{"id":"https://openalex.org/W2890322322","doi":"https://doi.org/10.1109/icra.2018.8463193","title":"From Swarms to Stars: Task Coverage in Robot Swarms with Connectivity Constraints","display_name":"From Swarms to Stars: Task Coverage in Robot Swarms with Connectivity Constraints","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2890322322","doi":"https://doi.org/10.1109/icra.2018.8463193","mag":"2890322322"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8463193","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8463193","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5038164962","display_name":"Jacopo Panerati","orcid":"https://orcid.org/0000-0003-2994-5422"},"institutions":[{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Jacopo Panerati","raw_affiliation_strings":["Polytechnique Montr\u00e9al, Department of Computer and Software Engineering"],"affiliations":[{"raw_affiliation_string":"Polytechnique Montr\u00e9al, Department of Computer and Software Engineering","institution_ids":["https://openalex.org/I45683168"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060762592","display_name":"Luca G. Gianoli","orcid":"https://orcid.org/0000-0002-7586-6883"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luca Gianoli","raw_affiliation_strings":["Department of Computer Science, Worcester Polytechnic Institute"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Worcester Polytechnic Institute","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034543991","display_name":"Carlo Pinciroli","orcid":"https://orcid.org/0000-0002-2155-0445"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Carlo Pinciroli","raw_affiliation_strings":["HumanITas Solutions, Montreal, QC, Canada"],"affiliations":[{"raw_affiliation_string":"HumanITas Solutions, Montreal, QC, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017004888","display_name":"Abdo Shabah","orcid":"https://orcid.org/0009-0003-5898-361X"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abdo Shabah","raw_affiliation_strings":["Department of Computer Science, Worcester Polytechnic Institute"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Worcester Polytechnic Institute","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022527556","display_name":"Gabriela Nicolescu","orcid":"https://orcid.org/0000-0002-5205-9931"},"institutions":[{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Gabriela Nicolescu","raw_affiliation_strings":["Polytechnique Montr\u00e9al, Department of Computer and Software Engineering"],"affiliations":[{"raw_affiliation_string":"Polytechnique Montr\u00e9al, Department of Computer and Software Engineering","institution_ids":["https://openalex.org/I45683168"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021953451","display_name":"Giovanni Beltrame","orcid":"https://orcid.org/0000-0001-9755-8630"},"institutions":[{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Giovanni Beltrame","raw_affiliation_strings":["Polytechnique Montr\u00e9al, Department of Computer and Software Engineering"],"affiliations":[{"raw_affiliation_string":"Polytechnique Montr\u00e9al, Department of Computer and Software Engineering","institution_ids":["https://openalex.org/I45683168"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5038164962"],"corresponding_institution_ids":["https://openalex.org/I45683168"],"apc_list":null,"apc_paid":null,"fwci":3.7119,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.9376275,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"2018","issue":null,"first_page":"7674","last_page":"7681"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9987000226974487,"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/T10772","display_name":"Distributed systems and fault tolerance","score":0.9966999888420105,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.752701997756958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6617804765701294},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6410087943077087},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6023277044296265},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.5941107273101807},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.5733632445335388},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5439935922622681},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5289452075958252},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.513976514339447},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5112047791481018},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4835398197174072},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4620916247367859},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4489797055721283},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4343755543231964},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15187641978263855},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.15059784054756165},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09911546111106873}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.752701997756958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6617804765701294},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6410087943077087},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6023277044296265},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.5941107273101807},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.5733632445335388},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5439935922622681},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5289452075958252},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.513976514339447},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5112047791481018},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4835398197174072},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4620916247367859},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4489797055721283},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4343755543231964},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15187641978263855},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.15059784054756165},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09911546111106873},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2018.8463193","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8463193","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.polymtl.ca:41014","is_oa":false,"landing_page_url":"https://publications.polymtl.ca/41014/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401013","display_name":"PolyPublie (\u00c9cole Polytechnique de Montr\u00e9al)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45683168","host_organization_name":"Polytechnique Montr\u00e9al","host_organization_lineage":["https://openalex.org/I45683168"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Communication de conf\u00e9rence"},{"id":"mag:3172499637","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=201802246342194782","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1430617670","https://openalex.org/W1739251166","https://openalex.org/W2017150251","https://openalex.org/W2063801303","https://openalex.org/W2068563654","https://openalex.org/W2078972972","https://openalex.org/W2081962815","https://openalex.org/W2095277261","https://openalex.org/W2097726813","https://openalex.org/W2103613137","https://openalex.org/W2118331730","https://openalex.org/W2128285524","https://openalex.org/W2142924305","https://openalex.org/W2146074262","https://openalex.org/W2151685478","https://openalex.org/W2171588395","https://openalex.org/W2295985460","https://openalex.org/W2395613050","https://openalex.org/W2537545174","https://openalex.org/W2567377301","https://openalex.org/W2963609262","https://openalex.org/W2963662649","https://openalex.org/W6628285262","https://openalex.org/W6637925433","https://openalex.org/W6675706049","https://openalex.org/W6678936616","https://openalex.org/W6684827286","https://openalex.org/W6697218167","https://openalex.org/W6728592232","https://openalex.org/W6731117225"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W2518382144","https://openalex.org/W1988876749","https://openalex.org/W3094438089","https://openalex.org/W65954170","https://openalex.org/W1600534566","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166"],"abstract_inverted_index":{"Swarm":[0],"robotics":[1],"carries":[2],"the":[3,34,37,85,89,103,124],"potential":[4],"of":[5,23,36,40,46,74,102,127],"solving":[6],"complex":[7],"tasks":[8,42],"using":[9],"simple":[10],"devices.":[11],"To":[12],"do":[13],"so,":[14],"however,":[15],"one":[16],"must":[17,49],"define":[18],"distributed":[19,61],"control":[20],"algorithms":[21],"capable":[22],"producing":[24],"globally":[25],"coordinated":[26],"behaviours.":[27],"We":[28],"propose":[29],"a":[30,44,60,79,99,115],"methodology":[31,55],"to":[32],"address":[33],"problem":[35],"spatial":[38],"coverage":[39,129],"multiple":[41,75],"with":[43,91],"swarm":[45],"robots":[47],"that":[48],"not":[50],"lose":[51],"global":[52,80],"connectivity.":[53],"Our":[54,95],"comprises":[56],"two":[57],"layers:":[58],"(i)":[59,98],"Robot":[62],"Navigation":[63],"Controller":[64,83],"(RNC)":[65],"is":[66],"responsible":[67],"for":[68,88],"simultaneously":[69],"guaranteeing":[70],"connectivity":[71,106],"and":[72,77,122,131],"pursuit":[73],"tasks;":[76],"(ii)":[78,108],"Task":[81],"Scheduling":[82],"approximates":[84],"optimal":[86],"strategy":[87],"RNC":[90],"minimal":[92],"computational":[93],"load.":[94],"contributions":[96],"include:":[97],"qualitative":[100],"analysis":[101],"literature":[104],"on":[105],"assessment,":[107],"our":[109],"proposed":[110],"methodology,":[111],"(iii)":[112],"simulations":[113],"in":[114],"multi-physics":[116],"environment,":[117],"(iv)":[118],"real-life":[119],"robot":[120],"experiments,":[121],"(v)":[123],"experimental":[125],"validation":[126],"connectivity,":[128],"optimality,":[130],"fault-tolerance.":[132]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}