{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,4]],"date-time":"2025-09-04T14:11:56Z","timestamp":1756995116257,"version":"3.28.0"},"reference-count":35,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,5,30]]},"DOI":"10.1109\/icra48506.2021.9561899","type":"proceedings-article","created":{"date-parts":[[2021,10,20]],"date-time":"2021-10-20T00:28:35Z","timestamp":1634689715000},"page":"8009-8015","source":"Crossref","is-referenced-by-count":10,"title":["Spatial and Temporal Splitting Heuristics for Multi-Robot Motion Planning"],"prefix":"10.1109","author":[{"given":"Teng","family":"Guo","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuai D.","family":"Han","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jingjin","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/SFCS.1984.715921"},{"key":"ref32","first-page":"80","article-title":"Divide and conquer in multi-agent planning","volume":"1","author":"ephrati","year":"1994","journal-title":"AAAI"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2967326"},{"key":"ref30","first-page":"87","article-title":"Push and rotate: cooperative multi-agent path planning","author":"de wilde","year":"2013","journal-title":"Proceedings of the 2013 International Conference on Autonomous Agents and Multi-agent Systems"},{"key":"ref35","first-page":"151","article-title":"Multi-agent pathfinding: Definitions, variants, and benchmarks","author":"stern","year":"2019","journal-title":"Fifth Symposium on Combinatorial Search (SoCS)"},{"key":"ref34","article-title":"A polynomial-time algorithm for non-optimal multi-agent pathfinding","author":"khorshid","year":"2011","journal-title":"Fourth Annual Symposium on Combinatorial Search"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989376"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/SFCS.1984.715921"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.21236\/ADA196213"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/70.736775"},{"key":"ref14","first-page":"2612","article-title":"A distributed and optimal motion planning approach for multiple mobile robots","author":"guo","year":"2002","journal-title":"Proceedings IEEE International Conference on Robotics & Automation"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2593448"},{"key":"ref16","article-title":"Icbs: The improved conflict-based search algorithm for multi-agent pathfinding","author":"boyarski","year":"2015","journal-title":"Eighth Annual Symposium on Combinatorial Search"},{"key":"ref17","article-title":"Improved bounded-suboptimal multi-agent path finding solvers","author":"cohen","year":"2016","journal-title":"International Joint Conference on Artificial Intelligence"},{"key":"ref18","doi-asserted-by":"crossref","DOI":"10.1609\/aaai.v24i1.7564","article-title":"Finding optimal solutions to cooperative pathfinding problems","author":"standley","year":"2010","journal-title":"Twenty-Fourth AAAI Conference on Artificial Intelligence"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6095022"},{"key":"ref4","first-page":"9","article-title":"Coordinating hundreds of cooperative, autonomous vehicles in warehouses","volume":"29","author":"wurman","year":"2008","journal-title":"AI Magazine"},{"key":"ref28","doi-asserted-by":"crossref","DOI":"10.1609\/aaai.v27i1.8592","article-title":"A general formal framework for pathfinding problems with multiple agents","author":"erdem","year":"2013","journal-title":"AAAI"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2015.2503143"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-32695-0_50"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1307146"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/MSPEC.2008.4547508"},{"key":"ref29","article-title":"Push and swap: Fast cooperative path-finding with completeness guarantees","author":"luna","year":"2011","journal-title":"Twenty-Second International Joint Conference on Artificial Intelligence"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/MIE.2013.2252957"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1007\/s11036-009-0153-x"},{"key":"ref2","doi-asserted-by":"crossref","first-page":"1261","DOI":"10.1609\/aaai.v24i1.7767","article-title":"An optimization variant of multi-robot path planning is intractable","author":"surynek","year":"2010","journal-title":"Proceedings AAAI National Conference on Artificial Intelligence"},{"key":"ref1","first-page":"1444","article-title":"Structure and intractability of optimal multi-robot path planning on graphs","author":"yu","year":"2013","journal-title":"Proceedings AAAI National Conference on Artificial Intelligence"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1995.525802"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2014.11.006"},{"key":"ref22","article-title":"Suboptimal variants of the conflict-based search algorithm for the multi-agent pathfinding problem","author":"barer","year":"2014","journal-title":"Seventh Annual Symposium on Combinatorial Search"},{"key":"ref21","doi-asserted-by":"crossref","first-page":"117","DOI":"10.1609\/aiide.v1i1.18726","article-title":"Cooperative pathfinding","volume":"1","author":"silver","year":"2005","journal-title":"AIIDE"},{"key":"ref24","first-page":"23","article-title":"Cooperative pathfinding","author":"silver","year":"2005","journal-title":"The 1st Conference on Artificial Intelligence and Interactive Digital Entertainment"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TSSC.1968.300136"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.013"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2012.11.006"}],"event":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2021,5,30]]},"location":"Xi'an, China","end":{"date-parts":[[2021,6,5]]}},"container-title":["2021 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9560720\/9560666\/09561899.pdf?arnumber=9561899","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,1,12]],"date-time":"2023-01-12T22:52:19Z","timestamp":1673563939000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9561899\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,30]]},"references-count":35,"URL":"https:\/\/doi.org\/10.1109\/icra48506.2021.9561899","relation":{},"subject":[],"published":{"date-parts":[[2021,5,30]]}}}