{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,3]],"date-time":"2026-03-03T16:11:50Z","timestamp":1772554310404,"version":"3.50.1"},"reference-count":49,"publisher":"Wiley","issue":"9","license":[{"start":{"date-parts":[[2024,7,24]],"date-time":"2024-07-24T00:00:00Z","timestamp":1721779200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62173311"],"award-info":[{"award-number":["62173311"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62273311"],"award-info":[{"award-number":["62273311"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2024,9]]},"abstract":"<jats:p>The current trajectory planning methods for multi\u2010robot systems face challenges due to high computational burden and inadequate adaptability in complex constrained environments, obstructing efficiency improvements in production and logistics. This article presents an innovative solution by integrating model predictive contouring control (MPCC) and long short\u2010term memory (LSTM) networks for real\u2010time trajectory planning of multiple mobile robots. Based on the datasets generated by MPCC, a customized LSTM network is constructed to learn the collaborative planning behavior from these datasets offline, subsequently producing smooth and efficient trajectories online with a low computational burden. Moreover, a hybrid control scheme, incorporating a lidar\u2010based safety evaluator, avoids unexpected collision risks by switching to MPCC when necessary, ensuring the overall safety and reliability of the multi\u2010robot system. The proposed hybrid LSTM method is implemented and tested in the robot operating system (ROS) within diverse constrained scenarios. Experimental results demonstrate that the hybrid LSTM method achieves \u22486% enhancements in trajectory productivity and a reduced computational burden of roughly 75% compared to MPCC, thereby providing a promising solution for local multi\u2010robot trajectory planning in logistics transportation tasks.<\/jats:p>","DOI":"10.1002\/aisy.202300703","type":"journal-article","created":{"date-parts":[[2024,7,24]],"date-time":"2024-07-24T09:29:54Z","timestamp":1721813394000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Long Short\u2010Term Memory\u2010Based Multi\u2010Robot Trajectory Planning: Learn from MPCC and Make It Better"],"prefix":"10.1002","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1024-4135","authenticated-orcid":false,"given":"Jianbin","family":"Xin","sequence":"first","affiliation":[{"name":"School of Electrical and Information Engineering Zhengzhou University  No. 100, Science Road Zhengzhou 450001 P. R. China"}]},{"given":"Tao","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Electrical and Information Engineering Zhengzhou University  No. 100, Science Road Zhengzhou 450001 P. R. China"}]},{"given":"Jihong","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Physics, Engineering and Technology University of York  York YO10 5DD UK"}]},{"given":"Heshan","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Electrical and Information Engineering Zhengzhou University  No. 100, Science Road Zhengzhou 450001 P. R. China"}]},{"given":"Jinzhu","family":"Peng","sequence":"additional","affiliation":[{"name":"School of Electrical and Information Engineering Zhengzhou University  No. 100, Science Road Zhengzhou 450001 P. R. China"}]}],"member":"311","published-online":{"date-parts":[[2024,7,24]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2019.2952920"},{"key":"e_1_2_10_3_1","author":"Chai R.","year":"2024","journal-title":"IEEE Trans. Cybern."},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202300260"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2020.10.001"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21707"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202300036"},{"key":"e_1_2_10_8_1","doi-asserted-by":"crossref","unstructured":"Q.Li F.Gama A.Ribeiro A.Prorok in2020 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2020 pp.11785\u201311792.","DOI":"10.1109\/IROS45743.2020.9341668"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/100.580977"},{"key":"e_1_2_10_10_1","unstructured":"C.R\u00f6smann W.Feiten T.W\u00f6sch F.Hoffmann T.Bertram inROBOTIK 2012; 7th German Conf. on Robotics IEEE Munich Germany2012 pp.1\u20136."},{"key":"e_1_2_10_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2021.3076729"},{"key":"e_1_2_10_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2018.2873921"},{"key":"e_1_2_10_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2890572"},{"key":"e_1_2_10_14_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2021.103774"},{"key":"e_1_2_10_15_1","doi-asserted-by":"crossref","unstructured":"C.R\u00f6smann A.Makarow T.Bertram in2021 European Control Conference (ECC) IEEE Delft Netherlands2021 pp.1583\u20131590.","DOI":"10.23919\/ECC54610.2021.9654872"},{"key":"e_1_2_10_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2012.2186299"},{"key":"e_1_2_10_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2929976"},{"key":"e_1_2_10_18_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2014.09.003"},{"key":"e_1_2_10_19_1","doi-asserted-by":"crossref","unstructured":"P.Long T.Fan X.Liao W.Liu H.Zhang J.Pan in2018 Int. Conf. on Robotics and Automation (ICRA) IEEE Brisbane QLD Australia2018 pp.6252\u20136259.","DOI":"10.1109\/ICRA.2018.8461113"},{"key":"e_1_2_10_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3102636"},{"key":"e_1_2_10_21_1","doi-asserted-by":"crossref","unstructured":"J.Blumenkamp S.Morad J.Gielis Q.Li A.Prorok in2022 Int. Conf. on Robotics and Automation (ICRA)IEEE Philadelphia PA USA2022 pp.8772\u20138778.","DOI":"10.1109\/ICRA46639.2022.9811744"},{"key":"e_1_2_10_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2974648"},{"key":"e_1_2_10_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2024.3358229"},{"key":"e_1_2_10_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2023.3348632"},{"key":"e_1_2_10_25_1","doi-asserted-by":"crossref","unstructured":"Y.Song D.Scaramuzza in2020 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2020 pp.7629\u20137636.","DOI":"10.1109\/IROS45743.2020.9340823"},{"key":"e_1_2_10_26_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2022.105277"},{"key":"e_1_2_10_27_1","unstructured":"B.Zarrouki V.Kl\u00f6s N.Heppner S.Schwan R.Ritschel R.Vo\u00dfwinkel in2021 European Control Conference (ECC) IEEE Delft Netherlands2021pp.119\u2013125."},{"key":"e_1_2_10_28_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2021.08.563"},{"key":"e_1_2_10_29_1","doi-asserted-by":"crossref","unstructured":"G.Bellegarda K.Byl in2020 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2020 pp.5453\u20135459.","DOI":"10.1109\/IROS45743.2020.9341021"},{"key":"e_1_2_10_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2020.3042120"},{"key":"e_1_2_10_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2022.3183610"},{"key":"e_1_2_10_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2022.3209154"},{"key":"e_1_2_10_33_1","unstructured":"S.Gupta A.Kumar N. S.Tripathy S. V.Shah arXiv:2308.07071 2023."},{"key":"e_1_2_10_34_1","doi-asserted-by":"crossref","unstructured":"A. S.Lafmejani S.Berman G.Fainekos in2022 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2022 pp.10297\u201310303.","DOI":"10.1109\/IROS47612.2022.9981177"},{"key":"e_1_2_10_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3061073"},{"key":"e_1_2_10_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3037855"},{"key":"e_1_2_10_37_1","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)61205-9"},{"key":"e_1_2_10_38_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-016-0362-z"},{"key":"e_1_2_10_39_1","doi-asserted-by":"publisher","DOI":"10.1162\/neco.1997.9.8.1735"},{"key":"e_1_2_10_40_1","unstructured":"N.Deo M. M.Trivedi in2018 IEEE Intelligent Vehicles Symposium (IV) IEEE Piscataway NJ2018 pp.1179\u20131184."},{"key":"e_1_2_10_41_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11432-020-3071-8"},{"key":"e_1_2_10_42_1","doi-asserted-by":"publisher","DOI":"10.23919\/CSMS.2022.0017"},{"key":"e_1_2_10_43_1","doi-asserted-by":"publisher","DOI":"10.1007\/s12532-014-0071-1"},{"key":"e_1_2_10_44_1","unstructured":"R.Pascanu C.Gulcehre K.Cho Y.Bengio arXiv:1312.6026 2013."},{"key":"e_1_2_10_45_1","doi-asserted-by":"publisher","DOI":"10.1145\/3054912"},{"key":"e_1_2_10_46_1","unstructured":"S.Ross G.Gordon D.Bagnell inProceedings of the 14th Int. Conf. on Artificial Intelligence and Statistics PMLR Fort Lauderdale FL USA 2011 pp.627\u2013635."},{"key":"e_1_2_10_47_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920916531"},{"key":"e_1_2_10_48_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2023.111073"},{"key":"e_1_2_10_49_1","unstructured":"N.Koenig A.Howard in2004 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) IEEE Piscataway NJ2004 pp.2149\u20132154."},{"key":"e_1_2_10_50_1","unstructured":"K.Takaya T.Asai V.Kroumov F.Smarandache in2016 Int. Conf. on System Theory Control and Computing (ICSTCC) IEEE Sinaia Romania 2016 pp.96\u2013101."}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202300703","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T23:59:48Z","timestamp":1759881588000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202300703"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,7,24]]},"references-count":49,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2024,9]]}},"alternative-id":["10.1002\/aisy.202300703"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202300703","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"value":"2640-4567","type":"print"},{"value":"2640-4567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,7,24]]},"assertion":[{"value":"2023-10-27","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2024-07-24","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2300703"}}