{"id":"https://openalex.org/W2136687178","doi":"https://doi.org/10.1109/coase.2007.4341846","title":"Coverage of a Planar Point Set with Multiple Constrained Robots","display_name":"Coverage of a Planar Point Set with Multiple Constrained Robots","publication_year":2007,"publication_date":"2007-09-01","ids":{"openalex":"https://openalex.org/W2136687178","doi":"https://doi.org/10.1109/coase.2007.4341846","mag":"2136687178"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2007.4341846","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2007.4341846","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Automation Science and Engineering","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/A5101455544","display_name":"Nilanjan Chakraborty","orcid":"https://orcid.org/0000-0003-0574-3041"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nilanjan Chakraborty","raw_affiliation_strings":["Department of Computer Science, Rensselaer Polytechnic Institute, Troy, NY, USA","Rensselaer Polytech. Inst, Troy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rensselaer Polytechnic Institute, Troy, NY, USA","institution_ids":["https://openalex.org/I165799507"]},{"raw_affiliation_string":"Rensselaer Polytech. Inst, Troy","institution_ids":["https://openalex.org/I165799507"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002379534","display_name":"Srinivas Akella","orcid":"https://orcid.org/0000-0003-4706-4610"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Srinivas Akella","raw_affiliation_strings":["Department of Computer Science, Rensselaer Polytechnic Institute, Troy, NY, USA","Rensselaer Polytech. Inst, Troy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rensselaer Polytechnic Institute, Troy, NY, USA","institution_ids":["https://openalex.org/I165799507"]},{"raw_affiliation_string":"Rensselaer Polytech. Inst, Troy","institution_ids":["https://openalex.org/I165799507"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074830403","display_name":"John T. Wen","orcid":"https://orcid.org/0000-0002-5123-5411"},"institutions":[{"id":"https://openalex.org/I165799507","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94","country_code":"US","type":"education","lineage":["https://openalex.org/I165799507"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Wen","raw_affiliation_strings":["Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA","Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180. Email: wenj@rpi.edu"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY, USA","institution_ids":["https://openalex.org/I165799507"]},{"raw_affiliation_string":"Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180. Email: wenj@rpi.edu","institution_ids":["https://openalex.org/I165799507"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165799507"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"35","issue":null,"first_page":"899","last_page":"904"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12288","display_name":"Optimization and Search Problems","score":0.9939000010490417,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.548577606678009},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5351648330688477},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4318815767765045},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.43184787034988403},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4188900589942932},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4103618562221527},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.3333817720413208},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3189637064933777},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09475001692771912}],"concepts":[{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.548577606678009},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5351648330688477},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4318815767765045},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.43184787034988403},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4188900589942932},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4103618562221527},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.3333817720413208},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3189637064933777},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09475001692771912}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2007.4341846","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2007.4341846","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Automation Science and Engineering","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320332359","display_name":"Office of Science","ror":"https://ror.org/00mmn6b08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W601125530","https://openalex.org/W626292722","https://openalex.org/W1571087346","https://openalex.org/W1572663059","https://openalex.org/W1976248618","https://openalex.org/W2003813631","https://openalex.org/W2011039300","https://openalex.org/W2028468530","https://openalex.org/W2044748815","https://openalex.org/W2053913299","https://openalex.org/W2058937865","https://openalex.org/W2069323107","https://openalex.org/W2097566786","https://openalex.org/W2108065384","https://openalex.org/W2125690626","https://openalex.org/W2327315803","https://openalex.org/W2399100674","https://openalex.org/W3127057726","https://openalex.org/W4229972189","https://openalex.org/W6668278505"],"related_works":["https://openalex.org/W2051487156","https://openalex.org/W2073681303","https://openalex.org/W2544423928","https://openalex.org/W2053286651","https://openalex.org/W2181743346","https://openalex.org/W2187401768","https://openalex.org/W2980963558","https://openalex.org/W2181413294","https://openalex.org/W2052122378","https://openalex.org/W2367879005"],"abstract_inverted_index":{"An":[0],"important":[1],"problem":[2,61,67,92,177,212,252],"that":[3,45,138,158,189,234,289,307],"arises":[4],"in":[5,29,214,259,270,333,353],"many":[6],"applications":[7],"is:":[8],"given":[9],"<i":[10,16,25,76,130,199,216,236,266,291,346,350],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[11,17,26,77,131,200,217,237,267,292,347,351],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">k</i>":[12,201,218],"robots":[13,183],"with":[14,135,221],"known":[15],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">processing":[18],"footprint":[19],"to":[20,49,71,85,98,141,165,204,226,247,314,328,349],"process</i>":[21],"a":[22,63,89,113,144,154,185,191,209,248,254,283],"set":[23],"of":[24,129,168,170,178,198,345],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">N</i>":[27],"points":[28,52,151],"the":[30,38,46,51,94,100,105,116,162,166,171,175,182,196,215,228,302,308,315,330,334,354],"plane,":[31],"find":[32,99],"trajectories":[33],"for":[34,75,181,235,276,286,318],"each":[35],"robot":[36],"satisfying":[37,104,115,147],"geometric,":[39],"kinematic,":[40],"and":[41,68,108,256,272,305,337],"dynamic":[42],"constraints":[43,107],"such":[44],"time":[47,54,269],"required":[48],"cover":[50],"(processing":[53],"plus":[55],"travel":[56,230],"time)":[57],"is":[58,62,69,84,97,273,311],"minimized.":[59],"This":[60],"hybrid":[64],"discrete-continuous":[65],"optimization":[66],"hard":[70],"solve":[72,174],"optimally":[73,258],"even":[74],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">k":[78,238],"=":[79,239],"1</i>":[80],".":[81],"One":[82],"approach":[83,188],"treat":[86],"this":[87,120],"as":[88],"two":[90,186,303],"stage":[91,96],"where":[93],"first":[95],"best":[101],"possible":[102],"path":[103,179],"geometric":[106,176,205],"then":[109],"convert":[110],"it":[111],"into":[112],"trajectory":[114],"differential":[117],"constraints.":[118,149,206],"In":[119],"paper,":[121],"we":[122,280],"consider":[123],"an":[124,222,343],"industrial":[125],"microelectronics":[126],"manufacturing":[127],"system":[128],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">k(=":[132],"2)</i>":[133],"robots,":[134],"square":[136],"footprints,":[137],"are":[139],"constrained":[140],"translate":[142,160],"along":[143,161],"line":[145],"while":[146],"proximity":[148],"The":[150,262],"lie":[152],"on":[153,253],"planar":[155],"base":[156],"plate":[157],"can":[159,244],"plane":[163],"normal":[164],"direction":[167],"motion":[169],"robots.":[172],"We":[173,232,297,321],"generation":[180],"using":[184],"step":[187,242,287],"yields":[190],"suboptimal":[192],"solution:":[193],"1)":[194],"minimize":[195,227],"number":[197],"\u2013tuples":[202],"subject":[203],"2)":[207],"Solve":[208],"traveling":[210],"salesman":[211],"(TSP)":[213],"\u2013tuple":[219],"space":[220,336],"appropriately":[223],"defined":[224],"metric":[225],"total":[229],"cost.":[231],"show":[233,306],"2</i>":[240],",":[241],"1":[243,288],"be":[245],"converted":[246],"maximum":[249],"cardinality":[250],"matching":[251,263],"graph":[255],"solved":[257],"polynomial":[260],"time.":[261,296],"algorithm":[264,285,310],"takes":[265,290],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">0(N<sup>3</sup>)</i>":[268],"general":[271],"too":[274],"slow":[275],"large":[277,319],"datasets.":[278,320],"Therefore,":[279],"also":[281,322],"provide":[282,298,323],"greedy":[284,309],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">0(N":[293],"log":[294],"N)</i>":[295],"computational":[299],"results":[300,341],"comparing":[301],"approaches":[304],"very":[312],"close":[313],"optimal":[316],"solution":[317],"local":[324],"search":[325],"based":[326],"heuristics":[327],"improve":[329],"TSP":[331],"tour":[332],"pair":[335],"give":[338],"preliminary":[339],"implementation":[340],"showing":[342],"improvement":[344],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1%</i>":[348],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2%</i>":[352],"resultant":[355],"tour.":[356]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
