,146],"high-level":[71],"constraints":[72],"a":[74,88,126],"priority":[75],"queue":[76],"serialize":[78],"task":[79],"allocation":[80],"optimize":[82],"meeting":[83],"vertex":[84],"selection,":[85],"while":[86,133],"employing":[87],"low-level":[89],"solver":[90],"integrates":[92],"synchronization":[93],"windows":[94],"Time-Constrained":[96],"A*":[97],"couple":[99],"safe":[100],"action":[101],"durations":[102],"conflict-free":[104],"path":[105,123],"planning.":[106],"Experimental":[107],"results":[108],"demonstrate":[109],"achieves":[112],"near-linear":[113],"empirical":[114],"time":[115],"complexity":[116],"superior":[118],"scalability.":[119],"It":[120],"exhibits":[121],"near-optimal":[122],"quality":[124],"small":[127],"optimality":[128],"gap":[129],"in":[130,150],"small-scale":[131],"scenarios,":[132,153],"scaling":[134],"more":[135],"effectively":[136],"than":[137],"solvers":[140],"constrained":[142,152],"scenarios.":[143],"Moreover,":[144],"it":[145],"high":[147],"success":[148],"rates":[149],"large-scale,":[151],"ablation":[155],"studies":[156],"validate":[157],"effectiveness":[159],"of":[160],"each":[161],"component.":[162]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-05-16T00:00:00"}
