{"id":"https://openalex.org/W7118530445","doi":"https://doi.org/10.1137/1.9781611978971.28","title":"Near-Optimal Min-Sum Multi-Robot Motion Planning in a Planar Polygonal Environment","display_name":"Near-Optimal Min-Sum Multi-Robot Motion Planning in a Planar Polygonal Environment","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7118530445","doi":"https://doi.org/10.1137/1.9781611978971.28"},"language":"en","primary_location":{"id":"doi:10.1137/1.9781611978971.28","is_oa":false,"landing_page_url":"https://doi.org/10.1137/1.9781611978971.28","pdf_url":null,"source":{"id":"https://openalex.org/S4306463922","display_name":"Society for Industrial and Applied Mathematics eBooks","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320508","host_organization_name":"Society for Industrial and Applied Mathematics","host_organization_lineage":["https://openalex.org/P4310320508"],"host_organization_lineage_names":["Society for Industrial and Applied Mathematics"],"type":"ebook platform"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2026 Annual ACM-SIAM Symposium on Discrete Algorithms (SODA)","raw_type":"book-chapter"},"type":"book-chapter","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/A5058649592","display_name":"Pankaj K. Agarwal","orcid":"https://orcid.org/0000-0002-9439-181X"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Pankaj K. Agarwal","raw_affiliation_strings":["Duke University"],"affiliations":[{"raw_affiliation_string":"Duke University","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122268427","display_name":"Benjamin Holmgren","orcid":null},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin Holmgren","raw_affiliation_strings":["Duke University"],"affiliations":[{"raw_affiliation_string":"Duke University","institution_ids":["https://openalex.org/I170897317"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061138887","display_name":"Alex Steiger","orcid":"https://orcid.org/0000-0003-1546-6244"},"institutions":[{"id":"https://openalex.org/I170897317","display_name":"Duke University","ror":"https://ror.org/00py81415","country_code":"US","type":"education","lineage":["https://openalex.org/I170897317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alex Steiger","raw_affiliation_strings":["Duke University"],"affiliations":[{"raw_affiliation_string":"Duke University","institution_ids":["https://openalex.org/I170897317"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5058649592"],"corresponding_institution_ids":["https://openalex.org/I170897317"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3427036,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"727","last_page":"741"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6064000129699707,"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":0.6064000129699707,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.12110000103712082,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T12288","display_name":"Optimization and Search Problems","score":0.11330000311136246,"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":0.6445000171661377},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6435999870300293},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6110000014305115},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6079000234603882},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5605999827384949},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.36320000886917114},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.3513000011444092}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6445000171661377},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6435999870300293},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6110000014305115},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6079000234603882},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5605999827384949},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5256999731063843},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5074999928474426},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49869999289512634},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4041000008583069},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36320000886917114},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.3513000011444092},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3319000005722046},{"id":"https://openalex.org/C118635694","wikidata":"https://www.wikidata.org/wiki/Q3268064","display_name":"Cartesian coordinate robot","level":5,"score":0.32679998874664307},{"id":"https://openalex.org/C107863493","wikidata":"https://www.wikidata.org/wiki/Q1428288","display_name":"Snake-arm robot","level":5,"score":0.3183000087738037},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.30489999055862427},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2969000041484833},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2777000069618225},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.26980000734329224},{"id":"https://openalex.org/C29123130","wikidata":"https://www.wikidata.org/wiki/Q874709","display_name":"Computational geometry","level":2,"score":0.2583000063896179},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.25209999084472656}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1137/1.9781611978971.28","is_oa":false,"landing_page_url":"https://doi.org/10.1137/1.9781611978971.28","pdf_url":null,"source":{"id":"https://openalex.org/S4306463922","display_name":"Society for Industrial and Applied Mathematics eBooks","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320508","host_organization_name":"Society for Industrial and Applied Mathematics","host_organization_lineage":["https://openalex.org/P4310320508"],"host_organization_lineage_names":["Society for Industrial and Applied Mathematics"],"type":"ebook platform"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2026 Annual ACM-SIAM Symposium on Discrete Algorithms (SODA)","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6168774962425232}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Let":[0],"\\(\\mathscr{W}":[1],"\\subset":[2],"\\mathbb{R}^2\\)":[3],"be":[4],"a":[5,45,52,60],"planar":[6],"polygonal":[7],"environment":[8],"with":[9,77],"n":[10],"vertices,":[11],"and":[12,28],"let":[13],"\\([k]":[14],"=":[15],"\\{1,":[16],"\\ldots,":[17,33],"k\\}\\)":[18],"denote":[19],"\\(k\\)":[20],"unit-square":[21],"robots":[22],"translating":[23],"in":[24],"\\(\\mathscr{W}\\).":[25],"Given":[26],"source":[27],"target":[29],"placements":[30],"\\(s_1,":[31],"t_1,":[32],"s_k,":[34],"t_k,":[35],"\\in":[36],"\\mathscr{W}\\)":[37],"for":[38,55],"each":[39,56],"robot,":[40],"we":[41,83],"wish":[42],"to":[43,65],"compute":[44],"collision-free":[46],"motion":[47,54,102],"plan":[48],"\\(\\boldsymbol":[49,87],"\\pi\\),":[50],"i.e.,":[51],"coordinated":[53],"robot":[57,69,80],"\\(i\\)":[58,70],"along":[59],"continuous":[61],"path":[62,94],"from":[63],"\\(s_i\\)":[64],"\\(t_i\\),":[66],"so":[67],"that":[68,86],"does":[71],"not":[72],"leave":[73],"\\(\\mathscr{W}\\)":[74],"or":[75],"collide":[76],"any":[78],"other":[79],"\\(j\\).":[81],"Moreover,":[82],"additionally":[84],"require":[85],"\\pi\\)":[88],"minimizes":[89],"the":[90,93],"sum":[91],"of":[92],"lengths;":[95],"this":[96],"variant":[97],"is":[98],"known":[99],"as":[100],"min-sum":[101],"planning.":[103]},"counts_by_year":[],"updated_date":"2026-01-08T20:10:11.968330","created_date":"2026-01-08T00:00:00"}