{"id":"https://openalex.org/W2118592751","doi":"https://doi.org/10.1109/icra.2011.5979998","title":"Roads sweeping by unmanned multi-vehicle formations","display_name":"Roads sweeping by unmanned multi-vehicle formations","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2118592751","doi":"https://doi.org/10.1109/icra.2011.5979998","mag":"2118592751"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979998","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979998","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5004992661","display_name":"Martin Saska","orcid":"https://orcid.org/0000-0001-7106-3816"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Martin Saska","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Czech Republic","Department of Cybernetics,Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Department of Cybernetics,Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083101752","display_name":"Vojt\u011bch Von\u00e1sek","orcid":"https://orcid.org/0000-0001-9224-2151"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Vojtech Vonasek","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Czech Republic","Department of Cybernetics,Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Department of Cybernetics,Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004686576","display_name":"Libor P\u0159eu\u010dil","orcid":"https://orcid.org/0000-0002-4286-3870"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Libor Preucil","raw_affiliation_strings":["Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Czech Republic","Department of Cybernetics,Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University, Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Department of Cybernetics,Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":1.9023,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.89226996,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"631","last_page":"636"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9991999864578247,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.998199999332428,"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/merge","display_name":"Merge (version control)","score":0.7687760591506958},{"id":"https://openalex.org/keywords/runway","display_name":"Runway","score":0.6249600648880005},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5862341523170471},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5454973578453064},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.528346598148346},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5034014582633972},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.43973538279533386},{"id":"https://openalex.org/keywords/route-planning","display_name":"Route planning","score":0.4136677384376526},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36132538318634033},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35291603207588196},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3511526584625244},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2379048466682434},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.09846940636634827},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.07935324311256409}],"concepts":[{"id":"https://openalex.org/C197129107","wikidata":"https://www.wikidata.org/wiki/Q1921621","display_name":"Merge (version control)","level":2,"score":0.7687760591506958},{"id":"https://openalex.org/C81155309","wikidata":"https://www.wikidata.org/wiki/Q184590","display_name":"Runway","level":2,"score":0.6249600648880005},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5862341523170471},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5454973578453064},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.528346598148346},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5034014582633972},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.43973538279533386},{"id":"https://openalex.org/C2989549987","wikidata":"https://www.wikidata.org/wiki/Q350882","display_name":"Route planning","level":2,"score":0.4136677384376526},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36132538318634033},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35291603207588196},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3511526584625244},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2379048466682434},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.09846940636634827},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.07935324311256409},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5979998","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979998","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1978956894","https://openalex.org/W1995286048","https://openalex.org/W2044526330","https://openalex.org/W2079269385","https://openalex.org/W2098764734","https://openalex.org/W2112501483","https://openalex.org/W2119959427","https://openalex.org/W2122800638","https://openalex.org/W2126731873","https://openalex.org/W2128585353","https://openalex.org/W2133754447","https://openalex.org/W2147386322","https://openalex.org/W2810794112"],"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/W2150982344","https://openalex.org/W4292862729","https://openalex.org/W2170661558"],"abstract_inverted_index":{"A":[0],"system":[1,118],"for":[2,43],"autonomous":[3],"roads":[4,80],"sweeping":[5,44,77,91,96],"by":[6],"applying":[7],"formations":[8,41,85,99],"of":[9,53,61,76],"mobile":[10],"robots":[11],"is":[12,139],"presented":[13],"in":[14,32,88,112],"this":[15],"paper.":[16],"The":[17,40,84],"proposed":[18],"approach":[19],"based":[20],"on":[21,144],"Receding":[22],"Horizon":[23],"Control":[24],"solves":[25],"the":[26,62,74,78,95,98,108,113,116,120,128],"formation":[27,136],"navigation,":[28],"planning":[29,117],"and":[30,37,59,92],"stabilization":[31],"real-word":[33],"environments":[34],"with":[35,73,102],"static":[36],"dynamic":[38],"obstacles.":[39],"employed":[42],"are":[45,100],"built":[46],"up":[47],"ad-hoc,":[48],"taking":[49],"into":[50],"account":[51],"length":[52],"robots'":[54],"effectors":[55],"(e.g.":[56,81],"shovels,":[57],"sweepers)":[58],"width":[60],"working":[63],"area.":[64],"Presented":[65],"method":[66],"enables":[67,131],"to":[68,105,122,132],"smoothly":[69],"merge":[70],"smaller":[71],"teams":[72],"view":[75],"larger":[79],"runways,":[82],"highways).":[83],"can":[86],"operate":[87],"two":[89],"modes:":[90],"moving.":[93],"In":[94],"mode,":[97,115],"guided":[101],"an":[103],"aim":[104],"effectively":[106],"cover":[107],"cleaning":[109],"roads,":[110],"while":[111],"moving":[114,129],"emphasizes":[119],"effort":[121],"reach":[123],"a":[124],"desired":[125],"target.":[126],"Furthermore,":[127],"mode":[130],"autonomously":[133],"design":[134],"complex":[135],"maneuvers,":[137],"as":[138],"reverse":[140],"driving":[141],"or":[142],"turning":[143],"spot.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}