{"id":"https://openalex.org/W2138328817","doi":"https://doi.org/10.1177/0278364906063426","title":"Analysis of Dynamic Task Allocation in Multi-Robot Systems","display_name":"Analysis of Dynamic Task Allocation in Multi-Robot Systems","publication_year":2006,"publication_date":"2006-02-28","ids":{"openalex":"https://openalex.org/W2138328817","doi":"https://doi.org/10.1177/0278364906063426","mag":"2138328817"},"language":"en","primary_location":{"id":"doi:10.1177/0278364906063426","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364906063426","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5049634383","display_name":"Kristina Lerman","orcid":"https://orcid.org/0000-0002-5071-0575"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kristina Lerman","raw_affiliation_strings":["Information Sciences Institute University of Southern California Los                         Angeles, CA 90089-0781, USA","Information Sciences Institute University of Southern California Los Angeles, CA 90089-0781, USA"],"affiliations":[{"raw_affiliation_string":"Information Sciences Institute University of Southern California Los                         Angeles, CA 90089-0781, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Information Sciences Institute University of Southern California Los Angeles, CA 90089-0781, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102011624","display_name":"Chris Jones","orcid":"https://orcid.org/0000-0003-4698-5573"},"institutions":[{"id":"https://openalex.org/I138423393","display_name":"iRobot (United States)","ror":"https://ror.org/02ex4jy25","country_code":"US","type":"company","lineage":["https://openalex.org/I138423393"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chris Jones","raw_affiliation_strings":["iRobot Corporation 63 South Ave Burlington, MA 01803","iRobot Corporation 63 South Ave Burlington, MA 01803#TAB#"],"affiliations":[{"raw_affiliation_string":"iRobot Corporation 63 South Ave Burlington, MA 01803","institution_ids":[]},{"raw_affiliation_string":"iRobot Corporation 63 South Ave Burlington, MA 01803#TAB#","institution_ids":["https://openalex.org/I138423393"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101715504","display_name":"Aram Galstyan","orcid":"https://orcid.org/0000-0003-4215-0886"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Aram Galstyan","raw_affiliation_strings":["Information Sciences Institute University of Southern California Los                         Angeles, CA 90089-0781, USA","Information Sciences Institute University of Southern California Los Angeles, CA 90089-0781, USA"],"affiliations":[{"raw_affiliation_string":"Information Sciences Institute University of Southern California Los                         Angeles, CA 90089-0781, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Information Sciences Institute University of Southern California Los Angeles, CA 90089-0781, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010248533","display_name":"Maja J. Matari\u0107","orcid":"https://orcid.org/0000-0001-8958-6666"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Maja J Matari\u0107","raw_affiliation_strings":["Computer Science Department University of Southern California Los                         Angeles, CA 90089-0781, USA","Computer Science Department University of Southern California Los Angeles, CA 90089-0781, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department University of Southern California Los                         Angeles, CA 90089-0781, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Computer Science Department University of Southern California Los Angeles, CA 90089-0781, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5010248533","https://openalex.org/A5049634383","https://openalex.org/A5101715504","https://openalex.org/A5102011624"],"corresponding_institution_ids":["https://openalex.org/I1174212","https://openalex.org/I138423393"],"apc_list":null,"apc_paid":null,"fwci":55.458,"has_fulltext":false,"cited_by_count":274,"citation_normalized_percentile":{"value":0.99861485,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"25","issue":"3","first_page":"225","last_page":"241"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11252","display_name":"Evolutionary Game Theory and Cooperation","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/3312","display_name":"Sociology and Political Science"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11252","display_name":"Evolutionary Game Theory and Cooperation","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/3312","display_name":"Sociology and Political Science"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9944000244140625,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9937999844551086,"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":0.8130922317504883},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.704913318157196},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6978381872177124},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.502424955368042},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4897177517414093},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4870014786720276},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.42562994360923767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40992626547813416},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3555082678794861},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15453583002090454}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8130922317504883},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.704913318157196},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6978381872177124},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.502424955368042},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4897177517414093},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4870014786720276},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.42562994360923767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40992626547813416},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3555082678794861},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15453583002090454},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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":6,"locations":[{"id":"doi:10.1177/0278364906063426","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364906063426","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:ADA459067","is_oa":false,"landing_page_url":"http://oai.dtic.mil/oai/oai?&amp;verb=getRecord&amp;metadataPrefix=html&amp;identifier=ADA459067","pdf_url":null,"source":{"id":"https://openalex.org/S4406923043","display_name":"Defense Technical Information Center (DTIC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"DTIC","raw_type":"Text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.341.7353","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.341.7353","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://arxiv.org/pdf/cs/0604111v1.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.71.8377","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.71.8377","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.isi.edu/~lerman/papers/TaskAllocationPaper.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.74.6943","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.74.6943","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://cres.usc.edu/pubdb_html/files_upload/444.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.75.4936","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.75.4936","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-robotics.usc.edu/~maja/publications/jair06.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1491938051","https://openalex.org/W1507591516","https://openalex.org/W1527196875","https://openalex.org/W1570001873","https://openalex.org/W1578969637","https://openalex.org/W1905128862","https://openalex.org/W1931792391","https://openalex.org/W1951042395","https://openalex.org/W2050406519","https://openalex.org/W2053796391","https://openalex.org/W2056190725","https://openalex.org/W2067393629","https://openalex.org/W2090703876","https://openalex.org/W2102787760","https://openalex.org/W2104961125","https://openalex.org/W2112515249","https://openalex.org/W2115296997","https://openalex.org/W2118090736","https://openalex.org/W2122350220","https://openalex.org/W2126361298","https://openalex.org/W2134794304","https://openalex.org/W2137153348","https://openalex.org/W2137714578","https://openalex.org/W2139863670","https://openalex.org/W2145386918","https://openalex.org/W2153005597","https://openalex.org/W2157488300","https://openalex.org/W2157867503","https://openalex.org/W2167340365","https://openalex.org/W2167872846","https://openalex.org/W2171234133","https://openalex.org/W2477739040","https://openalex.org/W4285719527","https://openalex.org/W6640629700","https://openalex.org/W6685183561"],"related_works":["https://openalex.org/W2389214306","https://openalex.org/W1982914007","https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W2159583675","https://openalex.org/W1824242903","https://openalex.org/W1493858311","https://openalex.org/W2155470929","https://openalex.org/W2111125783","https://openalex.org/W2394465510"],"abstract_inverted_index":{"Dynamic":[0],"task":[1,43,90,113,138],"allocation":[2,44,91],"is":[3,108],"an":[4],"essential":[5],"requirement":[6],"for":[7,42],"multi-robot":[8,193],"systems":[9],"operating":[10],"in":[11,22,32,115,191],"unknown":[12],"dynamic":[13,89],"environments.":[14],"It":[15],"allows":[16],"robots":[17,31,55,148],"to":[18,24,34,76,98,109,139],"change":[19],"their":[20],"behavior":[21],"response":[23],"environmental":[25],"changes":[26],"or":[27],"actions":[28],"of":[29,67,86,103,118,128,158,170,175,183,204],"other":[30],"order":[33],"improve":[35],"overall":[36],"system":[37],"performance.":[38],"Emergent":[39],"coordination":[40,73],"algorithms":[41,74],"that":[45,167],"use":[46],"only":[47],"local":[48,133],"sensing":[49],"and":[50,62,105,121,135,149,154,172],"no":[51],"direct":[52],"communication":[53,120],"between":[54,100],"are":[56,60,189],"attractive":[57],"because":[58],"they":[59],"robust":[61],"scalable.":[63],"However,":[64],"a":[65,83,87,111,192],"lack":[66],"formal":[68],"analysis":[69],"tools":[70],"makes":[71],"emergent":[72],"difficult":[75],"design.":[77],"In":[78],"this":[79,95],"paper":[80],"we":[81,163],"present":[82],"mathematical":[84,187],"model":[85,146],"general":[88],"mechanism.":[92],"Robots":[93,124],"using":[94],"mechanism":[96],"have":[97,179],"choose":[99,140],"two":[101],"types":[102],"tasks,":[104],"the":[106,116,126,129,147,156,159,165,168,173,176,181,184],"goal":[107],"achieve":[110],"desired":[112],"division":[114],"absence":[117],"explicit":[119],"global":[122],"knowledge.":[123],"estimate":[125],"state":[127],"environment":[130],"from":[131],"repeated":[132],"observations":[134,150,171],"decide":[136],"which":[137],"based":[141],"on":[142,180],"these":[143],"observations.":[144],"We":[145],"as":[151],"stochastic":[152],"processes":[153],"study":[155],"dynamics":[157],"collective":[160],"behavior.":[161],"Specifically,":[162],"analyze":[164],"effect":[166],"number":[169],"choice":[174],"decision":[177],"function":[178],"performance":[182],"system.":[185],"The":[186,196],"models":[188],"validated":[190],"multi-foraging":[194],"scenario.":[195],"model's":[197],"predictions":[198],"agree":[199],"very":[200],"closely":[201],"with":[202],"results":[203],"embodied":[205],"simulations.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":18},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":15},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":13},{"year":2015,"cited_by_count":13},{"year":2014,"cited_by_count":16},{"year":2013,"cited_by_count":16},{"year":2012,"cited_by_count":22}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
