{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,10]],"date-time":"2026-03-10T21:02:09Z","timestamp":1773176529979,"version":"3.50.1"},"reference-count":27,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2014,1,1]],"date-time":"2014-01-01T00:00:00Z","timestamp":1388534400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/linproxy.fan.workers.dev:443\/https\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2014,1]]},"abstract":"<jats:p> In this paper, we consider the problem of concurrent assignment and planning of trajectories (which we denote Capt ) for a team of robots. This problem involves simultaneously addressing two challenges: (1) the combinatorially complex problem of finding a suitable assignment of robots to goal locations, and (2) the generation of collision-free, time parameterized trajectories for every robot. We consider the Capt problem for unlabeled (interchangeable) robots and propose algorithmic solutions to two variations of the Capt problem. The first algorithm, c-Capt, is a provably correct, complete, centralized algorithm which guarantees collision-free optimal solutions to the Capt problem in an obstacle-free environment. To achieve these strong claims, c-Capt exploits the synergy obtained by combining the two subproblems of assignment and trajectory generation to provide computationally tractable solutions for large numbers of robots. We then propose a decentralized solution to the Capt problem throughd-Capt, a decentralized algorithm that provides suboptimal results compared toc-Capt. We illustrate the algorithms and resulting performance through simulation and experimentation. <\/jats:p>","DOI":"10.1177\/0278364913515307","type":"journal-article","created":{"date-parts":[[2014,1,14]],"date-time":"2014-01-14T10:17:54Z","timestamp":1389694674000},"page":"98-112","update-policy":"https:\/\/linproxy.fan.workers.dev:443\/https\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":157,"title":["C<scp>apt<\/scp>: Concurrent assignment and planning of trajectories for multiple robots"],"prefix":"10.1177","volume":"33","author":[{"given":"Matthew","family":"Turpin","sequence":"first","affiliation":[{"name":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"}]},{"given":"Nathan","family":"Michael","sequence":"additional","affiliation":[{"name":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"}]},{"given":"Vijay","family":"Kumar","sequence":"additional","affiliation":[{"name":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"}]}],"member":"179","published-online":{"date-parts":[[2014,1,14]]},"reference":[{"key":"bibr1-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912442095"},{"key":"bibr2-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1287\/opre.39.4.601"},{"key":"bibr3-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1515\/9781400831470"},{"key":"bibr4-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570486"},{"key":"bibr5-0278364913515307","first-page":"2","volume-title":"Proceedings of AAAI conference on artificial intelligence","volume":"1","author":"Enright J","year":"2011"},{"key":"bibr6-0278364913515307","first-page":"1419","volume":"3","author":"Erdmann M","year":"1986","journal-title":"IEEE Transactions on Robotics and Automation"},{"issue":"1","key":"bibr7-0278364913515307","first-page":"32","volume":"7","author":"Ji M","year":"2006","journal-title":"International Journal of Assistive Robotics and Mechatronics"},{"key":"bibr8-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500304"},{"key":"bibr9-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.878952"},{"key":"bibr10-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1002\/nav.3800020109"},{"key":"bibr11-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1016\/0377-2217(92)90192-C"},{"key":"bibr12-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"key":"bibr13-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9305-0"},{"key":"bibr14-0278364913515307","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2011.VII.026"},{"key":"bibr15-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980409"},{"key":"bibr16-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2010.937855"},{"key":"bibr17-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1109\/3477.931538"},{"key":"bibr18-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1137\/0105003"},{"key":"bibr19-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2010.08.003"},{"key":"bibr20-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1016\/0377-0427(88)90001-5"},{"key":"bibr21-0278364913515307","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2007.4282420"},{"key":"bibr22-0278364913515307","unstructured":"TEMP (n.d.) 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