{"id":"https://openalex.org/W3012963103","doi":"https://doi.org/10.1145/3341105.3373916","title":"Optimized directed roadmap graph for multi-agent path finding using stochastic gradient descent","display_name":"Optimized directed roadmap graph for multi-agent path finding using stochastic gradient descent","publication_year":2020,"publication_date":"2020-03-29","ids":{"openalex":"https://openalex.org/W3012963103","doi":"https://doi.org/10.1145/3341105.3373916","mag":"3012963103"},"language":"en","primary_location":{"id":"doi:10.1145/3341105.3373916","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3341105.3373916","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 35th Annual ACM Symposium on Applied Computing","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.12924","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025195838","display_name":"Christian Henkel","orcid":"https://orcid.org/0000-0001-6250-9695"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Christian Henkel","raw_affiliation_strings":["University of Stuttgart, Stuttgart, Germany","[University of Stuttgart, Stuttgart, Germany]"],"affiliations":[{"raw_affiliation_string":"University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"[University of Stuttgart, Stuttgart, Germany]","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065672819","display_name":"Marc Toussaint","orcid":"https://orcid.org/0000-0002-5487-6767"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Toussaint","raw_affiliation_strings":["University of Stuttgart, Stuttgart, Germany","[University of Stuttgart, Stuttgart, Germany]"],"affiliations":[{"raw_affiliation_string":"University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"[University of Stuttgart, Stuttgart, Germany]","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5025195838"],"corresponding_institution_ids":["https://openalex.org/I100066346"],"apc_list":null,"apc_paid":null,"fwci":0.2944,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.54873184,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"776","last_page":"783"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11106","display_name":"Data Management and Algorithms","score":0.9843000173568726,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.6656937599182129},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6628215909004211},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6406639218330383},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5916529893875122},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5766115784645081},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5228931307792664},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5042010545730591},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45869961380958557},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.44579318165779114},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.43816766142845154},{"id":"https://openalex.org/keywords/vertex","display_name":"Vertex (graph theory)","score":0.4332149028778076},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4206598103046417},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.38701456785202026},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.33857351541519165},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25227808952331543},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1522449254989624}],"concepts":[{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.6656937599182129},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6628215909004211},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6406639218330383},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5916529893875122},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5766115784645081},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5228931307792664},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5042010545730591},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45869961380958557},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.44579318165779114},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.43816766142845154},{"id":"https://openalex.org/C80899671","wikidata":"https://www.wikidata.org/wiki/Q1304193","display_name":"Vertex (graph theory)","level":3,"score":0.4332149028778076},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4206598103046417},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.38701456785202026},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.33857351541519165},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25227808952331543},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1522449254989624},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1145/3341105.3373916","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3341105.3373916","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 35th Annual ACM Symposium on Applied Computing","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2003.12924","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.12924","pdf_url":"https://arxiv.org/pdf/2003.12924","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3012963103","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2003.12924.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2003.12924","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.12924","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.12924","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.12924","pdf_url":"https://arxiv.org/pdf/2003.12924","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3012963103.pdf","grobid_xml":"https://content.openalex.org/works/W3012963103.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W46545661","https://openalex.org/W1514685314","https://openalex.org/W1609526117","https://openalex.org/W1969483458","https://openalex.org/W1971086298","https://openalex.org/W1971274296","https://openalex.org/W1972267259","https://openalex.org/W1976953317","https://openalex.org/W1989407213","https://openalex.org/W1989888202","https://openalex.org/W1991468281","https://openalex.org/W2024298935","https://openalex.org/W2030174522","https://openalex.org/W2033828630","https://openalex.org/W2033921269","https://openalex.org/W2065880952","https://openalex.org/W2086608211","https://openalex.org/W2089584121","https://openalex.org/W2101033030","https://openalex.org/W2128990851","https://openalex.org/W2129343922","https://openalex.org/W2136323427","https://openalex.org/W2142943472","https://openalex.org/W2147526018","https://openalex.org/W2159524963","https://openalex.org/W2164892108","https://openalex.org/W2261103830","https://openalex.org/W2294562513","https://openalex.org/W2549200707","https://openalex.org/W2621058035","https://openalex.org/W2767311820","https://openalex.org/W2950129695","https://openalex.org/W2964121744","https://openalex.org/W3106340805","https://openalex.org/W3208907909"],"related_works":["https://openalex.org/W3014460461","https://openalex.org/W2161675447","https://openalex.org/W1500643070","https://openalex.org/W2202985545","https://openalex.org/W1536373029","https://openalex.org/W2951424973","https://openalex.org/W1505220335","https://openalex.org/W2338671965","https://openalex.org/W2000719175","https://openalex.org/W2124945447","https://openalex.org/W2951885120","https://openalex.org/W2202983866","https://openalex.org/W2059376496","https://openalex.org/W2775798521","https://openalex.org/W2757968903","https://openalex.org/W80069686","https://openalex.org/W3120771597","https://openalex.org/W3194567409","https://openalex.org/W2562209965","https://openalex.org/W3037791281"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,13,17,31,49,86],"novel":[3],"approach":[4],"called":[5],"Optimized":[6],"Directed":[7],"Roadmap":[8],"Graph":[9],"(ODRM).":[10],"It":[11],"is":[12,30,80],"method":[14],"to":[15,65,103,109,114,145],"build":[16],"directed":[18,50],"roadmap":[19,51],"graph":[20,125,148],"that":[21,48,70],"allows":[22],"for":[23,35,37],"collision":[24],"avoidance":[25],"in":[26,69],"multi-robot":[27],"navigation.":[28],"This":[29,101],"highly":[32],"relevant":[33],"problem,":[34],"example":[36],"industrial":[38],"autonomous":[39],"guided":[40],"vehicles.":[41],"The":[42],"core":[43],"idea":[44],"of":[45,56],"ODRM":[46,89,143],"is,":[47],"can":[52,120],"encode":[53],"inherent":[54],"properties":[55,105],"the":[57,139],"environment":[58],"which":[59],"are":[60],"useful":[61],"when":[62],"agents":[63],"have":[64],"avoid":[66],"each":[67],"other":[68],"same":[71],"environment.":[72],"Like":[73],"Probabilistic":[74],"Roadmaps":[75],"(PRMs),":[76],"ODRM's":[77],"first":[78],"step":[79,88],"generating":[81],"samples":[82],"from":[83],"C-space.":[84],"In":[85],"second":[87],"optimizes":[90],"vertex":[91],"positions":[92],"and":[93,111,131],"edge":[94],"directions":[95],"by":[96,126,142],"Stochastic":[97],"Gradient":[98],"Descent":[99],"(SGD).":[100],"leads":[102],"emergent":[104],"like":[106],"edges":[107],"parallel":[108],"walls":[110],"patterns":[112],"similar":[113],"two-lane":[115],"streets":[116],"or":[117],"roundabouts.":[118],"Agents":[119],"then":[121],"navigate":[122],"on":[123],"this":[124],"searching":[127],"their":[128],"path":[129],"independently":[130],"solving":[132],"occurring":[133],"agent-agent":[134,151],"collisions":[135,152],"at":[136],"run-time.":[137],"Using":[138],"graphs":[140],"generated":[141],"compared":[144],"an":[146],"non-optimized":[147],"significantly":[149],"fewer":[150],"happen.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
