{"id":"https://openalex.org/W855132903","doi":"https://doi.org/10.1177/0278364915581863","title":"Control of robotic mobility-on-demand systems: A queueing-theoretical perspective","display_name":"Control of robotic mobility-on-demand systems: A queueing-theoretical perspective","publication_year":2015,"publication_date":"2015-07-08","ids":{"openalex":"https://openalex.org/W855132903","doi":"https://doi.org/10.1177/0278364915581863","mag":"855132903"},"language":"en","primary_location":{"id":"doi:10.1177/0278364915581863","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915581863","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/A5026678321","display_name":"Rick Zhang","orcid":"https://orcid.org/0000-0002-6148-0517"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"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/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rick Zhang","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford\r          University, Stanford, CA, USA","Department of Aeronautics and Astronautics, Stanford\r University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford\r          University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I46020346"]},{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford\r University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050003000","display_name":"Marco Pavone","orcid":"https://orcid.org/0000-0002-0206-4337"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"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/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Marco Pavone","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Stanford\r          University, Stanford, CA, USA","Department of Aeronautics and Astronautics, Stanford\r University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford\r          University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I46020346"]},{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Stanford\r University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050003000"],"corresponding_institution_ids":["https://openalex.org/I13805885","https://openalex.org/I46020346","https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":18.8551,"has_fulltext":false,"cited_by_count":376,"citation_normalized_percentile":{"value":0.99424392,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"35","issue":"1-3","first_page":"186","last_page":"203"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T11942","display_name":"Transportation and Mobility Innovations","score":1.0,"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/T10698","display_name":"Transportation Planning and Optimization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/3313","display_name":"Transportation"},"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/T10524","display_name":"Traffic control and management","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/testbed","display_name":"Testbed","score":0.7014439105987549},{"id":"https://openalex.org/keywords/queueing-theory","display_name":"Queueing theory","score":0.6781023740768433},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6371850967407227},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5638862252235413},{"id":"https://openalex.org/keywords/network-congestion","display_name":"Network congestion","score":0.5445225238800049},{"id":"https://openalex.org/keywords/traffic-congestion","display_name":"Traffic congestion","score":0.47505828738212585},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3461039066314697},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3283035159111023},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3267999291419983},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.23182663321495056},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19367915391921997},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.16856029629707336},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1372075378894806}],"concepts":[{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.7014439105987549},{"id":"https://openalex.org/C22684755","wikidata":"https://www.wikidata.org/wiki/Q847526","display_name":"Queueing theory","level":2,"score":0.6781023740768433},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6371850967407227},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5638862252235413},{"id":"https://openalex.org/C195563490","wikidata":"https://www.wikidata.org/wiki/Q180368","display_name":"Network congestion","level":3,"score":0.5445225238800049},{"id":"https://openalex.org/C2779888511","wikidata":"https://www.wikidata.org/wiki/Q244156","display_name":"Traffic congestion","level":2,"score":0.47505828738212585},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3461039066314697},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3283035159111023},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3267999291419983},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.23182663321495056},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19367915391921997},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.16856029629707336},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1372075378894806},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364915581863","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915581863","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W47783339","https://openalex.org/W576945912","https://openalex.org/W1487444668","https://openalex.org/W1520666268","https://openalex.org/W1523334965","https://openalex.org/W1576647638","https://openalex.org/W1583865258","https://openalex.org/W1963504979","https://openalex.org/W1968740528","https://openalex.org/W1970180010","https://openalex.org/W1978006658","https://openalex.org/W1988037827","https://openalex.org/W2007018480","https://openalex.org/W2039328374","https://openalex.org/W2064155562","https://openalex.org/W2064526960","https://openalex.org/W2067646912","https://openalex.org/W2074069971","https://openalex.org/W2095204134","https://openalex.org/W2118607269","https://openalex.org/W2132201239","https://openalex.org/W2143776582","https://openalex.org/W2155672688","https://openalex.org/W2168459854","https://openalex.org/W2241606427","https://openalex.org/W2296638040","https://openalex.org/W2312584017","https://openalex.org/W2559997609","https://openalex.org/W2604272474","https://openalex.org/W2613173048","https://openalex.org/W4251443860","https://openalex.org/W4301621763"],"related_works":["https://openalex.org/W2883256816","https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2106140982","https://openalex.org/W2152313554","https://openalex.org/W2064303750","https://openalex.org/W4285042611","https://openalex.org/W1509300825","https://openalex.org/W3092582874","https://openalex.org/W2338718585"],"abstract_inverted_index":{"In":[0],"this":[1,197],"paper":[2,198],"we":[3,154,179],"present":[4],"queueing-theoretical":[5,157],"methods":[6],"for":[7],"the":[8,38,65,77,126,143,146,165,204,217,221],"modeling,":[9],"analysis,":[10],"and":[11,28,110,163,213],"control":[12],"of":[13,35,67,106,121,142,145,167,206,209,216,220,224],"autonomous":[14,44,186],"mobility-on-demand":[15],"(MOD)":[16],"systems":[17],"wherein":[18],"robotic,":[19],"self-driving":[20],"vehicles":[21,70,139,170],"transport":[22],"customers":[23],"within":[24,47],"an":[25,43,60,113],"urban":[26],"environment":[27],"rebalance":[29],"themselves":[30],"to":[31,92,102,159,185,203],"ensure":[32],"acceptable":[33],"quality":[34],"service":[36],"throughout":[37,76],"network.":[39,195],"We":[40],"first":[41,218],"cast":[42],"MOD":[45],"system":[46],"a":[48,84,94,103,175,193,200],"closed":[49],"Jackson":[50],"network":[51,78],"model":[52],"with":[53,135],"passenger":[54],"loss.":[55],"It":[56],"is":[57,100],"shown":[58],"that":[59,125,181],"optimal":[61],"rebalancing":[62,69,97,169,187],"algorithm":[63],"minimizing":[64],"number":[66],"(autonomously)":[68],"while":[71],"keeping":[72],"vehicle":[73],"availabilities":[74],"balanced":[75],"can":[79,132,188],"be":[80,133,189],"found":[81],"by":[82],"solving":[83],"linear":[85],"program.":[86],"The":[87,118],"theoretical":[88],"insights":[89],"are":[90],"used":[91],"design":[93],"robust,":[95],"real-time":[96],"algorithm,":[98,178],"which":[99],"applied":[101],"case":[104,119],"study":[105,120,164],"New":[107,122],"York":[108,123],"City":[109],"implemented":[111],"on":[112,171,192],"eight-vehicle":[114],"mobile":[115],"robot":[116],"testbed.":[117],"shows":[124],"current":[127,147],"taxi":[128,148],"demand":[129],"in":[130,151],"Manhattan":[131],"met":[134],"about":[136],"8,000":[137],"robotic":[138,225],"(roughly":[140],"70%":[141],"size":[144],"fleet":[149],"operating":[150],"Manhattan).":[152],"Finally,":[153],"extend":[155],"our":[156],"setup":[158],"include":[160],"congestion":[161,183],"effects,":[162],"impact":[166],"autonomously":[168,210],"overall":[172],"congestion.":[173],"Using":[174],"simple":[176],"heuristic":[177],"show":[180],"additional":[182],"due":[184],"effectively":[190],"avoided":[191],"road":[194],"Collectively,":[196],"provides":[199,214],"rigorous":[201],"approach":[202],"problem":[205],"system-wide":[207],"coordination":[208],"driving":[211],"vehicles,":[212],"one":[215],"characterizations":[219],"sustainability":[222],"benefits":[223],"transportation":[226],"networks.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":24},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":39},{"year":2022,"cited_by_count":46},{"year":2021,"cited_by_count":66},{"year":2020,"cited_by_count":42},{"year":2019,"cited_by_count":47},{"year":2018,"cited_by_count":26},{"year":2017,"cited_by_count":26},{"year":2016,"cited_by_count":13},{"year":2015,"cited_by_count":3}],"updated_date":"2026-08-12T07:12:00.856984","created_date":"2025-10-10T00:00:00"}