{"id":"https://openalex.org/W1543364602","doi":"https://doi.org/10.1109/icra.2015.7139032","title":"Adapting to performance variations in multi-robot coverage","display_name":"Adapting to performance variations in multi-robot coverage","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1543364602","doi":"https://doi.org/10.1109/icra.2015.7139032","mag":"1543364602"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139032","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139032","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5035836760","display_name":"Alyssa Pierson","orcid":"https://orcid.org/0000-0002-4885-9119"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alyssa Pierson","raw_affiliation_strings":["Department of Mechanical Engineering, Boston University, Boston, MA","Dept. of Mech. Eng., Boston Univ., Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Boston University, Boston, MA","institution_ids":["https://openalex.org/I111088046"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Boston Univ., Boston, MA, USA","institution_ids":["https://openalex.org/I111088046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064613734","display_name":"Lucas Figueiredo","orcid":"https://orcid.org/0000-0002-5501-6013"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Lucas C. Figueiredo","raw_affiliation_strings":["Department of Electronic Engineering, Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, MG, Brazil","Department of Electronic Engineering, Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, MG 31270-901 Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, MG, Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Department of Electronic Engineering, Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, MG 31270-901 Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052284828","display_name":"Luciano C. A. Pimenta","orcid":"https://orcid.org/0000-0001-6385-1249"},"institutions":[{"id":"https://openalex.org/I110200422","display_name":"Universidade Federal de Minas Gerais","ror":"https://ror.org/0176yjw32","country_code":"BR","type":"education","lineage":["https://openalex.org/I110200422"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Luciano C. A. Pimenta","raw_affiliation_strings":["Department of Electronic Engineering, Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, MG, Brazil","Department of Electronic Engineering, Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, MG 31270-901 Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, MG, Brazil","institution_ids":["https://openalex.org/I110200422"]},{"raw_affiliation_string":"Department of Electronic Engineering, Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, MG 31270-901 Brazil","institution_ids":["https://openalex.org/I110200422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081950488","display_name":"Mac Schwager","orcid":"https://orcid.org/0000-0002-7871-3663"},"institutions":[{"id":"https://openalex.org/I111088046","display_name":"Boston University","ror":"https://ror.org/05qwgg493","country_code":"US","type":"education","lineage":["https://openalex.org/I111088046"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mac Schwager","raw_affiliation_strings":["Department of Mechanical Engineering, Boston University, Boston, MA","Dept. of Mech. Eng., Boston Univ., Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Boston University, Boston, MA","institution_ids":["https://openalex.org/I111088046"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Boston Univ., Boston, MA, USA","institution_ids":["https://openalex.org/I111088046"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1179,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.87710793,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"415","last_page":"420"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":0.9995999932289124,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/robot","display_name":"Robot","score":0.9133143424987793},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6896239519119263},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5498575568199158},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5058016777038574},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47588837146759033},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42272618412971497},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3801061809062958},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3699188232421875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36389851570129395},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2542228102684021},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15015292167663574}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.9133143424987793},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6896239519119263},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5498575568199158},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5058016777038574},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47588837146759033},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42272618412971497},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3801061809062958},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3699188232421875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36389851570129395},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2542228102684021},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15015292167663574},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace 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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139032","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139032","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.708.6091","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.708.6091","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://sites.bu.edu/msl/files/2014/10/PiersonFigueiredoPimentaSchwagerICRA15.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1521430106","https://openalex.org/W1788292158","https://openalex.org/W1989300426","https://openalex.org/W2041547034","https://openalex.org/W2056371542","https://openalex.org/W2097002253","https://openalex.org/W2099033271","https://openalex.org/W2107396783","https://openalex.org/W2108050886","https://openalex.org/W2110507146","https://openalex.org/W2133509483","https://openalex.org/W2136517076","https://openalex.org/W2160643434","https://openalex.org/W2160922842","https://openalex.org/W2164948897","https://openalex.org/W2165744313","https://openalex.org/W2167485994","https://openalex.org/W2472475467","https://openalex.org/W4238591275","https://openalex.org/W6647524311","https://openalex.org/W6720334557"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0],"paper":[1,104],"proposes":[2],"a":[3,7,13,34,116,127,138,142],"new":[4],"approach":[5],"for":[6,155],"group":[8,35],"of":[9,30,36,90,130],"robots":[10,37,50,81,113,126,137,149],"carrying":[11],"out":[12,41],"collaborative":[14],"task":[15],"to":[16,19,39,42,94,151],"adapt":[17],"on-line":[18],"actuation":[20,53,71,92,108],"performance":[21,54,72,109],"variations":[22,110],"among":[23,111],"the":[24,28,44,61,87,95,98,106,112,124,131,135,148],"robots.":[25,170],"We":[26,46],"consider":[27],"problem":[29],"multi-robot":[31],"coverage,":[32],"where":[33],"has":[38],"spread":[40],"cover":[43],"environment.":[45],"suppose":[47],"that":[48,147],"some":[49,68],"have":[51,69],"poor":[52],"(e.g.":[55],"weak":[56,125],"motors,":[57,74],"friction":[58],"losses":[59],"in":[60,97,102,115,161],"gear":[62],"train,":[63],"wheel":[64],"slip,":[65],"etc.)":[66],"and":[67,119,133,165],"strong":[70,136],"(powerful":[73],"little":[75],"friction,":[76],"favorable":[77],"terrain,":[78],"etc.).":[79],"The":[80,100,157],"do":[82],"not":[83],"know":[84],"before":[85],"hand":[86],"relative":[88,107],"strengths":[89],"their":[91],"compared":[93],"others":[96],"team.":[99],"algorithm":[101,158],"this":[103],"learns":[105],"on-line,":[114],"distributed":[117],"fashion,":[118],"automatically":[120],"compensates":[121],"by":[122],"giving":[123,134],"small":[128],"portion":[129],"environment,":[132],"larger":[139],"portion.":[140],"Using":[141],"Lyapunov-type":[143],"proof,":[144],"we":[145],"prove":[146],"converge":[150],"locally":[152],"optimal":[153],"positions":[154],"coverage.":[156],"is":[159],"demonstrated":[160],"both":[162],"Matlab":[163],"simulations":[164],"experiments":[166],"using":[167],"Pololu":[168],"m3pi":[169]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}