{"id":"https://openalex.org/W1965115711","doi":"https://doi.org/10.1109/icra.2012.6225347","title":"Steiner traveler: Relay deployment for remote sensing in heterogeneous multi-robot exploration","display_name":"Steiner traveler: Relay deployment for remote sensing in heterogeneous multi-robot exploration","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W1965115711","doi":"https://doi.org/10.1109/icra.2012.6225347","mag":"1965115711"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225347","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225347","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-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/A5024619000","display_name":"Yuanteng Pei","orcid":null},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yuanteng Pei","raw_affiliation_strings":["Department of Computer Science and Engineering, Michigan State University, East Lansing, MI, USA","Department of Computer Science and Engineering, Michigan State University, East Lansing 48824, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Michigan State University, East Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, Michigan State University, East Lansing 48824, USA","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009845048","display_name":"Matt W. Mutka","orcid":"https://orcid.org/0000-0002-7381-8095"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matt W. Mutka","raw_affiliation_strings":["Department of Computer Science and Engineering, Michigan State University, East Lansing, MI, USA","Department of Computer Science and Engineering, Michigan State University, East Lansing 48824, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Michigan State University, East Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, Michigan State University, East Lansing 48824, USA","institution_ids":["https://openalex.org/I87216513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5024619000"],"corresponding_institution_ids":["https://openalex.org/I87216513"],"apc_list":null,"apc_paid":null,"fwci":2.9802,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.91005843,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1551","last_page":"1556"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9997000098228455,"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/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9997000098228455,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11133","display_name":"UAV Applications and Optimization","score":0.9988999962806702,"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":0.7531217336654663},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.680403470993042},{"id":"https://openalex.org/keywords/relay","display_name":"Relay","score":0.6789496541023254},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6275873184204102},{"id":"https://openalex.org/keywords/steiner-tree-problem","display_name":"Steiner tree problem","score":0.5266984105110168},{"id":"https://openalex.org/keywords/base-station","display_name":"Base station","score":0.49692419171333313},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4665628969669342},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.4543634057044983},{"id":"https://openalex.org/keywords/node","display_name":"Node (physics)","score":0.428966760635376},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.4198581576347351},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.39921700954437256},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26843902468681335},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14948397874832153},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.10041248798370361}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7531217336654663},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.680403470993042},{"id":"https://openalex.org/C2778156585","wikidata":"https://www.wikidata.org/wiki/Q174053","display_name":"Relay","level":3,"score":0.6789496541023254},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6275873184204102},{"id":"https://openalex.org/C76220878","wikidata":"https://www.wikidata.org/wiki/Q1764144","display_name":"Steiner tree problem","level":2,"score":0.5266984105110168},{"id":"https://openalex.org/C68649174","wikidata":"https://www.wikidata.org/wiki/Q1379116","display_name":"Base station","level":2,"score":0.49692419171333313},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4665628969669342},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.4543634057044983},{"id":"https://openalex.org/C62611344","wikidata":"https://www.wikidata.org/wiki/Q1062658","display_name":"Node (physics)","level":2,"score":0.428966760635376},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.4198581576347351},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.39921700954437256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26843902468681335},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14948397874832153},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.10041248798370361},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2012.6225347","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225347","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.724.3269","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.724.3269","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.jeffpei.com/pub/BEST-ICRA2012.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.6299999952316284,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W76732495","https://openalex.org/W1516796808","https://openalex.org/W1571087346","https://openalex.org/W1594101221","https://openalex.org/W1970524896","https://openalex.org/W2004882088","https://openalex.org/W2022337418","https://openalex.org/W2046312856","https://openalex.org/W2050167151","https://openalex.org/W2051924753","https://openalex.org/W2060743393","https://openalex.org/W2066005785","https://openalex.org/W2087436659","https://openalex.org/W2095453748","https://openalex.org/W2098656877","https://openalex.org/W2100593626","https://openalex.org/W2109785846","https://openalex.org/W2111972027","https://openalex.org/W2116235023","https://openalex.org/W2137045485","https://openalex.org/W2490234810","https://openalex.org/W6674445081","https://openalex.org/W6675225938"],"related_works":["https://openalex.org/W2118320476","https://openalex.org/W2161182859","https://openalex.org/W2025658531","https://openalex.org/W1503036335","https://openalex.org/W4244816249","https://openalex.org/W2972242150","https://openalex.org/W4230275798","https://openalex.org/W2039188918","https://openalex.org/W2185155656","https://openalex.org/W1968383387"],"abstract_inverted_index":{"In":[0,109],"the":[1,15,20,53,69,106,116,126,131,135,145,151,159,172,182,186,208,222,228],"multi-robot":[2],"exploration":[3,80,200,212,235],"task":[4,29],"of":[5,55,100,170,224],"an":[6],"unknown":[7],"environment,":[8],"human":[9],"operators":[10],"often":[11,64],"need":[12],"to":[13,52,67,104,124,130,139,148,153,157,207,227],"control":[14],"robots":[16,225],"remotely":[17],"and":[18,32,39,45,119,150,176],"obtain":[19],"sensed":[21],"information":[22],"by":[23,202,218],"real-time":[24],"bandwidth-consuming":[25],"multimedia":[26],"streams.":[27],"The":[28],"has":[30,91],"military":[31],"civilian":[33],"applications,":[34,57],"such":[35,56],"as":[36,185],"reconnaissance,":[37],"search":[38],"rescue":[40],"missions":[41],"in":[42,162],"earthquake,":[43],"radioactive,":[44],"other":[46],"dangerous":[47],"or":[48,60],"hostile":[49],"regions.":[50],"Due":[51],"nature":[54],"infrastructure":[58],"networks":[59],"pre-deployed":[61],"relays":[62,121,156],"are":[63],"not":[65],"available":[66],"support":[68,125,158],"stream":[70,160],"transmission.":[71],"To":[72],"address":[73],"this":[74],"issue,":[75],"we":[76],"present":[77],"a":[78,86,92,97,111,141,233],"novel":[79,183],"scheme":[81],"called":[82],"Bandwidth-aware":[83],"Exploration":[84],"with":[85,96],"Steiner":[87,173,191],"Traveler":[88,192],"(BEST).":[89],"BEST":[90,198,214],"heterogeneous":[93],"robot":[94,147,211],"team":[95],"fixed":[98],"number":[99,223],"frontier":[101],"nodes":[102],"(FNs)":[103],"sense":[105],"area":[107],"iteratively.":[108],"addition,":[110],"relay-deployment":[112,146],"node":[113],"(RDN)":[114],"tracks":[115],"FNs":[117],"movement":[118,164],"places":[120],"when":[122],"necessary":[123,155],"video/audio":[127],"streams":[128],"aggregation":[129,161],"base":[132],"station.":[133],"Therefore,":[134],"main":[136],"problem":[137,167,184,193],"is":[138],"find":[140],"minimum":[142,174,187],"path":[143],"for":[144],"travel":[149],"positions":[152],"deploy":[154],"each":[163],"iteration.":[165],"This":[166],"inherits":[168],"characteristics":[169],"both":[171],"tree":[175],"traveling":[177],"salesman":[178],"problems.":[179],"We":[180],"model":[181],"velocity":[188],"Flow":[189],"constrained":[190],"(FST).":[194],"Extensive":[195],"simulations":[196],"show":[197],"improves":[199],"efficiency":[201],"62%":[203],"on":[204],"average":[205],"compared":[206,226],"state-of-the-art":[209],"homogeneous":[210],"strategies.":[213],"also":[215],"saves":[216],"cost":[217],"using":[219],"only":[220],"half":[221],"counterpart,":[229],"while":[230],"still":[231],"achieving":[232],"24%":[234],"time":[236],"reduction.":[237]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}