{"id":"https://openalex.org/W7160960121","doi":"https://doi.org/10.48550/arxiv.2605.09344","title":"PECMAN: Perception-enabled Collaborative Multi-Agent Navigation in Unknown Environments","display_name":"PECMAN: Perception-enabled Collaborative Multi-Agent Navigation in Unknown Environments","publication_year":2026,"publication_date":"2026-05-10","ids":{"openalex":"https://openalex.org/W7160960121","doi":"https://doi.org/10.48550/arxiv.2605.09344"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.09344","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.09344","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":null,"license_id":null,"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.2605.09344","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135950700","display_name":"Tianchonghui Fang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fang, Tianchonghui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114208121","display_name":"Shaunak Roy","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roy, Shaunak","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5100331772","display_name":"Shalabh Gupta","orcid":"https://orcid.org/0000-0003-0438-7700"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gupta, Shalabh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7971000075340271,"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":0.7971000075340271,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.09589999914169312,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.03020000085234642,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.6341999769210815},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5677000284194946},{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.5339000225067139},{"id":"https://openalex.org/keywords/disjoint-sets","display_name":"Disjoint sets","score":0.4900999963283539},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.48159998655319214},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.43389999866485596},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4334000051021576},{"id":"https://openalex.org/keywords/broadcasting","display_name":"Broadcasting (networking)","score":0.4138999879360199},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4020000100135803}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7075999975204468},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.6341999769210815},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5677000284194946},{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.5339000225067139},{"id":"https://openalex.org/C45340560","wikidata":"https://www.wikidata.org/wiki/Q215382","display_name":"Disjoint sets","level":2,"score":0.4900999963283539},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.48159998655319214},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4767000079154968},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.47510001063346863},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.43389999866485596},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4334000051021576},{"id":"https://openalex.org/C110157686","wikidata":"https://www.wikidata.org/wiki/Q922122","display_name":"Broadcasting (networking)","level":2,"score":0.4138999879360199},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4020000100135803},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3896999955177307},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35830000042915344},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3440999984741211},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.3278000056743622},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3190999925136566},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.30379998683929443},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.26759999990463257},{"id":"https://openalex.org/C2780757406","wikidata":"https://www.wikidata.org/wiki/Q465837","display_name":"Skyline","level":2,"score":0.26660001277923584},{"id":"https://openalex.org/C46934059","wikidata":"https://www.wikidata.org/wiki/Q61515","display_name":"Outsourcing","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2644999921321869},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.2635999917984009},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.2615000009536743},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.26080000400543213},{"id":"https://openalex.org/C163797641","wikidata":"https://www.wikidata.org/wiki/Q2067937","display_name":"Tree structure","level":3,"score":0.25609999895095825},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.25290000438690186},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.09344","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.09344","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.09344","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.09344","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":null,"license_id":null,"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":{"Most":[0],"path":[1],"planners":[2],"assume":[3],"fully":[4],"known,":[5],"static":[6],"environments,":[7],"assumptions":[8],"that":[9,136,181],"fail":[10],"when":[11],"robots":[12,208],"navigate":[13],"in":[14,41,88,134,188,209],"dynamic":[15],"and":[16,56,58,98,109,149],"partially":[17],"observable":[18],"environments.":[19,90],"SMART-3D":[20,52,81],"addresses":[21],"these":[22],"issues":[23],"by":[24,142,166,202],"real-time":[25,77],"replanning,":[26],"where":[27,102],"it":[28],"morphs":[29,110],"the":[30,42,47,61,153,189],"underlying":[31],"RRT*":[32],"tree":[33,48,96,113],"whenever":[34],"new":[35,69],"obstacles":[36],"or":[37],"structures":[38,123],"are":[39],"discovered":[40,122],"environment.":[43,212],"Instead":[44],"of":[45,152,162],"rebuilding":[46],"entirely":[49],"from":[50],"scratch,":[51],"prunes":[53],"invalid":[54],"nodes":[55],"edges":[57],"subsequently":[59],"repairs":[60],"disjoint":[62],"subtrees":[63],"at":[64],"hot-nodes":[65],"to":[66,82,106,114,124,130,156,185],"find":[67],"a":[68,210],"path,":[70,117],"thus":[71,127],"providing":[72],"high":[73],"computational":[74],"efficiency":[75],"for":[76],"adaptability.":[78],"We":[79],"extend":[80],"perception-enabled":[83],"collaborative":[84],"multi-agent":[85,168],"navigation":[86],"(PECMAN)":[87],"unknown":[89],"PECMAN":[91,163,182,199],"is":[92],"built":[93],"upon":[94],"distributed":[95],"morphing":[97],"shared":[99],"perception":[100],"strategies,":[101],"each":[103],"agent":[104],"reacts":[105],"environmental":[107],"changes":[108],"its":[111,116],"respective":[112],"replan":[115,132],"while":[118,192],"simultaneously":[119],"broadcasting":[120],"newly":[121],"other":[125],"agents,":[126],"enabling":[128],"them":[129],"proactively":[131],"even":[133],"areas":[135],"have":[137],"not":[138],"yet":[139],"been":[140],"explored":[141],"them.":[143],"This":[144],"approach":[145],"reduces":[146],"redundant":[147],"reactions":[148],"unnecessary":[150],"replannings":[151],"agents":[154],"due":[155],"improved":[157],"situational":[158],"awareness.":[159],"The":[160,178],"performance":[161],"was":[164,200],"evaluated":[165],"28,000":[167],"simulations":[169],"on":[170,205],"seven":[171],"2D":[172],"scenarios":[173],"with":[174],"different":[175],"case":[176],"studies.":[177],"results":[179],"show":[180],"achieves":[183],"up":[184],"52%":[186],"reduction":[187],"team-completion":[190],"time,":[191],"maintaining":[193],"near":[194],"100%":[195],"success":[196],"rates.":[197],"Finally,":[198],"tested":[201],"real":[203],"experiments":[204],"two":[206],"autonomous":[207],"building":[211]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-05-13T00:00:00"}