{"id":"https://openalex.org/W1996643460","doi":"https://doi.org/10.1007/s11370-009-0047-6","title":"Voronoi-based coverage control with anisotropic sensors and experimental case study","display_name":"Voronoi-based coverage control with anisotropic sensors and experimental case study","publication_year":2009,"publication_date":"2009-08-18","ids":{"openalex":"https://openalex.org/W1996643460","doi":"https://doi.org/10.1007/s11370-009-0047-6","mag":"1996643460"},"language":"en","primary_location":{"id":"doi:10.1007/s11370-009-0047-6","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11370-009-0047-6","pdf_url":null,"source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009558758","display_name":"Azwirman Gusrialdi","orcid":"https://orcid.org/0000-0002-5659-1239"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Azwirman Gusrialdi","raw_affiliation_strings":["Institute of Automatic Control, Technical University of Munich, Theresienstrasse 90, Building N5, 80290, Munich, Germany","Technical University of Munich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, Technical University of Munich, Theresienstrasse 90, Building N5, 80290, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024376647","display_name":"Sandra Hirche","orcid":"https://orcid.org/0000-0001-7819-5926"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sandra Hirche","raw_affiliation_strings":["Institute of Automatic Control, Technical University of Munich, Theresienstrasse 90, Building N5, 80290, Munich, Germany","Technical University of Munich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control, Technical University of Munich, Theresienstrasse 90, Building N5, 80290, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060838323","display_name":"David Asikin","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Asikin","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA, 15213-3890, USA","Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA, 15213-3890, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027693868","display_name":"Takeshi Hatanaka","orcid":"https://orcid.org/0000-0003-3143-121X"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takeshi Hatanaka","raw_affiliation_strings":["Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 S5-26 O-okayama, Meguro-ku, Tokyo, 152-8550, Japan","Tokyo Inst. of Tech"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 S5-26 O-okayama, Meguro-ku, Tokyo, 152-8550, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Tokyo Inst. of Tech","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031216206","display_name":"Masayuki Fujita","orcid":"https://orcid.org/0000-0001-9312-339X"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Fujita","raw_affiliation_strings":["Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 S5-26 O-okayama, Meguro-ku, Tokyo, 152-8550, Japan","Tokyo Inst. of Tech"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 S5-26 O-okayama, Meguro-ku, Tokyo, 152-8550, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Tokyo Inst. of Tech","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5009558758"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":0.7261,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.72525197,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"2","issue":"4","first_page":"195","last_page":"204"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12158","display_name":"Guidance and Control Systems","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8278818130493164},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.7902256846427917},{"id":"https://openalex.org/keywords/novelty","display_name":"Novelty","score":0.6859806776046753},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.485563725233078},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.47005000710487366},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46490609645843506},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4618699848651886},{"id":"https://openalex.org/keywords/wireless-sensor-network","display_name":"Wireless sensor network","score":0.4369129538536072},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.411649614572525},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3591560423374176},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.32403337955474854},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3212703466415405},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3120126724243164},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1487533450126648},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.0922534167766571},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08460533618927002}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8278818130493164},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.7902256846427917},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.6859806776046753},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.485563725233078},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.47005000710487366},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46490609645843506},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4618699848651886},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.4369129538536072},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.411649614572525},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3591560423374176},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.32403337955474854},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3212703466415405},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3120126724243164},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1487533450126648},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0922534167766571},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08460533618927002},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C27206212","wikidata":"https://www.wikidata.org/wiki/Q34178","display_name":"Theology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s11370-009-0047-6","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11370-009-0047-6","pdf_url":null,"source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/979630","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/979630","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1493007304","https://openalex.org/W2025291543","https://openalex.org/W2031003742","https://openalex.org/W2065978712","https://openalex.org/W2078882488","https://openalex.org/W2079603706","https://openalex.org/W2093287782","https://openalex.org/W2124435169","https://openalex.org/W2125250006","https://openalex.org/W2133509483","https://openalex.org/W2135388218","https://openalex.org/W2135792961","https://openalex.org/W2156561078","https://openalex.org/W2167334178","https://openalex.org/W2167485994","https://openalex.org/W2187614115"],"related_works":["https://openalex.org/W3020555194","https://openalex.org/W2793256277","https://openalex.org/W176898926","https://openalex.org/W2348235448","https://openalex.org/W4360958759","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3042530408","https://openalex.org/W2726391638","https://openalex.org/W2766496643"],"abstract_inverted_index":null,"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-19T15:47:20.252518","created_date":"2025-10-10T00:00:00"}