Push, Stop, and Replan: An Application of Pebble Motion on Graphs to Planning in Automated Warehouses Article Swipe

View

Miroslav Kulich , Tomáš Novák , Libor Přeučil ·

YOU? · · 2019 · Open Access · · DOI: https://doi.org/10.1109/itsc.2019.8916906

The pebble-motion on graphs is a subcategory of multi-agent pathfinding problems dealing with moving multiple pebble-like objects from a node to a node in a graph with a constraint that only one pebble can occupy one node at a given time. Additionally, algorithms solving this problem assume that individual pebbles (robots) cannot move at the same time and their movement is discrete. These assumptions disqualify them from being directly used in practical applications, although they have otherwise nice theoretical properties. We present modifications of the Push and Rotate algorithm [1], which relax the presumptions mentioned above and demonstrate, through a set of experiments, that the modified algorithm is applicable for planning in automated warehouses.

Related Topics

Theoretical Computer Science

Artificial Intelligence

Structural Engineering

Concepts

Pebble Subcategory Computer science Motion planning Node (physics) Robot Graph Set (abstract data type) Pathfinding Mathematical optimization Polyhedron Theoretical computer science Artificial intelligence Algorithm Mathematics Discrete mathematics Programming language Engineering Combinatorics Geomorphology Structural engineering Shortest path problem Geology

Metadata

Type: preprint
Language: en
Landing Page: https://doi.org/10.1109/itsc.2019.8916906
OA Status: green
Cited By: 3
References: 25
Related Works: 10
OpenAlex ID: https://openalex.org/W2989972887

All OpenAlex metadata

Raw OpenAlex JSON

OpenAlex ID: https://openalex.org/W2989972887

Canonical identifier for this work in OpenAlex
DOI: https://doi.org/10.1109/itsc.2019.8916906

Digital Object Identifier
Title: Push, Stop, and Replan: An Application of Pebble Motion on Graphs to Planning in Automated Warehouses

Work title
Type: preprint

OpenAlex work type
Language: en

Primary language
Publication year: 2019

Year of publication
Publication date: 2019-10-01

Full publication date if available
Authors: Miroslav Kulich, Tomáš Novák, Libor Přeučil

List of authors in order
Landing page: https://doi.org/10.1109/itsc.2019.8916906

Publisher landing page
Open access: Yes

Whether a free full text is available
OA status: green

Open access status per OpenAlex
OA URL: https://arxiv.org/pdf/2007.10107

Direct OA link when available
Concepts: Pebble, Subcategory, Computer science, Motion planning, Node (physics), Robot, Graph, Set (abstract data type), Pathfinding, Mathematical optimization, Polyhedron, Theoretical computer science, Artificial intelligence, Algorithm, Mathematics, Discrete mathematics, Programming language, Engineering, Combinatorics, Geomorphology, Structural engineering, Shortest path problem, Geology

Top concepts (fields/topics) attached by OpenAlex
Cited by: 3

Total citation count in OpenAlex
Citations by year (recent): 2024: 1, 2020: 2

Per-year citation counts (last 5 years)
References (count): 25

Number of works referenced by this work
Related works (count): 10

Other works algorithmically related by OpenAlex

Full payload

id	https://openalex.org/W2989972887
doi	https://doi.org/10.1109/itsc.2019.8916906
ids.doi	https://doi.org/10.1109/itsc.2019.8916906
ids.mag	2989972887
ids.openalex	https://openalex.org/W2989972887
fwci	0.21377151
type	preprint
title	Push, Stop, and Replan: An Application of Pebble Motion on Graphs to Planning in Automated Warehouses
biblio.issue
biblio.volume	11
biblio.last_page	4463
biblio.first_page	4456
topics[0].id	https://openalex.org/T10586
topics[0].field.id	https://openalex.org/fields/17
topics[0].field.display_name	Computer Science
topics[0].score	0.9998999834060669
topics[0].domain.id	https://openalex.org/domains/3
topics[0].domain.display_name	Physical Sciences
topics[0].subfield.id	https://openalex.org/subfields/1707
topics[0].subfield.display_name	Computer Vision and Pattern Recognition
topics[0].display_name	Robotic Path Planning Algorithms
topics[1].id	https://openalex.org/T12288
topics[1].field.id	https://openalex.org/fields/17
topics[1].field.display_name	Computer Science
topics[1].score	0.9937000274658203
topics[1].domain.id	https://openalex.org/domains/3
topics[1].domain.display_name	Physical Sciences
topics[1].subfield.id	https://openalex.org/subfields/1705
topics[1].subfield.display_name	Computer Networks and Communications
topics[1].display_name	Optimization and Search Problems
topics[2].id	https://openalex.org/T11010
topics[2].field.id	https://openalex.org/fields/17
topics[2].field.display_name	Computer Science
topics[2].score	0.9847000241279602
topics[2].domain.id	https://openalex.org/domains/3
topics[2].domain.display_name	Physical Sciences
topics[2].subfield.id	https://openalex.org/subfields/1702
topics[2].subfield.display_name	Artificial Intelligence
topics[2].display_name	Logic, Reasoning, and Knowledge
is_xpac	False
apc_list
apc_paid
concepts[0].id	https://openalex.org/C2777760186
concepts[0].level	2
concepts[0].score	0.9079575538635254
concepts[0].wikidata	https://www.wikidata.org/wiki/Q14673
concepts[0].display_name	Pebble
concepts[1].id	https://openalex.org/C2780617661
concepts[1].level	2
concepts[1].score	0.6800873279571533
concepts[1].wikidata	https://www.wikidata.org/wiki/Q541563
concepts[1].display_name	Subcategory
concepts[2].id	https://openalex.org/C41008148
concepts[2].level	0
concepts[2].score	0.634754478931427
concepts[2].wikidata	https://www.wikidata.org/wiki/Q21198
concepts[2].display_name	Computer science
concepts[3].id	https://openalex.org/C81074085
concepts[3].level	3
concepts[3].score	0.6167643070220947
concepts[3].wikidata	https://www.wikidata.org/wiki/Q366872
concepts[3].display_name	Motion planning
concepts[4].id	https://openalex.org/C62611344
concepts[4].level	2
concepts[4].score	0.6025711894035339
concepts[4].wikidata	https://www.wikidata.org/wiki/Q1062658
concepts[4].display_name	Node (physics)
concepts[5].id	https://openalex.org/C90509273
concepts[5].level	2
concepts[5].score	0.5707395672798157
concepts[5].wikidata	https://www.wikidata.org/wiki/Q11012
concepts[5].display_name	Robot
concepts[6].id	https://openalex.org/C132525143
concepts[6].level	2
concepts[6].score	0.5579076409339905
concepts[6].wikidata	https://www.wikidata.org/wiki/Q141488
concepts[6].display_name	Graph
concepts[7].id	https://openalex.org/C177264268
concepts[7].level	2
concepts[7].score	0.49425792694091797
concepts[7].wikidata	https://www.wikidata.org/wiki/Q1514741
concepts[7].display_name	Set (abstract data type)
concepts[8].id	https://openalex.org/C25321074
concepts[8].level	4
concepts[8].score	0.48663291335105896
concepts[8].wikidata	https://www.wikidata.org/wiki/Q1969601
concepts[8].display_name	Pathfinding
concepts[9].id	https://openalex.org/C126255220
concepts[9].level	1
concepts[9].score	0.4698079228401184
concepts[9].wikidata	https://www.wikidata.org/wiki/Q141495
concepts[9].display_name	Mathematical optimization
concepts[10].id	https://openalex.org/C54829058
concepts[10].level	2
concepts[10].score	0.4208420217037201
concepts[10].wikidata	https://www.wikidata.org/wiki/Q172937
concepts[10].display_name	Polyhedron
concepts[11].id	https://openalex.org/C80444323
concepts[11].level	1
concepts[11].score	0.3974545896053314
concepts[11].wikidata	https://www.wikidata.org/wiki/Q2878974
concepts[11].display_name	Theoretical computer science
concepts[12].id	https://openalex.org/C154945302
concepts[12].level	1
concepts[12].score	0.38370174169540405
concepts[12].wikidata	https://www.wikidata.org/wiki/Q11660
concepts[12].display_name	Artificial intelligence
concepts[13].id	https://openalex.org/C11413529
concepts[13].level	1
concepts[13].score	0.3740517795085907
concepts[13].wikidata	https://www.wikidata.org/wiki/Q8366
concepts[13].display_name	Algorithm
concepts[14].id	https://openalex.org/C33923547
concepts[14].level	0
concepts[14].score	0.28102046251296997
concepts[14].wikidata	https://www.wikidata.org/wiki/Q395
concepts[14].display_name	Mathematics
concepts[15].id	https://openalex.org/C118615104
concepts[15].level	1
concepts[15].score	0.1836516261100769
concepts[15].wikidata	https://www.wikidata.org/wiki/Q121416
concepts[15].display_name	Discrete mathematics
concepts[16].id	https://openalex.org/C199360897
concepts[16].level	1
concepts[16].score	0.18125373125076294
concepts[16].wikidata	https://www.wikidata.org/wiki/Q9143
concepts[16].display_name	Programming language
concepts[17].id	https://openalex.org/C127413603
concepts[17].level	0
concepts[17].score	0.16344910860061646
concepts[17].wikidata	https://www.wikidata.org/wiki/Q11023
concepts[17].display_name	Engineering
concepts[18].id	https://openalex.org/C114614502
concepts[18].level	1
concepts[18].score	0.15590432286262512
concepts[18].wikidata	https://www.wikidata.org/wiki/Q76592
concepts[18].display_name	Combinatorics
concepts[19].id	https://openalex.org/C114793014
concepts[19].level	1
concepts[19].score	0.0
concepts[19].wikidata	https://www.wikidata.org/wiki/Q52109
concepts[19].display_name	Geomorphology
concepts[20].id	https://openalex.org/C66938386
concepts[20].level	1
concepts[20].score	0.0
concepts[20].wikidata	https://www.wikidata.org/wiki/Q633538
concepts[20].display_name	Structural engineering
concepts[21].id	https://openalex.org/C22590252
concepts[21].level	3
concepts[21].score	0.0
concepts[21].wikidata	https://www.wikidata.org/wiki/Q1058754
concepts[21].display_name	Shortest path problem
concepts[22].id	https://openalex.org/C127313418
concepts[22].level	0
concepts[22].score	0.0
concepts[22].wikidata	https://www.wikidata.org/wiki/Q1069
concepts[22].display_name	Geology
keywords[0].id	https://openalex.org/keywords/pebble
keywords[0].score	0.9079575538635254
keywords[0].display_name	Pebble
keywords[1].id	https://openalex.org/keywords/subcategory
keywords[1].score	0.6800873279571533
keywords[1].display_name	Subcategory
keywords[2].id	https://openalex.org/keywords/computer-science
keywords[2].score	0.634754478931427
keywords[2].display_name	Computer science
keywords[3].id	https://openalex.org/keywords/motion-planning
keywords[3].score	0.6167643070220947
keywords[3].display_name	Motion planning
keywords[4].id	https://openalex.org/keywords/node
keywords[4].score	0.6025711894035339
keywords[4].display_name	Node (physics)
keywords[5].id	https://openalex.org/keywords/robot
keywords[5].score	0.5707395672798157
keywords[5].display_name	Robot
keywords[6].id	https://openalex.org/keywords/graph
keywords[6].score	0.5579076409339905
keywords[6].display_name	Graph
keywords[7].id	https://openalex.org/keywords/set
keywords[7].score	0.49425792694091797
keywords[7].display_name	Set (abstract data type)
keywords[8].id	https://openalex.org/keywords/pathfinding
keywords[8].score	0.48663291335105896
keywords[8].display_name	Pathfinding
keywords[9].id	https://openalex.org/keywords/mathematical-optimization
keywords[9].score	0.4698079228401184
keywords[9].display_name	Mathematical optimization
keywords[10].id	https://openalex.org/keywords/polyhedron
keywords[10].score	0.4208420217037201
keywords[10].display_name	Polyhedron
keywords[11].id	https://openalex.org/keywords/theoretical-computer-science
keywords[11].score	0.3974545896053314
keywords[11].display_name	Theoretical computer science
keywords[12].id	https://openalex.org/keywords/artificial-intelligence
keywords[12].score	0.38370174169540405
keywords[12].display_name	Artificial intelligence
keywords[13].id	https://openalex.org/keywords/algorithm
keywords[13].score	0.3740517795085907
keywords[13].display_name	Algorithm
keywords[14].id	https://openalex.org/keywords/mathematics
keywords[14].score	0.28102046251296997
keywords[14].display_name	Mathematics
keywords[15].id	https://openalex.org/keywords/discrete-mathematics
keywords[15].score	0.1836516261100769
keywords[15].display_name	Discrete mathematics
keywords[16].id	https://openalex.org/keywords/programming-language
keywords[16].score	0.18125373125076294
keywords[16].display_name	Programming language
keywords[17].id	https://openalex.org/keywords/engineering
keywords[17].score	0.16344910860061646
keywords[17].display_name	Engineering
keywords[18].id	https://openalex.org/keywords/combinatorics
keywords[18].score	0.15590432286262512
keywords[18].display_name	Combinatorics
language	en
locations[0].id	doi:10.1109/itsc.2019.8916906
locations[0].is_oa	False
locations[0].source
locations[0].license
locations[0].pdf_url
locations[0].version	publishedVersion
locations[0].raw_type	proceedings-article
locations[0].license_id
locations[0].is_accepted	True
locations[0].is_published	True
locations[0].raw_source_name	2019 IEEE Intelligent Transportation Systems Conference (ITSC)
locations[0].landing_page_url	https://doi.org/10.1109/itsc.2019.8916906
locations[1].id	pmh:oai:arXiv.org:2007.10107
locations[1].is_oa	True
locations[1].source.id	https://openalex.org/S4306400194
locations[1].source.issn
locations[1].source.type	repository
locations[1].source.is_oa	True
locations[1].source.issn_l
locations[1].source.is_core	False
locations[1].source.is_in_doaj	False
locations[1].source.display_name	arXiv (Cornell University)
locations[1].source.host_organization	https://openalex.org/I205783295
locations[1].source.host_organization_name	Cornell University
locations[1].source.host_organization_lineage	https://openalex.org/I205783295
locations[1].license
locations[1].pdf_url	https://arxiv.org/pdf/2007.10107
locations[1].version	submittedVersion
locations[1].raw_type	text
locations[1].license_id
locations[1].is_accepted	False
locations[1].is_published	False
locations[1].raw_source_name
locations[1].landing_page_url	http://arxiv.org/abs/2007.10107
locations[2].id	pmh:oai:zenodo.org:3953569
locations[2].is_oa	True
locations[2].source.id	https://openalex.org/S4306400562
locations[2].source.issn
locations[2].source.type	repository
locations[2].source.is_oa	True
locations[2].source.issn_l
locations[2].source.is_core	False
locations[2].source.is_in_doaj	False
locations[2].source.display_name	Zenodo (CERN European Organization for Nuclear Research)
locations[2].source.host_organization	https://openalex.org/I67311998
locations[2].source.host_organization_name	European Organization for Nuclear Research
locations[2].source.host_organization_lineage	https://openalex.org/I67311998
locations[2].license	cc-by
locations[2].pdf_url
locations[2].version	submittedVersion
locations[2].raw_type	info:eu-repo/semantics/conferencePaper
locations[2].license_id	https://openalex.org/licenses/cc-by
locations[2].is_accepted	False
locations[2].is_published	False
locations[2].raw_source_name
locations[2].landing_page_url	https://zenodo.org/record/3953569
indexed_in	arxiv, crossref
authorships[0].author.id	https://openalex.org/A5084228715
authorships[0].author.orcid	https://orcid.org/0000-0002-0997-5889
authorships[0].author.display_name	Miroslav Kulich
authorships[0].countries	CZ
authorships[0].affiliations[0].institution_ids	https://openalex.org/I44504214
authorships[0].affiliations[0].raw_affiliation_string	Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic
authorships[0].institutions[0].id	https://openalex.org/I44504214
authorships[0].institutions[0].ror	https://ror.org/03kqpb082
authorships[0].institutions[0].type	education
authorships[0].institutions[0].lineage	https://openalex.org/I44504214
authorships[0].institutions[0].country_code	CZ
authorships[0].institutions[0].display_name	Czech Technical University in Prague
authorships[0].author_position	first
authorships[0].raw_author_name	Miroslav Kulich
authorships[0].is_corresponding	False
authorships[0].raw_affiliation_strings	Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic
authorships[1].author.id	https://openalex.org/A5080595856
authorships[1].author.orcid	https://orcid.org/0000-0001-9156-9654
authorships[1].author.display_name	Tomáš Novák
authorships[1].countries	CZ
authorships[1].affiliations[0].institution_ids	https://openalex.org/I44504214
authorships[1].affiliations[0].raw_affiliation_string	Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic
authorships[1].institutions[0].id	https://openalex.org/I44504214
authorships[1].institutions[0].ror	https://ror.org/03kqpb082
authorships[1].institutions[0].type	education
authorships[1].institutions[0].lineage	https://openalex.org/I44504214
authorships[1].institutions[0].country_code	CZ
authorships[1].institutions[0].display_name	Czech Technical University in Prague
authorships[1].author_position	middle
authorships[1].raw_author_name	Tomas Novak
authorships[1].is_corresponding	False
authorships[1].raw_affiliation_strings	Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic
authorships[2].author.id	https://openalex.org/A5004686576
authorships[2].author.orcid	https://orcid.org/0000-0002-4286-3870
authorships[2].author.display_name	Libor Přeučil
authorships[2].countries	CZ
authorships[2].affiliations[0].institution_ids	https://openalex.org/I44504214
authorships[2].affiliations[0].raw_affiliation_string	Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic
authorships[2].institutions[0].id	https://openalex.org/I44504214
authorships[2].institutions[0].ror	https://ror.org/03kqpb082
authorships[2].institutions[0].type	education
authorships[2].institutions[0].lineage	https://openalex.org/I44504214
authorships[2].institutions[0].country_code	CZ
authorships[2].institutions[0].display_name	Czech Technical University in Prague
authorships[2].author_position	last
authorships[2].raw_author_name	Libor Preucil
authorships[2].is_corresponding	False
authorships[2].raw_affiliation_strings	Czech Institute of Informatics, Robotics, and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic
has_content.pdf	False
has_content.grobid_xml	False
is_paratext	False
open_access.is_oa	True
open_access.oa_url	https://arxiv.org/pdf/2007.10107
open_access.oa_status	green
open_access.any_repository_has_fulltext	False
created_date	2025-10-10T00:00:00
display_name	Push, Stop, and Replan: An Application of Pebble Motion on Graphs to Planning in Automated Warehouses
has_fulltext	False
is_retracted	False
updated_date	2025-11-06T03:46:38.306776
primary_topic.id	https://openalex.org/T10586
primary_topic.field.id	https://openalex.org/fields/17
primary_topic.field.display_name	Computer Science
primary_topic.score	0.9998999834060669
primary_topic.domain.id	https://openalex.org/domains/3
primary_topic.domain.display_name	Physical Sciences
primary_topic.subfield.id	https://openalex.org/subfields/1707
primary_topic.subfield.display_name	Computer Vision and Pattern Recognition
primary_topic.display_name	Robotic Path Planning Algorithms
related_works	https://openalex.org/W4200088481, https://openalex.org/W2334606969, https://openalex.org/W2146545591, https://openalex.org/W2052387254, https://openalex.org/W2038610180, https://openalex.org/W2046565574, https://openalex.org/W2968367996, https://openalex.org/W4387045277, https://openalex.org/W2034513372, https://openalex.org/W2895038486
cited_by_count	3
counts_by_year[0].year	2024
counts_by_year[0].cited_by_count	1
counts_by_year[1].year	2020
counts_by_year[1].cited_by_count	2
locations_count	3
best_oa_location.id	pmh:oai:arXiv.org:2007.10107
best_oa_location.is_oa	True
best_oa_location.source.id	https://openalex.org/S4306400194
best_oa_location.source.issn
best_oa_location.source.type	repository
best_oa_location.source.is_oa	True
best_oa_location.source.issn_l
best_oa_location.source.is_core	False
best_oa_location.source.is_in_doaj	False
best_oa_location.source.display_name	arXiv (Cornell University)
best_oa_location.source.host_organization	https://openalex.org/I205783295
best_oa_location.source.host_organization_name	Cornell University
best_oa_location.source.host_organization_lineage	https://openalex.org/I205783295
best_oa_location.license
best_oa_location.pdf_url	https://arxiv.org/pdf/2007.10107
best_oa_location.version	submittedVersion
best_oa_location.raw_type	text
best_oa_location.license_id
best_oa_location.is_accepted	False
best_oa_location.is_published	False
best_oa_location.raw_source_name
best_oa_location.landing_page_url	http://arxiv.org/abs/2007.10107
primary_location.id	doi:10.1109/itsc.2019.8916906
primary_location.is_oa	False
primary_location.source
primary_location.license
primary_location.pdf_url
primary_location.version	publishedVersion
primary_location.raw_type	proceedings-article
primary_location.license_id
primary_location.is_accepted	True
primary_location.is_published	True
primary_location.raw_source_name	2019 IEEE Intelligent Transportation Systems Conference (ITSC)
primary_location.landing_page_url	https://doi.org/10.1109/itsc.2019.8916906
publication_date	2019-10-01
publication_year	2019
referenced_works	https://openalex.org/W6680701603, https://openalex.org/W2169742265, https://openalex.org/W4300449797, https://openalex.org/W2007193228, https://openalex.org/W2147526018, https://openalex.org/W2155313135, https://openalex.org/W1971103866, https://openalex.org/W6675090247, https://openalex.org/W6758754608, https://openalex.org/W2202983866, https://openalex.org/W4242811155, https://openalex.org/W196900508, https://openalex.org/W2135939055, https://openalex.org/W6605295560, https://openalex.org/W6607293951, https://openalex.org/W125001008, https://openalex.org/W2072839015, https://openalex.org/W2167979940, https://openalex.org/W2158883244, https://openalex.org/W131069610, https://openalex.org/W177987302, https://openalex.org/W2914296650, https://openalex.org/W2137651302, https://openalex.org/W101508493, https://openalex.org/W2100695938
referenced_works_count	25
abstract_inverted_index.a	5, 18, 21, 24, 27, 38, 99
abstract_inverted_index.We	80
abstract_inverted_index.at	37, 53
abstract_inverted_index.in	23, 70, 111
abstract_inverted_index.is	4, 60, 107
abstract_inverted_index.of	7, 83, 101
abstract_inverted_index.on	2
abstract_inverted_index.to	20
abstract_inverted_index.and	57, 86, 96
abstract_inverted_index.can	33
abstract_inverted_index.for	109
abstract_inverted_index.one	31, 35
abstract_inverted_index.set	100
abstract_inverted_index.the	54, 84, 92, 104
abstract_inverted_index.Push	85
abstract_inverted_index.[1],	89
abstract_inverted_index.from	17, 66
abstract_inverted_index.have	75
abstract_inverted_index.move	52
abstract_inverted_index.nice	77
abstract_inverted_index.node	19, 22, 36
abstract_inverted_index.only	30
abstract_inverted_index.same	55
abstract_inverted_index.that	29, 47, 103
abstract_inverted_index.them	65
abstract_inverted_index.they	74
abstract_inverted_index.this	44
abstract_inverted_index.time	56
abstract_inverted_index.used	69
abstract_inverted_index.with	12, 26
abstract_inverted_index.These	62
abstract_inverted_index.above	95
abstract_inverted_index.being	67
abstract_inverted_index.given	39
abstract_inverted_index.graph	25
abstract_inverted_index.relax	91
abstract_inverted_index.their	58
abstract_inverted_index.time.	40
abstract_inverted_index.which	90
abstract_inverted_index.Rotate	87
abstract_inverted_index.assume	46
abstract_inverted_index.cannot	51
abstract_inverted_index.graphs	3
abstract_inverted_index.moving	13
abstract_inverted_index.occupy	34
abstract_inverted_index.pebble	32
abstract_inverted_index.dealing	11
abstract_inverted_index.objects	16
abstract_inverted_index.pebbles	49
abstract_inverted_index.present	81
abstract_inverted_index.problem	45
abstract_inverted_index.solving	43
abstract_inverted_index.through	98
abstract_inverted_index.(robots)	50
abstract_inverted_index.although	73
abstract_inverted_index.directly	68
abstract_inverted_index.modified	105
abstract_inverted_index.movement	59
abstract_inverted_index.multiple	14
abstract_inverted_index.planning	110
abstract_inverted_index.problems	10
abstract_inverted_index.algorithm	88, 106
abstract_inverted_index.automated	112
abstract_inverted_index.discrete.	61
abstract_inverted_index.mentioned	94
abstract_inverted_index.otherwise	76
abstract_inverted_index.practical	71
abstract_inverted_index.algorithms	42
abstract_inverted_index.applicable	108
abstract_inverted_index.constraint	28
abstract_inverted_index.disqualify	64
abstract_inverted_index.individual	48
abstract_inverted_index.assumptions	63
abstract_inverted_index.multi-agent	8
abstract_inverted_index.pathfinding	9
abstract_inverted_index.pebble-like	15
abstract_inverted_index.properties.	79
abstract_inverted_index.subcategory	6
abstract_inverted_index.theoretical	78
abstract_inverted_index.<p>The	0
abstract_inverted_index.demonstrate,	97
abstract_inverted_index.experiments,	102
abstract_inverted_index.presumptions	93
abstract_inverted_index.Additionally,	41
abstract_inverted_index.applications,	72
abstract_inverted_index.modifications	82
abstract_inverted_index.pebble-motion	1
abstract_inverted_index. </p>	114
abstract_inverted_index.warehouses.<br>	113
cited_by_percentile_year.max	96
cited_by_percentile_year.min	90
countries_distinct_count	1
institutions_distinct_count	3
sustainable_development_goals[0].id	https://metadata.un.org/sdg/11
sustainable_development_goals[0].score	0.7900000214576721
sustainable_development_goals[0].display_name	Sustainable cities and communities
citation_normalized_percentile.value	0.56198513
citation_normalized_percentile.is_in_top_1_percent	False
citation_normalized_percentile.is_in_top_10_percent	False