{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,19]],"date-time":"2026-03-19T14:32:36Z","timestamp":1773930756899,"version":"3.50.1"},"reference-count":47,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2021,9,11]],"date-time":"2021-09-11T00:00:00Z","timestamp":1631318400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,9,11]],"date-time":"2021-09-11T00:00:00Z","timestamp":1631318400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2021,10]]},"DOI":"10.1007\/s10846-021-01477-0","type":"journal-article","created":{"date-parts":[[2021,9,11]],"date-time":"2021-09-11T02:02:20Z","timestamp":1631325740000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Distributed Planning for Serving Cooperative Tasks with Time Windows: A Game Theoretic Approach"],"prefix":"10.1007","volume":"103","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6957-6831","authenticated-orcid":false,"given":"Yasin","family":"Yaz\u0131c\u0131o\u011flu","sequence":"first","affiliation":[]},{"given":"Raghavendra","family":"Bhat","sequence":"additional","affiliation":[]},{"given":"Derya","family":"Aksaray","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,9,11]]},"reference":[{"key":"1477_CR1","doi-asserted-by":"crossref","unstructured":"Aksaray, D., Vasile, C.I., Belta, C.: Dynamic Routing of Energy-Aware Vehicles with Temporal Logic Constraints. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 3141\u20133146 (2016)","DOI":"10.1109\/ICRA.2016.7487481"},{"key":"1477_CR2","doi-asserted-by":"crossref","unstructured":"Andersson, B., Tovar, E.: Multiprocessor Scheduling with Few Preemptions. In: IEEE International Conference on Embedded and Real-Time Computing Systems and Applications, pp. 322\u2013334. IEEE (2006)","DOI":"10.1109\/RTCSA.2006.45"},{"issue":"10","key":"1477_CR3","doi-asserted-by":"publisher","first-page":"2302","DOI":"10.1109\/TAC.2009.2028954","volume":"54","author":"A Arsie","year":"2009","unstructured":"Arsie, A., Savla, K., Frazzoli, E.: Efficient routing algorithms for multiple vehicles with no explicit communications. IEEE Trans. Autom. Control 54(10), 2302\u20132317 (2009)","journal-title":"IEEE Trans. Autom. Control"},{"key":"1477_CR4","doi-asserted-by":"crossref","unstructured":"Arslan, G., Marden, J., Shamma, J.S.: Autonomous vehicle-target assignment: a game theoretical formulation. ASME J. Dyn. Syst. Measur. Control, 584\u2013596 (2007)","DOI":"10.1115\/1.2766722"},{"key":"1477_CR5","doi-asserted-by":"crossref","unstructured":"Asadpour, A., Saberi, A.: On the Inefficiency Ratio of Stable Equilibria in Congestion Games. In: International Workshop on Internet and Network Economics, pp. 545\u2013552. Springer (2009)","DOI":"10.1007\/978-3-642-10841-9_54"},{"key":"1477_CR6","doi-asserted-by":"publisher","first-page":"889","DOI":"10.1016\/j.jet.2016.03.010","volume":"163","author":"Y Babichenko","year":"2016","unstructured":"Babichenko, Y., Tamuz, O.: Graphical potential games. J. Econ. Theory 163, 889\u2013899 (2016)","journal-title":"J. Econ. Theory"},{"key":"1477_CR7","doi-asserted-by":"crossref","unstructured":"Bennewitz, M., Burgard, W., Thrun, S.: Optimizing Schedules for Prioritized Path Planning of Multi-Robot Systems. In: IEEE International Conference on Robotics and Automation, vol. 1, pp. 271\u2013276 (2001)","DOI":"10.1109\/ROBOT.2001.932565"},{"issue":"20","key":"1477_CR8","doi-asserted-by":"publisher","first-page":"187","DOI":"10.1016\/j.ifacol.2019.12.156","volume":"52","author":"R Bhat","year":"2019","unstructured":"Bhat, R., Yaz\u0131c\u0131o\u0121lu, Y., Aksaray, D.: Distributed path planning for executing cooperative tasks with time windows. IFAC-PapersOnLine 52(20), 187\u2013192 (2019)","journal-title":"IFAC-PapersOnLine"},{"key":"1477_CR9","doi-asserted-by":"crossref","unstructured":"Bhattacharya, S., Likhachev, M., Kumar, V.: Multi-Agent Path Planning with Multiple Tasks and Distance Constraints. In: IEEE International Conference on Robotics and Automation, pp. 953\u2013959 (2010)","DOI":"10.1109\/ROBOT.2010.5509713"},{"issue":"3","key":"1477_CR10","doi-asserted-by":"publisher","first-page":"387","DOI":"10.1006\/game.1993.1023","volume":"5","author":"LE Blume","year":"1993","unstructured":"Blume, L.E.: The statistical mechanics of strategic interaction. Games Econ. Behav. 5(3), 387\u2013424 (1993)","journal-title":"Games Econ. Behav."},{"issue":"2","key":"1477_CR11","doi-asserted-by":"publisher","first-page":"246","DOI":"10.1109\/TCNS.2015.2497098","volume":"4","author":"H Borowski","year":"2015","unstructured":"Borowski, H., Marden, J.R.: Fast convergence in semianonymous potential games. IEEE Trans. Control Netw. Syst. 4(2), 246\u2013258 (2015)","journal-title":"IEEE Trans. Control Netw. Syst."},{"issue":"6","key":"1477_CR12","doi-asserted-by":"publisher","first-page":"2508","DOI":"10.1109\/TIT.2006.874516","volume":"52","author":"S Boyd","year":"2006","unstructured":"Boyd, S., Ghosh, A., Prabhakar, B., Shah, D.: Randomized gossip algorithms. IEEE Trans. Inf. Theory 52(6), 2508\u20132530 (2006)","journal-title":"IEEE Trans. Inf. Theory"},{"issue":"1","key":"1477_CR13","first-page":"1","volume":"3","author":"S Boyd","year":"2011","unstructured":"Boyd, S., Parikh, N., Chu, E., Peleato, B., Eckstein, J.: Distributed optimization and statistical learning via the alternating direction method of multipliers. Found. Trends\u00ae; Mach. Learn. 3(1), 1\u2013122 (2011)","journal-title":"Found. Trends\u00ae; Mach. Learn."},{"issue":"1","key":"1477_CR14","doi-asserted-by":"publisher","first-page":"104","DOI":"10.1287\/trsc.1030.0056","volume":"39","author":"O Br\u00e4ysy","year":"2005","unstructured":"Br\u00e4ysy, O., Gendreau, M.: Vehicle routing problem with time windows, part I: Route construction and local search algorithms. Transport. Sci. 39(1), 104\u2013118 (2005)","journal-title":"Transport. Sci."},{"issue":"2","key":"1477_CR15","doi-asserted-by":"publisher","first-page":"156","DOI":"10.1109\/TSMCC.2007.913919","volume":"38","author":"L Bu","year":"2008","unstructured":"Bu, L., Babu, R., De Schutter, B., et al.: A comprehensive survey of multiagent reinforcement learning. IEEE Trans. Syst. Man Cybern. Part C (Appl Rev.) 38(2), 156\u2013172 (2008)","journal-title":"IEEE Trans. Syst. Man Cybern. Part C (Appl Rev.)"},{"issue":"9","key":"1477_CR16","doi-asserted-by":"publisher","first-page":"1482","DOI":"10.1109\/JPROC.2011.2158181","volume":"99","author":"F Bullo","year":"2011","unstructured":"Bullo, F., Frazzoli, E., Pavone, M., Savla, K., Smith, S.L.: Dynamic vehicle routing for robotic systems. Proc. IEEE 99(9), 1482\u20131504 (2011)","journal-title":"Proc. IEEE"},{"issue":"2","key":"1477_CR17","doi-asserted-by":"publisher","first-page":"1375","DOI":"10.1109\/LRA.2021.3057049","volume":"6","author":"AT Buyukkocak","year":"2021","unstructured":"Buyukkocak, A.T., Aksaray, D., Yaz\u0131c\u0131o\u0121lu, Y.: Planning of heterogeneous multi-agent systems under signal temporal logic specifications with integral predicates. IEEE Robot. Autom. Lett. 6(2), 1375\u20131382 (2021)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"1477_CR18","unstructured":"Claes, D., Oliehoek, F., Baier, H., Tuyls, K., et al.: Decentralised Online Planning for Multi-Robot Warehouse Commissioning. In: International Conference on Autonomous Agents and Multiagent Systems (AAMAS), pp. 492\u2013500 (2017)"},{"issue":"8","key":"1477_CR19","doi-asserted-by":"publisher","first-page":"928","DOI":"10.1057\/palgrave.jors.2601163","volume":"52","author":"JF Cordeau","year":"2001","unstructured":"Cordeau, J.F., Laporte, G., Mercier, A.: A unified tabu search heuristic for vehicle routing problems with time windows. J. Oper. Res. Soc. 52(8), 928\u2013936 (2001)","journal-title":"J. Oper. Res. Soc."},{"issue":"3-4","key":"1477_CR20","doi-asserted-by":"publisher","first-page":"841","DOI":"10.1007\/s10846-018-0783-y","volume":"94","author":"W Dai","year":"2019","unstructured":"Dai, W., Lu, H., Xiao, J., Zheng, Z.: Task allocation without communication based on incomplete information game theory for multi-robot systems. J. Intell. Robot. Syst. 94(3-4), 841\u2013856 (2019)","journal-title":"J. Intell. Robot. Syst."},{"key":"1477_CR21","doi-asserted-by":"crossref","unstructured":"Durand, S., Gaujal, B.: Complexity and Optimality of the Best Response Algorithm in Random Potential Games. In: International Symposium on Algorithmic Game Theory, pp. 40\u201351. Springer (2016)","DOI":"10.1007\/978-3-662-53354-3_4"},{"key":"1477_CR22","doi-asserted-by":"crossref","unstructured":"Ellison, G.: Learning, local interaction, and coordination. Econometrica: J. Econ. Soc., 1047\u20131071 (1993)","DOI":"10.2307\/2951493"},{"key":"1477_CR23","doi-asserted-by":"crossref","unstructured":"Even-Dar, E., Kesselman, A., Mansour, Y.: Convergence Time to Nash Equilibria. In: International Colloquium on Automata, Languages, and Programming, pp. 502\u2013513. Springer (2003)","DOI":"10.1007\/3-540-45061-0_41"},{"issue":"1","key":"1477_CR24","doi-asserted-by":"publisher","first-page":"220","DOI":"10.1109\/TRO.2018.2795034","volume":"34","author":"MC Gombolay","year":"2018","unstructured":"Gombolay, M.C., Wilcox, R.J., Shah, J.A.: Fast scheduling of robot teams performing tasks with temporospatial constraints. IEEE Trans. Robot. 34(1), 220\u2013239 (2018)","journal-title":"IEEE Trans. Robot."},{"key":"1477_CR25","doi-asserted-by":"crossref","unstructured":"Guo, Y., Parker, L.E.: A Distributed and Optimal Motion Planning Approach for Multiple Mobile Robots. In: IEEE International Conference on Robotics and Automation, vol. 3, pp. 2612\u20132619 (2002)","DOI":"10.1109\/ROBOT.2002.1013625"},{"issue":"3-4","key":"1477_CR26","doi-asserted-by":"publisher","first-page":"663","DOI":"10.1007\/s10846-016-0461-x","volume":"86","author":"AC Kapoutsis","year":"2017","unstructured":"Kapoutsis, A.C., Chatzichristofis, S.A., Kosmatopoulos, E.B.: Darp: divide areas algorithm for optimal multi-robot coverage path planning. J. Intell. Robot. Syst. 86(3-4), 663\u2013680 (2017)","journal-title":"J. Intell. Robot. Syst."},{"key":"1477_CR27","doi-asserted-by":"publisher","first-page":"39","DOI":"10.1016\/j.geb.2013.02.004","volume":"80","author":"GE Kreindler","year":"2013","unstructured":"Kreindler, G.E., Young, H.P.: Fast convergence in evolutionary equilibrium selection. Games Econ. Behav. 80, 39\u201367 (2013)","journal-title":"Games Econ. Behav."},{"issue":"6","key":"1477_CR28","doi-asserted-by":"publisher","first-page":"1370","DOI":"10.1109\/TRO.2009.2030225","volume":"25","author":"H Kress-Gazit","year":"2009","unstructured":"Kress-Gazit, H., Fainekos, G.E., Pappas, G.J.: Temporal-logic-based reactive mission and motion planning. IEEE Trans. Tobotics 25(6), 1370\u20131381 (2009)","journal-title":"IEEE Trans. Tobotics"},{"issue":"2","key":"1477_CR29","doi-asserted-by":"publisher","first-page":"745","DOI":"10.1007\/s10846-018-0897-2","volume":"95","author":"B Li","year":"2019","unstructured":"Li, B., Moridian, B., Kamal, A., Patankar, S., Mahmoudian, N.: Multi-robot mission planning with static energy replenishment. J. Intell. Robot. Syst. 95(2), 745\u2013759 (2019)","journal-title":"J. Intell. Robot. Syst."},{"issue":"6","key":"1477_CR30","doi-asserted-by":"publisher","first-page":"1393","DOI":"10.1109\/TSMCB.2009.2017273","volume":"39","author":"JR Marden","year":"2009","unstructured":"Marden, J.R., Arslan, G., Shamma, J.S.: Cooperative control and potential games. IEEE Trans. Syst. Man Cybern. Part B: Cybern. 39(6), 1393\u20131407 (2009)","journal-title":"IEEE Trans. Syst. Man Cybern. Part B: Cybern."},{"key":"1477_CR31","doi-asserted-by":"crossref","unstructured":"Michael, N., Zavlanos, M.M., Kumar, V., Pappas, G.J.: Distributed Multi-Robot Task Assignment and Formation Control. In: IEEE International Conference on Robotics and Automation, pp. 128\u2013133 (2008)","DOI":"10.1109\/ROBOT.2008.4543197"},{"key":"1477_CR32","doi-asserted-by":"publisher","first-page":"55","DOI":"10.1016\/j.robot.2016.10.008","volume":"90","author":"E Nunes","year":"2017","unstructured":"Nunes, E., Manner, M., Mitiche, H., Gini, M.: A taxonomy for task allocation problems with temporal and ordering constraints. Robot. Auton. Syst. 90, 55\u201370 (2017)","journal-title":"Robot. Auton. Syst."},{"issue":"2","key":"1477_CR33","doi-asserted-by":"publisher","first-page":"283","DOI":"10.1109\/TRO.2008.918056","volume":"24","author":"M Peasgood","year":"2008","unstructured":"Peasgood, M., Clark, C.M., McPhee, J.: A complete and scalable strategy for coordinating multiple robots within roadmaps. IEEE Trans. Robot. 24(2), 283\u2013292 (2008)","journal-title":"IEEE Trans. Robot."},{"key":"1477_CR34","doi-asserted-by":"crossref","unstructured":"Peterson, R., Buyukkocak, A.T., Aksaray, D., Yaz\u0131c\u0131o\u0121lu, Y.: Decentralized Safe Reactive Planning under TWTL Specifications. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (2020)","DOI":"10.1109\/IROS45743.2020.9341624"},{"key":"1477_CR35","doi-asserted-by":"crossref","unstructured":"Preiss, J.A., Honig, W., Sukhatme, G.S., Ayanian, N.: Crazyswarm: a Large Nano-Quadcopter Swarm. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 3299\u20133304 (2017)","DOI":"10.1109\/ICRA.2017.7989376"},{"issue":"4","key":"1477_CR36","doi-asserted-by":"publisher","first-page":"574","DOI":"10.1007\/s11119-016-9476-3","volume":"18","author":"P Gonzalez-de Santos","year":"2017","unstructured":"Gonzalez-de Santos, P., Ribeiro, A., Fernandez-Quintanilla, C., Lopez-Granados, F., Brandstoetter, M., Tomic, S., Pedrazzi, S., Peruzzi, A., Pajares, G., Kaplanis, G., et al.: Fleets of robots for environmentally-safe pest control in agriculture. Precis. Agric. 18(4), 574\u2013614 (2017)","journal-title":"Precis. Agric."},{"issue":"20","key":"1477_CR37","doi-asserted-by":"publisher","first-page":"193","DOI":"10.1016\/j.ifacol.2019.12.157","volume":"52","author":"S Seyedi","year":"2019","unstructured":"Seyedi, S., Yaz\u0131c\u0131o\u0121lu, Y., Aksaray, D.: Persistent surveillance with energy-constrained uavs and mobile charging stations. IFAC-PapersOnLine 52(20), 193\u2013198 (2019)","journal-title":"IFAC-PapersOnLine"},{"issue":"1","key":"1477_CR38","doi-asserted-by":"publisher","first-page":"107","DOI":"10.1145\/1811099.1811052","volume":"38","author":"D Shah","year":"2010","unstructured":"Shah, D., Shin, J.: Dynamics in congestion games. ACM SIGMETRICS Perform. Eval. Rev. 38(1), 107\u2013118 (2010)","journal-title":"ACM SIGMETRICS Perform. Eval. Rev."},{"key":"1477_CR39","doi-asserted-by":"crossref","unstructured":"Thakur, D., Likhachev, M., Keller, J., Kumar, V., Dobrokhodov, V., Jones, K., Wurz, J., Kaminer, I.: Planning for Opportunistic Surveillance with Multiple Robots. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 5750\u20135757 (2013)","DOI":"10.1109\/IROS.2013.6697189"},{"key":"1477_CR40","doi-asserted-by":"crossref","unstructured":"Tumer, K., Wolpert, D.H.: Collectives and the design of complex systems. Springer Science & Business Media (2004)","DOI":"10.1007\/978-1-4419-8909-3"},{"issue":"8","key":"1477_CR41","doi-asserted-by":"publisher","first-page":"889","DOI":"10.1177\/0278364913487931","volume":"32","author":"A Ulusoy","year":"2013","unstructured":"Ulusoy, A., Smith, S.L., Ding, X.C., Belta, C., Rus, D.: Optimality and robustness in multi-robot path planning with temporal logic constraints. Int. J. Robot. Res. 32(8), 889\u2013911 (2013)","journal-title":"Int. J. Robot. Res."},{"key":"1477_CR42","doi-asserted-by":"crossref","unstructured":"Wang, H., Chen, W., Wang, J.: Coupled task scheduling for heterogeneous multi-robot system of two robot types performing complex-schedule order fulfillment tasks. Robot. Auton. Syst., 103560 (2020)","DOI":"10.1016\/j.robot.2020.103560"},{"issue":"27","key":"1477_CR43","doi-asserted-by":"publisher","first-page":"309","DOI":"10.3182\/20130925-2-DE-4044.00034","volume":"46","author":"AY Yaz\u0131c\u0131o\u0121lu","year":"2013","unstructured":"Yaz\u0131c\u0131o\u0121lu, A.Y, Egerstedt, M., Shamma, J.S.: A game theoretic approach to distributed coverage of graphs by heterogeneous mobile agents. IFAC Proc. 46(27), 309\u2013315 (2013)","journal-title":"IFAC Proc."},{"issue":"3","key":"1477_CR44","doi-asserted-by":"publisher","first-page":"499","DOI":"10.1109\/TCNS.2016.2518083","volume":"4","author":"AY Yaz\u0131c\u0131o\u0121lu","year":"2017","unstructured":"Yaz\u0131c\u0131o\u0121lu, A.Y., Egerstedt, M., Shamma, J.S.: Communication-free distributed coverage for networked systems. IEEE Trans. Control Netw. Syst. 4(3), 499\u2013510 (2017)","journal-title":"IEEE Trans. Control Netw. Syst."},{"key":"1477_CR45","doi-asserted-by":"crossref","unstructured":"Young, H.P.: Strategic learning and its limits. Oxford University Press (2004)","DOI":"10.1093\/acprof:oso\/9780199269181.001.0001"},{"issue":"5","key":"1477_CR46","doi-asserted-by":"publisher","first-page":"1163","DOI":"10.1109\/TRO.2016.2593448","volume":"32","author":"J Yu","year":"2016","unstructured":"Yu, J., LaValle, S.M.: Optimal multirobot path planning on graphs: Complete algorithms and effective heuristics. IEEE Trans. Robot. 32(5), 1163\u20131177 (2016)","journal-title":"IEEE Trans. Robot."},{"issue":"1","key":"1477_CR47","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1137\/100784163","volume":"51","author":"M Zhu","year":"2013","unstructured":"Zhu, M., Mart\u00ednez, S.: Distributed coverage games for energy-aware mobile sensor networks. SIAM J. Control. Optim. 51(1), 1\u201327 (2013)","journal-title":"SIAM J. Control. Optim."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01477-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-021-01477-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01477-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,8]],"date-time":"2024-09-08T06:00:25Z","timestamp":1725775225000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-021-01477-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,9,11]]},"references-count":47,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2021,10]]}},"alternative-id":["1477"],"URL":"https:\/\/doi.org\/10.1007\/s10846-021-01477-0","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,9,11]]},"assertion":[{"value":"28 July 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 August 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 September 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}],"article-number":"27"}}