{"id":"https://openalex.org/W3122059754","doi":"https://doi.org/10.1109/ssrr50563.2020.9292636","title":"Decentralized Collision Avoidance and Motion Planning for Multi-Robot Deformable Payload Transport Systems","display_name":"Decentralized Collision Avoidance and Motion Planning for Multi-Robot Deformable Payload Transport Systems","publication_year":2020,"publication_date":"2020-11-04","ids":{"openalex":"https://openalex.org/W3122059754","doi":"https://doi.org/10.1109/ssrr50563.2020.9292636","mag":"3122059754"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr50563.2020.9292636","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292636","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-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/A5008189660","display_name":"Yahnit Sirineni","orcid":null},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Yahnit Sirineni","raw_affiliation_strings":["Agents and Applied Robotics Group (AARG), Kohli Center on Intelligent Systems, International Institute of Information Technology, Hyderabad (IIIT-H), India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agents and Applied Robotics Group (AARG), Kohli Center on Intelligent Systems, International Institute of Information Technology, Hyderabad (IIIT-H), India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080925530","display_name":"Rahul Tallamraju","orcid":"https://orcid.org/0000-0002-8087-2225"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Rahul Tallamraju","raw_affiliation_strings":["Agents and Applied Robotics Group (AARG), Kohli Center on Intelligent Systems, International Institute of Information Technology, Hyderabad (IIIT-H), India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agents and Applied Robotics Group (AARG), Kohli Center on Intelligent Systems, International Institute of Information Technology, Hyderabad (IIIT-H), India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016907484","display_name":"Abhay Rawat","orcid":"https://orcid.org/0000-0003-3406-2149"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Abhay Rawat","raw_affiliation_strings":["Agents and Applied Robotics Group (AARG), Kohli Center on Intelligent Systems, International Institute of Information Technology, Hyderabad (IIIT-H), India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agents and Applied Robotics Group (AARG), Kohli Center on Intelligent Systems, International Institute of Information Technology, Hyderabad (IIIT-H), India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088255710","display_name":"Kamalakar Karlapalem","orcid":"https://orcid.org/0000-0003-2528-7979"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Kamalakar Karlapalem","raw_affiliation_strings":["Agents and Applied Robotics Group (AARG), Kohli Center on Intelligent Systems, International Institute of Information Technology, Hyderabad (IIIT-H), India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agents and Applied Robotics Group (AARG), Kohli Center on Intelligent Systems, International Institute of Information Technology, Hyderabad (IIIT-H), India","institution_ids":["https://openalex.org/I65181880"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5008189660"],"corresponding_institution_ids":["https://openalex.org/I65181880"],"apc_list":null,"apc_paid":null,"fwci":0.0981,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.44069425,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"154","last_page":"161"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9980000257492065,"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":0.9965999722480774,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.846521258354187},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7681388854980469},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6844173073768616},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6722472310066223},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6332641243934631},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5813267827033997},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5056891441345215},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4372771382331848},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4067510664463043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23332539200782776}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.846521258354187},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7681388854980469},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6844173073768616},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6722472310066223},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6332641243934631},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5813267827033997},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5056891441345215},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4372771382331848},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4067510664463043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23332539200782776},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr50563.2020.9292636","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr50563.2020.9292636","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6000000238418579,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W178419168","https://openalex.org/W192919555","https://openalex.org/W1537022493","https://openalex.org/W1982592145","https://openalex.org/W2076162824","https://openalex.org/W2202063402","https://openalex.org/W2409707557","https://openalex.org/W2744979297","https://openalex.org/W2771744989","https://openalex.org/W2927892891","https://openalex.org/W2954519665","https://openalex.org/W2974042372","https://openalex.org/W2988608007","https://openalex.org/W4288301519","https://openalex.org/W4288375162","https://openalex.org/W6761150129","https://openalex.org/W6764487934"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1678858522","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W4381746183"],"abstract_inverted_index":{"We":[0,70],"present":[1,100],"a":[2,19,29,40,80,93,119,123,140,144,153,202],"decentralized":[3,94],"motion":[4,107,135],"planning":[5,120],"and":[6,46,64,85,127,150,173,185,201],"collision":[7,48,51,82,148],"avoidance":[8,52,83],"algorithm":[9,84,189],"for":[10,53,147],"multi-robot":[11,67,81],"payload":[12],"transport":[13,28],"systems":[14,55],"(PTS).":[15],"A":[16],"PTS":[17,33],"is":[18,34,56,190],"formation":[20,138],"of":[21,62,108,125,137,171,183,204],"loosely":[22],"coupled":[23],"non-holonomic":[24],"robots":[25,184],"that":[26,165],"cooperatively":[27],"deformable":[30],"payload.":[31],"Each":[32],"constrained":[35],"to":[36,59,104,158],"navigate":[37],"safely":[38],"in":[39,180,197],"dynamic":[41],"environment":[42],"by":[43,75,79,142],"inter-formation,":[44],"environmental,":[45],"intra-formation":[47],"avoidance.":[49],"Real-time":[50],"such":[54],"challenging":[57],"due":[58],"the":[60,72,106,134,160,181,198],"deformability":[61],"formations":[63,172,186],"high":[65],"dimensional":[66],"non-convex":[68],"workspace.":[69],"resolve":[71],"above":[73],"challenges":[74],"embedding":[76],"workspaces":[77,117],"defined":[78],"multi-scale":[86,115],"repulsive":[87,128],"potential":[88,129],"fields":[89],"as":[90],"constraints":[91],"within":[92],"convex":[95,116],"optimization":[96],"problem.":[97,161],"Specifically,":[98],"we":[99,112,132,151],"two":[101],"main":[102],"steps":[103],"plan":[105],"each":[109],"formation.":[110],"First,":[111],"compute":[113,133],"collision-free":[114],"over":[118,139],"horizon":[121,141],"using":[122,206],"combination":[124],"ORCA":[126],"fields.":[130],"Subsequently,":[131],"plans":[136],"proposing":[143],"novel":[145],"formulation":[146],"avoidance,":[149],"leverage":[152],"model":[154],"predictive":[155],"controller":[156],"(MPC)":[157],"solve":[159],"The":[162,188],"results":[163],"validate":[164],"our":[166],"solution":[167],"facilitates":[168],"real-time":[169],"navigation":[170],"computationally":[174],"scales":[175],"well":[176],"with":[177],"an":[178],"increase":[179],"number":[182],"used.":[187],"validated":[191],"through":[192],"extensive":[193],"preliminary":[194],"simulations,":[195],"experiments":[196],"gazebo":[199],"simulator,":[200],"proof":[203],"concept":[205],"real":[207],"robots.":[208]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-04T08:30:34.212998","created_date":"2025-10-10T00:00:00"}
