{"id":"https://openalex.org/W2024560233","doi":"https://doi.org/10.1177/0278364906076226","title":"Transfer Time Complexity of Conflict-free Vehicle Routing with no Communications","display_name":"Transfer Time Complexity of Conflict-free Vehicle Routing with no Communications","publication_year":2007,"publication_date":"2007-02-26","ids":{"openalex":"https://openalex.org/W2024560233","doi":"https://doi.org/10.1177/0278364906076226","mag":"2024560233"},"language":"en","primary_location":{"id":"doi:10.1177/0278364906076226","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364906076226","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/A5047312965","display_name":"Vikrant Sharma","orcid":"https://orcid.org/0000-0003-3178-8657"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vikrant Sharma","raw_affiliation_strings":["Aerospace Engineering Department, University of Illinois at Urbana-Champaign, Urbana, IL 61801;"],"affiliations":[{"raw_affiliation_string":"Aerospace Engineering Department, University of Illinois at Urbana-Champaign, Urbana, IL 61801;","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016865003","display_name":"Michael A. Savchenko","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Michael Savchenko","raw_affiliation_strings":["Aerospace Engineering Department, University of Illinois at Urbana-Champaign, Urbana, IL 61801;"],"affiliations":[{"raw_affiliation_string":"Aerospace Engineering Department, University of Illinois at Urbana-Champaign, Urbana, IL 61801;","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029069358","display_name":"Emilio Frazzoli","orcid":null},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Emilio Frazzoli","raw_affiliation_strings":["Aeronautical and Astronautical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA 02139;"],"affiliations":[{"raw_affiliation_string":"Aeronautical and Astronautical Engineering Department, Massachusetts Institute of Technology, Cambridge, MA 02139;","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089726422","display_name":"Petros G. Voulgaris","orcid":"https://orcid.org/0000-0002-2965-3246"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Petros G. Voulgaris","raw_affiliation_strings":["Aerospace Engineering Department and the Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801;"],"affiliations":[{"raw_affiliation_string":"Aerospace Engineering Department and the Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801;","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5016865003","https://openalex.org/A5029069358","https://openalex.org/A5047312965","https://openalex.org/A5089726422"],"corresponding_institution_ids":["https://openalex.org/I157725225","https://openalex.org/I46020346","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":4.9316,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.95325848,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"26","issue":"3","first_page":"255","last_page":"271"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991000294685364,"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":0.9991000294685364,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9943000078201294,"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/T10246","display_name":"Mobile Ad Hoc Networks","score":0.9926999807357788,"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/transfer","display_name":"Transfer (computing)","score":0.7321925759315491},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5734479427337646},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5720115303993225},{"id":"https://openalex.org/keywords/constructive","display_name":"Constructive","score":0.571925163269043},{"id":"https://openalex.org/keywords/distribution","display_name":"Distribution (mathematics)","score":0.4683040380477905},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.4669645130634308},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.45937904715538025},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45820310711860657},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.44774115085601807},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4151352643966675},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.251728355884552},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.19051611423492432},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13939043879508972},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12312054634094238},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11084362864494324}],"concepts":[{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.7321925759315491},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5734479427337646},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5720115303993225},{"id":"https://openalex.org/C2778701210","wikidata":"https://www.wikidata.org/wiki/Q28130034","display_name":"Constructive","level":3,"score":0.571925163269043},{"id":"https://openalex.org/C110121322","wikidata":"https://www.wikidata.org/wiki/Q865811","display_name":"Distribution (mathematics)","level":2,"score":0.4683040380477905},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.4669645130634308},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.45937904715538025},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45820310711860657},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.44774115085601807},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4151352643966675},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.251728355884552},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.19051611423492432},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13939043879508972},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12312054634094238},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11084362864494324},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364906076226","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364906076226","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:oai:CiteSeerX.psu:10.1.1.85.2573","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.85.2573","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ares.lids.mit.edu/papers/Sharma.Savchenko.ea.IJRR07.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":38,"referenced_works":["https://openalex.org/W27106961","https://openalex.org/W50965381","https://openalex.org/W1479863711","https://openalex.org/W1530037438","https://openalex.org/W1601649239","https://openalex.org/W1967533244","https://openalex.org/W1972755385","https://openalex.org/W2001804342","https://openalex.org/W2004815408","https://openalex.org/W2022020194","https://openalex.org/W2033013465","https://openalex.org/W2042106485","https://openalex.org/W2072839015","https://openalex.org/W2103929204","https://openalex.org/W2129668160","https://openalex.org/W2134873475","https://openalex.org/W2135647874","https://openalex.org/W2137775453","https://openalex.org/W2138361531","https://openalex.org/W2141967156","https://openalex.org/W2144509357","https://openalex.org/W2149959815","https://openalex.org/W2152358681","https://openalex.org/W2166462345","https://openalex.org/W2169742265","https://openalex.org/W2333310328","https://openalex.org/W2404844938","https://openalex.org/W2550348129","https://openalex.org/W2564832474","https://openalex.org/W2798500587","https://openalex.org/W2809767075","https://openalex.org/W2913222977","https://openalex.org/W2987192631","https://openalex.org/W3141776272","https://openalex.org/W3148444946","https://openalex.org/W4236400251","https://openalex.org/W4250474159","https://openalex.org/W4300449797"],"related_works":["https://openalex.org/W4311883357","https://openalex.org/W94411513","https://openalex.org/W2377770720","https://openalex.org/W2113626999","https://openalex.org/W160889949","https://openalex.org/W2364696089","https://openalex.org/W309910862","https://openalex.org/W4323768008","https://openalex.org/W4210637712","https://openalex.org/W2369004811"],"abstract_inverted_index":{"The":[0,68,92,190],"following":[1],"motion":[2],"coordination":[3],"problem":[4],"is":[5,19,70,85,100,140,153,164,192,212],"studied:":[6],"given":[7],"n":[8,12,110],"mobile":[9],"vehicles":[10,43,84,111,184,225],"and":[11,50,59,74,127,160,176,198,209],"source-destination":[13],"pairs":[14],"in":[15,95,123,195],"the":[16,20,40,56,79,97,109,116,120,125,136,143,154,158,174,181,220,234,245],"plane,":[17],"what":[18],"minimum":[21],"time":[22,148,221],"needed":[23,222],"to":[24,31,64,134,149,205,223,228],"transfer":[25,137,144,182,224,235],"each":[26],"vehicle":[27,98],"from":[28,226],"its":[29,32],"source":[30,126,159,175,197],"destination,":[33],"avoiding":[34],"conflicts":[35],"with":[36,240],"other":[37],"vehicles?":[38],"In":[39,119],"proposed":[41],"model,":[42],"do":[44],"not":[45],"explicitly":[46],"communicate":[47],"their":[48,62,229],"intentions,":[49],"only":[51],"have":[52],"sensory":[53],"information":[54],"about":[55],"current":[57],"position":[58],"velocity":[60],"of":[61,72,108,173,183],"neighbors":[63],"ensure":[65],"no":[66],"conflicts.":[67],"environment":[69,117],"free":[71],"obstacles":[73],"a":[75,88,105,169,206,215],"conflict":[76],"occurs":[77],"when":[78],"distance":[80,156],"between":[81,157],"any":[82],"two":[83],"smaller":[86],"than":[87],"velocity-dependent":[89],"safety":[90],"distance.":[91],"situation":[93],"analyzed":[94,194],"which":[96,124,180,196],"size":[99],"such":[101],"that":[102,142,166,233],"at":[103,186],"least":[104,187],"constant":[106],"fraction":[107],"can":[112,130],"be":[113,131],"fitted":[114],"inside":[115],"simultaneously.":[118],"\u201cbest\u201d":[121],"case":[122,171,191,247],"destination":[128,161,177,199],"points":[129,200],"chosen":[132],"ideally":[133],"maximize":[135],"efficiency,":[138],"it":[139],"shown":[141,165],"takes":[145,185,236],"\u0398":[146,237],"([UNKNOWN][UNKNOWN]n)":[147],"complete,":[150],"where":[151],"[UNKNOWN]":[152],"average":[155],"points.":[162],"It":[163],"there":[167],"exist":[168],"\u201cworst\u201d":[170],"distribution":[172],"points,":[178],"for":[179],"\u03a9(n)":[188],"time.":[189],"also":[193],"are":[201],"generated":[202],"randomly":[203],"according":[204],"uniform":[207],"distribution,":[208],"an":[210],"algorithm":[211],"presented":[213],"providing":[214],"constructive":[216],"upper":[217],"bound":[218],"on":[219],"sources":[227],"corresponding":[230],"destinations,":[231],"proving":[232],"([UNKNOWN]n)":[238],"time,":[239],"high":[241],"probability,":[242],"thus":[243],"recovering":[244],"best":[246],"performance.":[248]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}