{"id":"https://openalex.org/W7140206673","doi":"https://doi.org/10.48550/arxiv.2603.21913","title":"Collision-Free Velocity Scheduling for Multi-Agent Systems on Predefined Routes via Inexact-Projection ADMM","display_name":"Collision-Free Velocity Scheduling for Multi-Agent Systems on Predefined Routes via Inexact-Projection ADMM","publication_year":2026,"publication_date":"2026-03-23","ids":{"openalex":"https://openalex.org/W7140206673","doi":"https://doi.org/10.48550/arxiv.2603.21913"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.21913","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.21913","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.21913","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Lee, Seungyeop","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Lee, Seungyeop","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Kim, Jong-Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kim, Jong-Han","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.3774000108242035,"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"}},"topics":[{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.3774000108242035,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.35569998621940613,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.06239999830722809,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/waypoint","display_name":"Waypoint","score":0.9104999899864197},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.5663999915122986},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.5315999984741211},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5267999768257141},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.48350000381469727},{"id":"https://openalex.org/keywords/integer","display_name":"Integer (computer science)","score":0.46619999408721924},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4406999945640564},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.3991999924182892},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.3801000118255615}],"concepts":[{"id":"https://openalex.org/C2781271823","wikidata":"https://www.wikidata.org/wiki/Q138081","display_name":"Waypoint","level":2,"score":0.9104999899864197},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6585000157356262},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5770999789237976},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.5663999915122986},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.5315999984741211},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5267999768257141},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.48500001430511475},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.48350000381469727},{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.46619999408721924},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4406999945640564},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43220001459121704},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3991999924182892},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.3801000118255615},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.37779998779296875},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.3758000135421753},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.36649999022483826},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.35179999470710754},{"id":"https://openalex.org/C2780186347","wikidata":"https://www.wikidata.org/wiki/Q11414","display_name":"Subnetwork","level":2,"score":0.30300000309944153},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2793000042438507},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.27399998903274536},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.265500009059906},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.2603999972343445},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2563000023365021},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.2533000111579895},{"id":"https://openalex.org/C195563490","wikidata":"https://www.wikidata.org/wiki/Q180368","display_name":"Network congestion","level":3,"score":0.25099998712539673}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.21913","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.21913","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.21913","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.21913","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"structured":[1,96],"multi-agent":[2,21],"transportation":[3],"systems,":[4],"agents":[5],"often":[6],"must":[7],"follow":[8],"predefined":[9],"routes,":[10],"making":[11],"spatial":[12],"rerouting":[13],"undesirable":[14],"or":[15],"impossible.":[16],"This":[17],"paper":[18],"addresses":[19],"route-constrained":[20],"coordination":[22],"by":[23],"optimizing":[24],"waypoint":[25,33,45],"passage":[26],"times":[27,139],"while":[28],"preserving":[29],"each":[30],"agent's":[31],"assigned":[32],"order":[34],"and":[35,51,78,103,114,125,134],"nominal":[36],"route":[37],"assignment.":[38],"A":[39],"differentiable":[40],"surrogate":[41],"trajectory":[42],"model":[43],"maps":[44],"timings":[46],"to":[47,59],"smooth":[48],"position":[49],"profiles":[50],"captures":[52],"first-order":[53],"tracking":[54],"lag,":[55],"enabling":[56],"pairwise":[57],"safety":[58],"be":[60],"encoded":[61],"through":[62],"distance-based":[63],"penalties":[64],"evaluated":[65],"on":[66,111],"a":[67,129,141],"dense":[68],"temporal":[69],"grid":[70],"spanning":[71],"the":[72,120,146],"mission":[73,137],"horizon.":[74],"The":[75],"resulting":[76],"nonlinear":[77],"nonconvex":[79],"velocity-scheduling":[80],"problem":[81],"is":[82],"solved":[83],"using":[84],"an":[85],"inexact-projection":[86],"Alternating":[87],"Direction":[88],"Method":[89],"of":[90,131],"Multipliers":[91],"(ADMM)":[92],"algorithm":[93],"that":[94,119],"combines":[95],"timing":[97],"updates":[98],"with":[99],"gradient-based":[100],"collision-correction":[101],"steps":[102],"avoids":[104],"explicit":[105],"integer":[106],"sequencing":[107],"variables.":[108],"Numerical":[109],"experiments":[110],"random-crossing,":[112],"bottleneck,":[113],"graph-based":[115],"network":[116],"scenarios":[117],"show":[118],"proposed":[121],"method":[122],"computes":[123],"feasible":[124],"time-efficient":[126],"schedules":[127],"across":[128],"range":[130],"congestion":[132],"levels":[133],"yields":[135],"shorter":[136],"completion":[138],"than":[140],"representative":[142],"hierarchical":[143],"baseline":[144],"in":[145],"tested":[147],"bottleneck":[148],"cases.":[149]},"counts_by_year":[],"updated_date":"2026-04-25T08:17:42.794288","created_date":"2026-03-25T00:00:00"}