{"id":"https://openalex.org/W1974998517","doi":"https://doi.org/10.1109/cdc.2013.6760846","title":"Persistent coverage control with variable coverage action in multi-robot environment","display_name":"Persistent coverage control with variable coverage action in multi-robot environment","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W1974998517","doi":"https://doi.org/10.1109/cdc.2013.6760846","mag":"1974998517"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2013.6760846","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2013.6760846","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"52nd IEEE Conference on Decision and Control","raw_type":"proceedings-article"},"type":"conference-paper","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/A5102960934","display_name":"C. Franco","orcid":"https://orcid.org/0000-0002-2171-5756"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Franco","raw_affiliation_strings":["Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Espa\u00f1a","Inst. de Investig. en Ing. de Aragon (I3A), Univ. de Zaragoza, Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Espa\u00f1a","institution_ids":["https://openalex.org/I255234318"]},{"raw_affiliation_string":"Inst. de Investig. en Ing. de Aragon (I3A), Univ. de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077412220","display_name":"Gonzalo L\u00f3pez\u2010Nicol\u00e1s","orcid":"https://orcid.org/0000-0001-9347-5969"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Gonzalo Lopez-Nicolas","raw_affiliation_strings":["Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Espa\u00f1a","Inst. de Investig. en Ing. de Aragon (I3A), Univ. de Zaragoza, Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Espa\u00f1a","institution_ids":["https://openalex.org/I255234318"]},{"raw_affiliation_string":"Inst. de Investig. en Ing. de Aragon (I3A), Univ. de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052842220","display_name":"Carlos Sag\u00fc\u00e9s","orcid":"https://orcid.org/0000-0002-3032-954X"},"institutions":[{"id":"https://openalex.org/I255234318","display_name":"Universidad de Zaragoza","ror":"https://ror.org/012a91z28","country_code":"ES","type":"education","lineage":["https://openalex.org/I255234318"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Sagues","raw_affiliation_strings":["Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Espa\u00f1a","Inst. de Investig. en Ing. de Aragon (I3A), Univ. de Zaragoza, Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Investigaci\u00f3n en Ingenier\u00eda de Arag\u00f3n (I3A), Universidad de Zaragoza, Zaragoza, Espa\u00f1a","institution_ids":["https://openalex.org/I255234318"]},{"raw_affiliation_string":"Inst. de Investig. en Ing. de Aragon (I3A), Univ. de Zaragoza, Zaragoza, Spain","institution_ids":["https://openalex.org/I255234318"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031968717","display_name":"Sergio Llorente","orcid":"https://orcid.org/0000-0003-4609-1254"},"institutions":[{"id":"https://openalex.org/I4210131600","display_name":"BSH Home Appliances (United States)","ror":"https://ror.org/044eeh010","country_code":"US","type":"company","lineage":["https://openalex.org/I4210123307","https://openalex.org/I4210131600","https://openalex.org/I889804353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sergio Llorente","raw_affiliation_strings":["Research and Development Department, BSH Home Appliances Group, Zaragoza","Product Div. Cookers, Induction Technol., R&D Dept., BSH Home Appliances Group, Zaragoza, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research and Development Department, BSH Home Appliances Group, Zaragoza","institution_ids":["https://openalex.org/I4210131600"]},{"raw_affiliation_string":"Product Div. Cookers, Induction Technol., R&D Dept., BSH Home Appliances Group, Zaragoza, Spain","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6055","last_page":"6060"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9970999956130981,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.7092459201812744},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.6189543008804321},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.56915283203125},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5545017719268799},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5507810115814209},{"id":"https://openalex.org/keywords/power-consumption","display_name":"Power consumption","score":0.533607006072998},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.4996163845062256},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4944140911102295},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4790257513523102},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.448687881231308},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.4451938569545746},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.43649348616600037},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3328173756599426},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22212567925453186},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1563178300857544},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12232676148414612},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.07939419150352478}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7092459201812744},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.6189543008804321},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.56915283203125},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5545017719268799},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5507810115814209},{"id":"https://openalex.org/C2984118289","wikidata":"https://www.wikidata.org/wiki/Q29954","display_name":"Power consumption","level":3,"score":0.533607006072998},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.4996163845062256},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4944140911102295},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4790257513523102},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.448687881231308},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.4451938569545746},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.43649348616600037},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3328173756599426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22212567925453186},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1563178300857544},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12232676148414612},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07939419150352478},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2013.6760846","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2013.6760846","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"52nd IEEE Conference on Decision and Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9200000166893005,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1535557537","https://openalex.org/W1967831540","https://openalex.org/W2017117236","https://openalex.org/W2047083748","https://openalex.org/W2052849698","https://openalex.org/W2078882488","https://openalex.org/W2113180224","https://openalex.org/W2116131295","https://openalex.org/W2119077722","https://openalex.org/W2125069195","https://openalex.org/W2146047130","https://openalex.org/W2163947939","https://openalex.org/W2334492575","https://openalex.org/W3099664902"],"related_works":["https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2011222276","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2490690736","https://openalex.org/W785766289","https://openalex.org/W2185997459","https://openalex.org/W2967125373","https://openalex.org/W2137148658"],"abstract_inverted_index":{"In":[0,45],"this":[1,46],"paper":[2],"we":[3,113],"tackle":[4],"the":[5,33,37,42,64,70,85,89,96,100,109,128],"problem":[6],"of":[7,13,20,88,117],"persistent":[8],"coverage,":[9,65],"where":[10],"a":[11,51,73,105],"team":[12],"agents":[14,38,78],"covers":[15],"an":[16],"area":[17],"whose":[18],"amount":[19],"coverage":[21,34,75,82,86,101,110,129],"degrades":[22],"with":[23,72,130],"time.":[24],"The":[25,77],"task":[26],"is":[27,50,121],"never":[28],"accomplished":[29],"completely":[30],"due":[31],"to":[32,40,62,84,94],"decay":[35],"and":[36,99,112,124],"have":[39],"revisit":[41],"domain":[43,71],"persistently.":[44],"framework,":[47],"our":[48],"contribution":[49],"novel":[52],"approach":[53],"which":[54],"consists":[55],"not":[56],"only":[57],"in":[58,68],"developing":[59,127],"efficient":[60,123],"motion":[61],"perform":[63],"but":[66],"also":[67],"covering":[69],"variable":[74],"action.":[76],"can":[79],"adapt":[80],"its":[81],"power":[83,111],"error":[87],"actuator":[90],"domain,":[91],"being":[92],"able":[93],"reduce":[95],"energy":[97],"consumption":[98],"error.":[102],"We":[103],"propose":[104],"new":[106],"controller":[107],"for":[108],"demonstrate":[114],"by":[115],"means":[116],"simulations":[118],"that":[119],"it":[120],"more":[122],"flexible":[125],"than":[126],"constant":[131],"power.":[132]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":3}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}