{"id":"https://openalex.org/W4400275528","doi":"https://doi.org/10.1115/1.4065883","title":"Learning to Allocate Time-Bound and Dynamic Tasks to Multiple Robots Using Covariant Attention Neural Networks","display_name":"Learning to Allocate Time-Bound and Dynamic Tasks to Multiple Robots Using Covariant Attention Neural Networks","publication_year":2024,"publication_date":"2024-07-03","ids":{"openalex":"https://openalex.org/W4400275528","doi":"https://doi.org/10.1115/1.4065883"},"language":"en","primary_location":{"id":"doi:10.1115/1.4065883","is_oa":false,"landing_page_url":"https://doi.org/10.1115/1.4065883","pdf_url":null,"source":{"id":"https://openalex.org/S173178594","display_name":"Journal of Computing and Information Science in Engineering","issn_l":"1530-9827","issn":["1530-9827","1944-7078"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310316053","host_organization_name":"ASM International","host_organization_lineage":["https://openalex.org/P4310316053"],"host_organization_lineage_names":["ASM International"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing and Information Science in Engineering","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/A5082521584","display_name":"Steve Paul","orcid":"https://orcid.org/0000-0002-8138-5242"},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Steve Paul","raw_affiliation_strings":["University at Buffalo Department of Mechanical and Aerospace Engineering, , Buffalo, NY 14260"],"affiliations":[{"raw_affiliation_string":"University at Buffalo Department of Mechanical and Aerospace Engineering, , Buffalo, NY 14260","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103729006","display_name":"Souma Chowdhury","orcid":null},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Souma Chowdhury","raw_affiliation_strings":["University at Buffalo Department of Mechanical and Aerospace Engineering, , Buffalo, NY 14260"],"affiliations":[{"raw_affiliation_string":"University at Buffalo Department of Mechanical and Aerospace Engineering, , Buffalo, NY 14260","institution_ids":["https://openalex.org/I63190737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5082521584"],"corresponding_institution_ids":["https://openalex.org/I63190737"],"apc_list":null,"apc_paid":null,"fwci":1.3187,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.79953802,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"24","issue":"9","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.996999979019165,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9878000020980835,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5916073322296143},{"id":"https://openalex.org/keywords/covariant-transformation","display_name":"Covariant transformation","score":0.5823404788970947},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5675836801528931},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5015425682067871},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43527573347091675},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3239385485649109},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31779563426971436},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18847647309303284}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5916073322296143},{"id":"https://openalex.org/C9136319","wikidata":"https://www.wikidata.org/wiki/Q362640","display_name":"Covariant transformation","level":2,"score":0.5823404788970947},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5675836801528931},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5015425682067871},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43527573347091675},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3239385485649109},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31779563426971436},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18847647309303284},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1115/1.4065883","is_oa":false,"landing_page_url":"https://doi.org/10.1115/1.4065883","pdf_url":null,"source":{"id":"https://openalex.org/S173178594","display_name":"Journal of Computing and Information Science in Engineering","issn_l":"1530-9827","issn":["1530-9827","1944-7078"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310316053","host_organization_name":"ASM International","host_organization_lineage":["https://openalex.org/P4310316053"],"host_organization_lineage_names":["ASM International"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing and Information Science in Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6600000262260437,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G1858494037","display_name":null,"funder_award_id":"N00014-21-1-2530","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G290227084","display_name":null,"funder_award_id":"CMMI 2048020","funder_id":"https://openalex.org/F4320332170","funder_display_name":"Directorate for Engineering"}],"funders":[{"id":"https://openalex.org/F4320332170","display_name":"Directorate for Engineering","ror":"https://ror.org/00b6sbb32"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":75,"referenced_works":["https://openalex.org/W1542517726","https://openalex.org/W1622256005","https://openalex.org/W1993343369","https://openalex.org/W1995249559","https://openalex.org/W2002515846","https://openalex.org/W2050133090","https://openalex.org/W2050819731","https://openalex.org/W2075600171","https://openalex.org/W2099860183","https://openalex.org/W2111563176","https://openalex.org/W2132862210","https://openalex.org/W2144827113","https://openalex.org/W2157488300","https://openalex.org/W2184896964","https://openalex.org/W2262276395","https://openalex.org/W2269069563","https://openalex.org/W2293302471","https://openalex.org/W2305148090","https://openalex.org/W2403700331","https://openalex.org/W2505196701","https://openalex.org/W2537545174","https://openalex.org/W2601109552","https://openalex.org/W2607264901","https://openalex.org/W2647779349","https://openalex.org/W2744920931","https://openalex.org/W2793380344","https://openalex.org/W2795112307","https://openalex.org/W2803471865","https://openalex.org/W2810026216","https://openalex.org/W2891230096","https://openalex.org/W2899342835","https://openalex.org/W2906129466","https://openalex.org/W2951846985","https://openalex.org/W2952541788","https://openalex.org/W2998327136","https://openalex.org/W3009871516","https://openalex.org/W3035869396","https://openalex.org/W3036932810","https://openalex.org/W3041833837","https://openalex.org/W3109907338","https://openalex.org/W3170112077","https://openalex.org/W3204630881","https://openalex.org/W3204742620","https://openalex.org/W3214258632","https://openalex.org/W4229446899","https://openalex.org/W4252801674","https://openalex.org/W4294558607","https://openalex.org/W4312707345","https://openalex.org/W4365998603","https://openalex.org/W4366245270","https://openalex.org/W4383108700","https://openalex.org/W4385245566","https://openalex.org/W4390586695","https://openalex.org/W4399324926","https://openalex.org/W6649144608","https://openalex.org/W6679647026","https://openalex.org/W6686075243","https://openalex.org/W6713149278","https://openalex.org/W6735647534","https://openalex.org/W6736495275","https://openalex.org/W6738964360","https://openalex.org/W6739439883","https://openalex.org/W6739901393","https://openalex.org/W6743209617","https://openalex.org/W6749810651","https://openalex.org/W6751570989","https://openalex.org/W6754582438","https://openalex.org/W6758687306","https://openalex.org/W6768243783","https://openalex.org/W6779716342","https://openalex.org/W6786352589","https://openalex.org/W6811599607","https://openalex.org/W6851070262","https://openalex.org/W6891856352","https://openalex.org/W6949017354"],"related_works":["https://openalex.org/W304910524","https://openalex.org/W2025009645","https://openalex.org/W2167840431","https://openalex.org/W2062513055","https://openalex.org/W2033580864","https://openalex.org/W2081640568","https://openalex.org/W2129542880","https://openalex.org/W2026512920","https://openalex.org/W1515548850","https://openalex.org/W1129075304"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"various":[2,203],"applications":[3],"of":[4,73,129,170,209],"multi-robotics":[5],"in":[6,35,59,75,118,140,232],"disaster":[7],"response,":[8],"warehouse":[9],"management,":[10],"and":[11,19,30,120,180,205],"manufacturing,":[12],"tasks":[13,20],"that":[14,52,116,147],"are":[15],"known":[16],"a":[17,47,70,92,144,158,168,185,198,219,229],"priori":[18],"added":[21],"during":[22],"run":[23],"time":[24,174],"need":[25],"to":[26,33,56,80,112,135,167,214,228],"be":[27,57,215],"assigned":[28],"efficiently":[29],"without":[31],"conflicts":[32],"robots":[34],"the":[36,99,127,137,149,192],"team.":[37],"This":[38,124],"multi-robot":[39],"task":[40,141],"allocation":[41],"(MRTA)":[42],"process":[43],"presents":[44,91],"itself":[45],"as":[46,195,197],"combinatorial":[48],"optimization":[49],"(CO)":[50],"problem":[51],"is":[53,155,211],"usually":[54],"challenging":[55],"solved":[58],"meaningful":[60],"timescales":[61],"using":[62,76,161],"typical":[63],"(mixed)integer":[64],"(non)linear":[65],"programming":[66],"tools.":[67],"Building":[68],"on":[69,191],"growing":[71],"body":[72],"work":[74],"graph":[77,94,187],"reinforcement":[78],"learning":[79,188],"learn":[81],"search":[82],"heuristics":[83],"for":[84],"such":[85],"complex":[86],"CO":[87],"problems,":[88],"this":[89,236],"paper":[90],"new":[93],"neural":[95],"network":[96],"architecture":[97,125],"called":[98,223],"covariant":[100,130],"attention":[101,163,193],"mechanism":[102],"(CAM).":[103],"CAM":[104,183,210],"can":[105],"not":[106],"only":[107],"generalize":[108],"but":[109],"also":[110,212],"scale":[111],"larger":[113],"problems":[114,172],"than":[115],"encountered":[117],"training,":[119],"handle":[121],"dynamic":[122],"tasks.":[123],"combines":[126],"concept":[128],"compositional":[131],"networks":[132],"used":[133],"here":[134],"embed":[136],"local":[138],"structures":[139],"graphs,":[142],"with":[143,173,218],"context":[145],"module":[146],"encodes":[148],"robots\u2019":[150],"states.":[151],"The":[152],"encoded":[153],"information":[154],"passed":[156],"onto":[157],"decoder":[159],"designed":[160],"multi-head":[162],"mechanism.":[164],"When":[165],"applied":[166],"class":[169],"MRTA":[171],"deadlines,":[175],"robot":[176],"ferry":[177],"range":[178],"constraints,":[179],"multi-trip":[181],"settings,":[182],"surpasses":[184],"state-of-the-art":[186],"approach":[189],"based":[190],"mechanism,":[194],"well":[196],"feasible":[199],"random-walk":[200],"baseline":[201,222],"across":[202],"generalizability":[204],"scalability":[206],"tests.":[207],"Performance":[208],"found":[213],"at":[216],"par":[217],"high-performing":[220],"non-learning":[221],"BiG-MRTA,":[224],"while":[225],"noting":[226],"up":[227],"70-fold":[230],"improvement":[231],"decision-making":[233],"efficiency":[234],"over":[235],"baseline.":[237]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}