{"id":"https://openalex.org/W3029079934","doi":"https://doi.org/10.1109/access.2020.2997095","title":"Multi-Cleaning Robots Using Cleaning Distribution Method Based on Map Decomposition in Large Environments","display_name":"Multi-Cleaning Robots Using Cleaning Distribution Method Based on Map Decomposition in Large Environments","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3029079934","doi":"https://doi.org/10.1109/access.2020.2997095","mag":"3029079934"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2997095","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2997095","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09099318.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09099318.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101553645","display_name":"Xu Miao","orcid":"https://orcid.org/0000-0002-5317-195X"},"institutions":[{"id":"https://openalex.org/I31419693","display_name":"Kyungpook National University","ror":"https://ror.org/040c17130","country_code":"KR","type":"education","lineage":["https://openalex.org/I31419693"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Xu Miao","raw_affiliation_strings":["School of Mechanical Engineering, Kyungpook National University, Daegu, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-5317-195X","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Kyungpook National University, Daegu, South Korea","institution_ids":["https://openalex.org/I31419693"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080677523","display_name":"Hyun-Soon Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I31419693","display_name":"Kyungpook National University","ror":"https://ror.org/040c17130","country_code":"KR","type":"education","lineage":["https://openalex.org/I31419693"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun-Soon Lee","raw_affiliation_strings":["School of Mechanical Engineering, Kyungpook National University, Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Kyungpook National University, Daegu, South Korea","institution_ids":["https://openalex.org/I31419693"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085958723","display_name":"Bo\u2010Yeong Kang","orcid":"https://orcid.org/0000-0002-0546-7457"},"institutions":[{"id":"https://openalex.org/I31419693","display_name":"Kyungpook National University","ror":"https://ror.org/040c17130","country_code":"KR","type":"education","lineage":["https://openalex.org/I31419693"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Bo-Yeong Kang","raw_affiliation_strings":["School of Mechanical Engineering, Kyungpook National University, Daegu, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Kyungpook National University, Daegu, South Korea","institution_ids":["https://openalex.org/I31419693"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101553645"],"corresponding_institution_ids":["https://openalex.org/I31419693"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.8643,"has_fulltext":true,"cited_by_count":25,"citation_normalized_percentile":{"value":0.87895417,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"97873","last_page":"97889"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9970999956130981,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.9154463410377502},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6297312378883362},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5942183136940002},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5652077794075012},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5441684126853943},{"id":"https://openalex.org/keywords/battery-capacity","display_name":"Battery capacity","score":0.5105224847793579},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.46004605293273926},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.45792609453201294},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3220219016075134},{"id":"https://openalex.org/keywords/battery","display_name":"Battery (electricity)","score":0.18445616960525513},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.07112985849380493},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.05697512626647949}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.9154463410377502},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6297312378883362},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5942183136940002},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5652077794075012},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5441684126853943},{"id":"https://openalex.org/C2989104859","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery capacity","level":4,"score":0.5105224847793579},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.46004605293273926},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.45792609453201294},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3220219016075134},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.18445616960525513},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.07112985849380493},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.05697512626647949},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2997095","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2997095","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09099318.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:79ba2bfdfcb64c8799ed48e5d16bede3","is_oa":true,"landing_page_url":"https://doaj.org/article/79ba2bfdfcb64c8799ed48e5d16bede3","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 97873-97889 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2997095","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2997095","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09099318.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.44999998807907104}],"awards":[{"id":"https://openalex.org/G1380376948","display_name":null,"funder_award_id":"NRF-2019R1A2C1011270","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G6060856550","display_name":null,"funder_award_id":"2019R1A2C1011270","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3029079934.pdf","grobid_xml":"https://content.openalex.org/works/W3029079934.grobid-xml"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W158722082","https://openalex.org/W1430617670","https://openalex.org/W1471578414","https://openalex.org/W1501290574","https://openalex.org/W1543983621","https://openalex.org/W1544032329","https://openalex.org/W1547178720","https://openalex.org/W1569918514","https://openalex.org/W1970499532","https://openalex.org/W1992193646","https://openalex.org/W1994649922","https://openalex.org/W2001394702","https://openalex.org/W2013511016","https://openalex.org/W2019738489","https://openalex.org/W2022750663","https://openalex.org/W2034688899","https://openalex.org/W2051542447","https://openalex.org/W2093385687","https://openalex.org/W2102384849","https://openalex.org/W2103296723","https://openalex.org/W2105848344","https://openalex.org/W2116652385","https://openalex.org/W2119520055","https://openalex.org/W2121866178","https://openalex.org/W2140929789","https://openalex.org/W2142473881","https://openalex.org/W2150276848","https://openalex.org/W2159017378","https://openalex.org/W2162509910","https://openalex.org/W2173197685","https://openalex.org/W2182059131","https://openalex.org/W2192308205","https://openalex.org/W2241478367","https://openalex.org/W2300774052","https://openalex.org/W2406145098","https://openalex.org/W2549525406","https://openalex.org/W2604812688","https://openalex.org/W2735528644","https://openalex.org/W2774948997","https://openalex.org/W2782792473","https://openalex.org/W2790223694","https://openalex.org/W2790458093","https://openalex.org/W2806494202","https://openalex.org/W2808533889","https://openalex.org/W2848676021","https://openalex.org/W2958363987","https://openalex.org/W2963419063","https://openalex.org/W4253570324","https://openalex.org/W6628285262","https://openalex.org/W6628756481","https://openalex.org/W6682271897","https://openalex.org/W6736142671","https://openalex.org/W6766061042"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2359600231","https://openalex.org/W2150982344","https://openalex.org/W4292862729"],"abstract_inverted_index":{"Most":[0],"cleaning":[1,6,18,26,53,73,89,95,98,116,129,134,145,157,190],"robots":[2,34,49,60,64,82,119],"have":[3],"a":[4,16,56,121,139,144],"good":[5],"performance":[7],"for":[8,36],"small":[9],"environments":[10,38,46,179],"such":[11,23,39],"as":[12,24,40,78],"houses":[13],"but":[14],"require":[15,120],"longer":[17,103],"time":[19,99,158,191],"due":[20,104],"to":[21,65,105,113,154,194],"problems":[22],"slow":[25],"progress":[27],"and":[28,42,68,84],"low":[29],"battery":[30],"capacity,":[31],"making":[32],"the":[33,70,75,79,85,94,97,106,110,115,133,156,167,181,189,200,204],"unsuitable":[35],"large":[37,45,178],"libraries":[41],"airports.":[43],"Cleaning":[44],"with":[47,55],"multiple":[48],"is":[50,90,152],"faster":[51],"than":[52,197],"them":[54],"single":[57],"robot.":[58],"Multi-cleaning":[59],"can":[61],"utilize":[62],"several":[63,184],"simultaneously":[66],"clean":[67],"share":[69],"task":[71],"of":[72,81,88,159,183,186,199,206],"among":[74],"robots.":[76,111,161,208],"However,":[77],"number":[80],"increases":[83],"effective":[86,128],"distribution":[87,130,146],"not":[91],"efficient":[92],"during":[93],"process,":[96],"will":[100],"consequently":[101],"be":[102,175,195],"frequent":[107],"collisions":[108],"between":[109],"Therefore,":[112],"shorten":[114],"time,":[117],"multi-cleaning":[118,160,169,207],"coverage":[122,140,171],"path":[123,141,172],"planning":[124,142,173],"that":[125,166,198],"uses":[126],"an":[127],"method":[131,147],"in":[132,177,180,203],"process.":[135],"In":[136],"this":[137],"paper,":[138],"using":[143],"based":[148],"on":[149],"map":[150],"decomposition":[151],"proposed":[153,168],"reduce":[155],"The":[162],"experimental":[163],"results":[164],"demonstrated":[165],"robots'":[170],"could":[174],"used":[176],"presence":[182],"types":[185],"obstacles.":[187],"Furthermore,":[188],"was":[192],"found":[193],"shorter":[196],"previous":[201],"methods":[202],"case":[205]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
