{"id":"https://openalex.org/W2583386689","doi":"https://doi.org/10.1109/icra.2017.7989583","title":"Robot Coverage Path planning for general surfaces using quadratic differentials","display_name":"Robot Coverage Path planning for general surfaces using quadratic differentials","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2583386689","doi":"https://doi.org/10.1109/icra.2017.7989583","mag":"2583386689"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989583","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989583","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5102757553","display_name":"Yu-Yao Lin","orcid":"https://orcid.org/0000-0001-9761-5156"},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yu-Yao Lin","raw_affiliation_strings":["Department of Computer Science, Stony Brook University, Stony Brook, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stony Brook University, Stony Brook, NY, USA","institution_ids":["https://openalex.org/I59553526"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049782973","display_name":"Chien-Chun Ni","orcid":"https://orcid.org/0000-0002-9082-7401"},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chien-Chun Ni","raw_affiliation_strings":["Department of Computer Science, Stony Brook University, Stony Brook, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stony Brook University, Stony Brook, NY, USA","institution_ids":["https://openalex.org/I59553526"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086990531","display_name":"Na Lei","orcid":"https://orcid.org/0000-0003-3361-0756"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Na Lei","raw_affiliation_strings":["School of Software, Dalian University of Technology, Liaoning, China"],"affiliations":[{"raw_affiliation_string":"School of Software, Dalian University of Technology, Liaoning, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100607707","display_name":"Xianfeng Gu","orcid":"https://orcid.org/0000-0001-8226-5851"},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xianfeng David Gu","raw_affiliation_strings":["Department of Computer Science, Stony Brook University, Stony Brook, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Stony Brook University, Stony Brook, NY, USA","institution_ids":["https://openalex.org/I59553526"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037226596","display_name":"Jie Gao","orcid":"https://orcid.org/0000-0001-5083-6082"},"institutions":[{"id":"https://openalex.org/I59553526","display_name":"Stony Brook University","ror":"https://ror.org/05qghxh33","country_code":"US","type":"education","lineage":["https://openalex.org/I59553526"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jie Gao","raw_affiliation_strings":["Stony Brook University, Stony Brook, NY, US"],"affiliations":[{"raw_affiliation_string":"Stony Brook University, Stony Brook, NY, US","institution_ids":["https://openalex.org/I59553526"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102757553"],"corresponding_institution_ids":["https://openalex.org/I59553526"],"apc_list":null,"apc_paid":null,"fwci":0.4551,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.71238655,"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":"5005","last_page":"5011"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9970999956130981,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9940999746322632,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.835299551486969},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5770871639251709},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5709414482116699},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.5466930270195007},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.5222417116165161},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5103396773338318},{"id":"https://openalex.org/keywords/parametrization","display_name":"Parametrization (atmospheric modeling)","score":0.49226537346839905},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48883432149887085},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.45358896255493164},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4489186108112335},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4434290826320648},{"id":"https://openalex.org/keywords/any-angle-path-planning","display_name":"Any-angle path planning","score":0.43259280920028687},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4274671971797943},{"id":"https://openalex.org/keywords/holomorphic-function","display_name":"Holomorphic function","score":0.4163808226585388},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3614237308502197},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3544786870479584},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2994574010372162},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1848272681236267},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10953214764595032},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.09016194939613342},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.07592949271202087}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.835299551486969},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5770871639251709},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5709414482116699},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.5466930270195007},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.5222417116165161},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5103396773338318},{"id":"https://openalex.org/C202887219","wikidata":"https://www.wikidata.org/wiki/Q3895221","display_name":"Parametrization (atmospheric modeling)","level":3,"score":0.49226537346839905},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48883432149887085},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.45358896255493164},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4489186108112335},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4434290826320648},{"id":"https://openalex.org/C158485040","wikidata":"https://www.wikidata.org/wiki/Q4778119","display_name":"Any-angle path planning","level":4,"score":0.43259280920028687},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4274671971797943},{"id":"https://openalex.org/C204575570","wikidata":"https://www.wikidata.org/wiki/Q207476","display_name":"Holomorphic function","level":2,"score":0.4163808226585388},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3614237308502197},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3544786870479584},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2994574010372162},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1848272681236267},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10953214764595032},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.09016194939613342},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.07592949271202087},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C74902906","wikidata":"https://www.wikidata.org/wiki/Q1190858","display_name":"Radiative transfer","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989583","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989583","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7900000214576721,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W140238390","https://openalex.org/W158780599","https://openalex.org/W1172102738","https://openalex.org/W1508228347","https://openalex.org/W1526694294","https://openalex.org/W1535557537","https://openalex.org/W1544032329","https://openalex.org/W1565568971","https://openalex.org/W1590932131","https://openalex.org/W1842014782","https://openalex.org/W1967831540","https://openalex.org/W1999071165","https://openalex.org/W2001394702","https://openalex.org/W2011039300","https://openalex.org/W2014012734","https://openalex.org/W2019738489","https://openalex.org/W2023008068","https://openalex.org/W2037337557","https://openalex.org/W2083995953","https://openalex.org/W2089344586","https://openalex.org/W2104733322","https://openalex.org/W2110824994","https://openalex.org/W2112924870","https://openalex.org/W2128138357","https://openalex.org/W2136385079","https://openalex.org/W2148892491","https://openalex.org/W2150241776","https://openalex.org/W2150658022","https://openalex.org/W2166177494","https://openalex.org/W2167554916","https://openalex.org/W2168894009","https://openalex.org/W2246954973","https://openalex.org/W2964032993","https://openalex.org/W3083648773","https://openalex.org/W4249315263","https://openalex.org/W4251667320","https://openalex.org/W4253636159","https://openalex.org/W6605705772","https://openalex.org/W6627579911","https://openalex.org/W6659787839","https://openalex.org/W6681626645"],"related_works":["https://openalex.org/W3164380044","https://openalex.org/W2368795992","https://openalex.org/W4308080200","https://openalex.org/W2908094156","https://openalex.org/W2389896347","https://openalex.org/W2106119116","https://openalex.org/W2904203243","https://openalex.org/W3139139461","https://openalex.org/W2125569607","https://openalex.org/W2084091668"],"abstract_inverted_index":{"Robot":[0],"Coverage":[1],"Path":[2],"planning":[3,36,59],"(i.e.,":[4],"the":[5,25,55,91,98,107],"process":[6],"of":[7,11,27,34,57,90,122],"providing":[8],"full":[9,41],"coverage":[10,42],"a":[12,21,84,109,114,119],"given":[13],"domain":[14],"by":[15,113,136],"one":[16],"or":[17],"multiple":[18],"robots)":[19],"is":[20,37,143],"classical":[22],"problem":[23],"in":[24,74,80,157],"field":[26],"robotics":[28],"and":[29,71,87,148],"motion":[30],"planning.":[31],"The":[32,141],"goal":[33],"such":[35,138],"to":[38,153],"provide":[39],"nearly":[40],"while":[43],"also":[44],"minimize":[45],"duplicately":[46],"visited":[47],"area.":[48],"In":[49],"this":[50,81],"paper,":[51],"we":[52],"focus":[53],"on":[54,60,106,145],"scenario":[56],"path":[58,95],"general":[61,72,154],"surface,":[62],"including":[63],"planar":[64],"domains":[65],"with":[66],"complex":[67,69,115],"topology,":[68],"terrain,":[70],"surface":[73,92,108,155],"3D":[75],"space.":[76],"Our":[77],"approach":[78],"described":[79],"paper":[82],"adopts":[83],"natural,":[85,129],"intrinsic":[86,146],"global":[88],"parametrization":[89],"for":[93,118],"robot":[94,131],"planning,":[96],"namely":[97],"holomorphic":[99],"quadratic":[100],"differentials.":[101],"We":[102,126],"give":[103],"each":[104],"point":[105],"uv-coordinates":[110],"naturally":[111],"represented":[112],"number,":[116],"except":[117],"small":[120],"number":[121],"zero":[123],"points":[124],"(singularities).":[125],"show":[127],"that":[128],"efficient":[130],"paths":[132],"can":[133,150],"be":[134,151],"obtained":[135],"using":[137],"coordinate":[139],"systems.":[140],"method":[142],"based":[144],"geometry":[147],"thus":[149],"adapted":[152],"exploration":[156],"3D.":[158]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
