{"id":"https://openalex.org/W1534987196","doi":"https://doi.org/10.1109/icra.2015.7139670","title":"Sensor coverage robot swarms using local sensing without metric information","display_name":"Sensor coverage robot swarms using local sensing without metric information","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1534987196","doi":"https://doi.org/10.1109/icra.2015.7139670","mag":"1534987196"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139670","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":"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/A5077670307","display_name":"Rattanachai Ramaithitima","orcid":"https://orcid.org/0000-0002-2427-6576"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Rattanachai Ramaithitima","raw_affiliation_strings":["University of Pennsylvania","University of Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania","institution_ids":["https://openalex.org/I36788626"]},{"raw_affiliation_string":"University of Pennsylvania, USA","institution_ids":["https://openalex.org/I36788626"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060949021","display_name":"Michael Whitzer","orcid":"https://orcid.org/0000-0001-8636-5817"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Whitzer","raw_affiliation_strings":["University of Pennsylvania","University of Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania","institution_ids":["https://openalex.org/I36788626"]},{"raw_affiliation_string":"University of Pennsylvania, USA","institution_ids":["https://openalex.org/I36788626"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101463763","display_name":"Subhrajit Bhattacharya","orcid":"https://orcid.org/0000-0001-9139-054X"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Subhrajit Bhattacharya","raw_affiliation_strings":["University of Pennsylvania","University of Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania","institution_ids":["https://openalex.org/I36788626"]},{"raw_affiliation_string":"University of Pennsylvania, USA","institution_ids":["https://openalex.org/I36788626"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113696439","display_name":"Vijay Kumar","orcid":"https://orcid.org/0009-0005-1376-213X"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["University of Pennsylvania","University of Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania","institution_ids":["https://openalex.org/I36788626"]},{"raw_affiliation_string":"University of Pennsylvania, USA","institution_ids":["https://openalex.org/I36788626"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5077670307"],"corresponding_institution_ids":["https://openalex.org/I36788626"],"apc_list":null,"apc_paid":null,"fwci":5.6579,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.9615545,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3408","last_page":"3415"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","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/T10249","display_name":"Distributed Control Multi-Agent Systems","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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/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/robot","display_name":"Robot","score":0.7247899770736694},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.7214824557304382},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6534537076950073},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6071023344993591},{"id":"https://openalex.org/keywords/cover","display_name":"Cover (algebra)","score":0.5625783205032349},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.5561441779136658},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.38974228501319885},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.36289823055267334},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3342498242855072},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15569162368774414}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7247899770736694},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.7214824557304382},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6534537076950073},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6071023344993591},{"id":"https://openalex.org/C2780428219","wikidata":"https://www.wikidata.org/wiki/Q16952335","display_name":"Cover (algebra)","level":2,"score":0.5625783205032349},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.5561441779136658},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.38974228501319885},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.36289823055267334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3342498242855072},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15569162368774414},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139670","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W107886322","https://openalex.org/W207116529","https://openalex.org/W1565324097","https://openalex.org/W1571217739","https://openalex.org/W1584030176","https://openalex.org/W1996162472","https://openalex.org/W1999071165","https://openalex.org/W2019738489","https://openalex.org/W2030775133","https://openalex.org/W2088717106","https://openalex.org/W2089344586","https://openalex.org/W2110541499","https://openalex.org/W2128740072","https://openalex.org/W2142473881","https://openalex.org/W2148992977","https://openalex.org/W2149619235","https://openalex.org/W2167485994","https://openalex.org/W2901136733","https://openalex.org/W2962985441","https://openalex.org/W3040586665","https://openalex.org/W4294236361","https://openalex.org/W6608490729","https://openalex.org/W6633868522","https://openalex.org/W6634099482","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2530004804","https://openalex.org/W2172209417","https://openalex.org/W2164947307","https://openalex.org/W2624792073","https://openalex.org/W3196012507","https://openalex.org/W2357341198","https://openalex.org/W2275516709","https://openalex.org/W1574036760","https://openalex.org/W2396523399","https://openalex.org/W4220990035"],"abstract_inverted_index":{"We":[0],"consider":[1],"the":[2,21,48,58,74,91],"problem":[3],"of":[4,8,20,82],"deploying":[5],"a":[6,52,99],"swarm":[7],"mobile":[9],"robots":[10,24,56],"into":[11],"an":[12],"unknown":[13,131],"environment":[14],"for":[15],"attaining":[16],"complete":[17,80,106],"sensor":[18,49,71,112],"coverage":[19,50,66,107],"environment.":[22],"The":[23,114],"have":[25],"limited":[26,76],"and":[27,31,64,69,79,85,108,124,129],"noisy":[28],"sensing":[29,77],"capabilities":[30,78],"no":[32],"metric":[33,86],"or":[34],"global":[35,83],"information":[36],"available":[37],"to":[38,104,111,126],"them.":[39],"Using":[40],"tools":[41],"from":[42],"algebraic":[43],"topology,":[44],"we":[45,88],"formally":[46],"describe":[47],"as":[51],"simplicial":[53],"complex,":[54],"deploy":[55],"through":[57,122],"complex":[59],"using":[60],"bearing-based":[61],"local":[62],"controllers,":[63],"attain":[65,105],"while":[67],"identifying":[68],"removing":[70],"redundancies.":[72],"Despite":[73],"highly":[75],"lack":[81],"localization":[84],"information,":[87],"demonstrate":[89],"that":[90],"proposed":[92],"algorithm":[93,115],"is":[94,102,109],"complete,":[95],"always":[96],"terminates":[97],"in":[98,117],"finite-sized":[100],"environment,":[101],"guaranteed":[103],"robust":[110],"failures.":[113],"presented":[116],"this":[118],"paper":[119],"was":[120],"demonstrated":[121],"simulation":[123],"proves":[125],"effectively":[127],"cover":[128],"explore":[130],"indoor":[132],"environments.":[133]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}