{"id":"https://openalex.org/W4220669112","doi":"https://doi.org/10.1145/3514251","title":"Risk-aware Collection Strategies for Multirobot Foraging in Hazardous Environments","display_name":"Risk-aware Collection Strategies for Multirobot Foraging in Hazardous Environments","publication_year":2021,"publication_date":"2021-12-31","ids":{"openalex":"https://openalex.org/W4220669112","doi":"https://doi.org/10.1145/3514251"},"language":"en","primary_location":{"id":"doi:10.1145/3514251","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3514251","pdf_url":null,"source":{"id":"https://openalex.org/S16632050","display_name":"ACM Transactions on Autonomous and Adaptive Systems","issn_l":"1556-4665","issn":["1556-4665","1556-4703"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Autonomous and Adaptive Systems","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/A5088382765","display_name":"Kai Di","orcid":"https://orcid.org/0000-0002-7929-0682"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Di","raw_affiliation_strings":["Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-7929-0682","affiliations":[{"raw_affiliation_string":"Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101652171","display_name":"Yifeng Zhou","orcid":"https://orcid.org/0000-0002-1095-3580"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifeng Zhou","raw_affiliation_strings":["Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014188672","display_name":"Jiuchuan Jiang","orcid":"https://orcid.org/0000-0002-8249-1725"},"institutions":[{"id":"https://openalex.org/I137056471","display_name":"Nanjing University of Finance and Economics","ror":"https://ror.org/031y8am81","country_code":"CN","type":"education","lineage":["https://openalex.org/I137056471"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiuchuan Jiang","raw_affiliation_strings":["Nanjing University of Finance and Economics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Finance and Economics, Nanjing, China","institution_ids":["https://openalex.org/I137056471"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015789391","display_name":"Fuhan Yan","orcid":"https://orcid.org/0000-0002-7983-1549"},"institutions":[{"id":"https://openalex.org/I10535382","display_name":"Chongqing University of Posts and Telecommunications","ror":"https://ror.org/03dgaqz26","country_code":"CN","type":"education","lineage":["https://openalex.org/I10535382"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuhan Yan","raw_affiliation_strings":["Chongqing University of Posts and Telecommunications, Chongqing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chongqing University of Posts and Telecommunications, Chongqing, China","institution_ids":["https://openalex.org/I10535382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012649202","display_name":"Shaofu Yang","orcid":"https://orcid.org/0000-0001-7727-9669"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaofu Yang","raw_affiliation_strings":["Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055699601","display_name":"Yichuan Jiang","orcid":"https://orcid.org/0000-0003-3940-0477"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yichuan Jiang","raw_affiliation_strings":["Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2827,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.57209982,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"16","issue":"3-4","first_page":"1","last_page":"38"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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":0.9991999864578247,"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/T12288","display_name":"Optimization and Search Problems","score":0.9959999918937683,"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/T10567","display_name":"Vehicle Routing Optimization Methods","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/foraging","display_name":"Foraging","score":0.8667072057723999},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7842172384262085},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7556235790252686},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.680349588394165},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4212223291397095},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4203932285308838},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3756190240383148},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.32001662254333496},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.12744483351707458},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09114819765090942}],"concepts":[{"id":"https://openalex.org/C165287380","wikidata":"https://www.wikidata.org/wiki/Q2916569","display_name":"Foraging","level":2,"score":0.8667072057723999},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7842172384262085},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7556235790252686},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.680349588394165},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4212223291397095},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4203932285308838},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3756190240383148},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32001662254333496},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.12744483351707458},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09114819765090942},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3514251","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3514251","pdf_url":null,"source":{"id":"https://openalex.org/S16632050","display_name":"ACM Transactions on Autonomous and Adaptive Systems","issn_l":"1556-4665","issn":["1556-4665","1556-4703"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Autonomous and Adaptive Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3433673218","display_name":null,"funder_award_id":"61932007, 62076060, 71971109, and 62176056","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":71,"referenced_works":["https://openalex.org/W944559004","https://openalex.org/W1208385249","https://openalex.org/W1502382881","https://openalex.org/W1516427227","https://openalex.org/W1529986067","https://openalex.org/W1973494611","https://openalex.org/W1973751736","https://openalex.org/W1975661669","https://openalex.org/W1976539420","https://openalex.org/W1983758874","https://openalex.org/W2012663755","https://openalex.org/W2019741214","https://openalex.org/W2024287136","https://openalex.org/W2031236641","https://openalex.org/W2043152589","https://openalex.org/W2068641276","https://openalex.org/W2085495522","https://openalex.org/W2086207137","https://openalex.org/W2086829791","https://openalex.org/W2094589769","https://openalex.org/W2102595142","https://openalex.org/W2111563176","https://openalex.org/W2112686410","https://openalex.org/W2113873983","https://openalex.org/W2117279095","https://openalex.org/W2118555996","https://openalex.org/W2124253297","https://openalex.org/W2138328817","https://openalex.org/W2142544818","https://openalex.org/W2144617950","https://openalex.org/W2148875605","https://openalex.org/W2153457624","https://openalex.org/W2159945133","https://openalex.org/W2163428398","https://openalex.org/W2165718261","https://openalex.org/W2166967570","https://openalex.org/W2168039849","https://openalex.org/W2168381469","https://openalex.org/W2263202512","https://openalex.org/W2265279503","https://openalex.org/W2269884838","https://openalex.org/W2285657798","https://openalex.org/W2369134718","https://openalex.org/W2471883051","https://openalex.org/W2528234499","https://openalex.org/W2538795372","https://openalex.org/W2561268402","https://openalex.org/W2583768145","https://openalex.org/W2611423960","https://openalex.org/W2735047435","https://openalex.org/W2740886717","https://openalex.org/W2759436136","https://openalex.org/W2764552839","https://openalex.org/W2775249832","https://openalex.org/W2808970843","https://openalex.org/W2910105989","https://openalex.org/W2912100673","https://openalex.org/W2912571273","https://openalex.org/W2913756371","https://openalex.org/W2917884480","https://openalex.org/W2964845893","https://openalex.org/W2979406491","https://openalex.org/W2990695676","https://openalex.org/W3142707146","https://openalex.org/W3152275351","https://openalex.org/W3160703879","https://openalex.org/W4232336108","https://openalex.org/W4237591687","https://openalex.org/W4242527709","https://openalex.org/W4246219036","https://openalex.org/W4361867857"],"related_works":["https://openalex.org/W4200081355","https://openalex.org/W2135179174","https://openalex.org/W2294784349","https://openalex.org/W1932300341","https://openalex.org/W3081944365","https://openalex.org/W2890381285","https://openalex.org/W2048910501","https://openalex.org/W1979659965","https://openalex.org/W2110944602","https://openalex.org/W3213722473"],"abstract_inverted_index":{"Existing":[0],"studies":[1],"on":[2],"the":[3,18,65,70,83,120,142,153,156,161,170,176,179,199,218,224,253,257,327,336],"multirobot":[4,167],"foraging":[5,54,72,128,219,225,233,243,290],"problem":[6,212,222],"often":[7],"assume":[8],"safe":[9],"settings,":[10],"in":[11,14,56,81,90,165,189,273],"which":[12,59,82],"nothing":[13],"an":[15,231,249,270],"environment":[16],"hinders":[17],"robots\u2019":[19],"tasks.":[20,129],"In":[21,182],"many":[22,91],"real-world":[23],"applications,":[24],"robots":[25,55,99,104,110,122,145,333,337],"have":[26,100,111,338],"to":[27,62,64,115,149,209,240,247,268,294,301],"collect":[28],"objects":[29,330],"from":[30],"hazardous":[31,57],"environments":[32],"like":[33],"earthquake":[34],"rescue,":[35],"where":[36],"possible":[37],"risks":[38],"exist,":[39],"with":[40,305,320],"possibilities":[41],"of":[42,85,119,144,155,178,329],"destroying":[43],"robots.":[44],"At":[45],"this":[46,183,211],"stage,":[47],"there":[48],"are":[49,139,312],"no":[50],"targeted":[51],"algorithms":[52,311],"for":[53],"environments,":[58],"can":[60,324],"lead":[61],"damage":[63],"robot":[66],"itself":[67],"and":[68,159,195,204,223,237,278,285],"reduce":[69],"final":[71,171],"efficiency.":[73],"A":[74],"motivating":[75],"example":[76],"is":[77,207,261,281,292],"a":[78,86,106,137,166,202],"rescue":[79],"scenario,":[80],"lack":[84],"suitable":[87],"solution":[88,157,180,251,272],"results":[89],"victims":[92],"not":[93],"being":[94],"rescued":[95],"after":[96,108],"all":[97,335],"available":[98],"been":[101,112,339],"destroyed.":[102],"Foraging":[103],"face":[105],"dilemma":[107],"some":[109],"destroyed:":[113],"whether":[114],"take":[116],"over":[117],"tasks":[118],"destroyed":[121],"or":[123],"continue":[124],"executing":[125],"their":[126],"remaining":[127],"The":[130,276],"challenges":[131,188],"that":[132,318],"arise":[133],"when":[134],"attempting":[135],"such":[136],"balance":[138],"twofold:":[140],"(1)":[141],"loss":[143],"adds":[146],"new":[147],"constraints":[148],"traditional":[150],"problems,":[151],"complicating":[152],"structure":[154],"space,":[158],"(2)":[160],"task":[162,220,226,234,244],"allocation":[163,227,235],"strategy":[164],"team":[168],"affects":[169],"expected":[172],"utility,":[173],"thereby":[174],"increasing":[175],"dimension":[177],"space.":[181],"study,":[184],"we":[185],"address":[186],"these":[187,310],"two":[190,214],"fundamental":[191],"environmental":[192],"settings:":[193],"homogeneous":[194],"heterogeneous":[196],"cases.":[197],"For":[198,256],"former":[200],"case,":[201,259],"decomposition":[203,277],"grafting":[205,279],"mechanism":[206,280],"adopted":[208,283],"split":[210],"into":[213],"weakly":[215],"coupled":[216],"problems:":[217],"execution":[221,245],"problem.":[228],"We":[229],"propose":[230],"exact":[232,242],"algorithm,":[236],"graft":[238],"it":[239,260],"another":[241],"algorithm":[246,291,300],"find":[248,269,302],"optimal":[250,271],"within":[252],"polynomial":[254,274],"time.":[255,275],"latter":[258],"proven":[262],"\\(":[263],"\\mathcal":[264],"{NP}":[265],"\\)":[266],"-hard":[267],"also":[282],"here,":[284],"our":[286,295],"proposed":[287,296],"greedy":[288],"risk-aware":[289],"grafted":[293],"hierarchical":[297],"agglomerative":[298],"clustering":[299],"high-utility":[303],"solutions":[304],"low":[306],"computational":[307],"overhead.":[308],"Finally,":[309],"extensively":[313],"evaluated":[314],"through":[315],"simulations,":[316],"demonstrating":[317],"compared":[319],"various":[321],"benchmarks,":[322],"they":[323],"significantly":[325],"increase":[326],"utility":[328],"returned":[331],"by":[332],"before":[334],"stopped.":[340]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
