{"id":"https://openalex.org/W3203490761","doi":"https://doi.org/10.1109/icra46639.2022.9811854","title":"Coverage Control in Multi-Robot Systems via Graph Neural Networks","display_name":"Coverage Control in Multi-Robot Systems via Graph Neural Networks","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W3203490761","doi":"https://doi.org/10.1109/icra46639.2022.9811854","mag":"3203490761"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811854","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5082481638","display_name":"Walker Gosrich","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Walker Gosrich","raw_affiliation_strings":["University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA","GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056597923","display_name":"Siddharth Mayya","orcid":"https://orcid.org/0000-0001-5168-413X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddharth Mayya","raw_affiliation_strings":["University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA","GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014319044","display_name":"Rebecca Li","orcid":"https://orcid.org/0000-0002-2095-7550"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rebecca Li","raw_affiliation_strings":["University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA","GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073424051","display_name":"James Paulos","orcid":"https://orcid.org/0000-0002-4906-5679"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"James Paulos","raw_affiliation_strings":["Treeswift,PA,Philadelphia,3580"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Treeswift,PA,Philadelphia,3580","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA","GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078862959","display_name":"Alejandro Ribeiro","orcid":"https://orcid.org/0000-0003-4230-9906"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alejandro Ribeiro","raw_affiliation_strings":["University of Pennsylvania,Department of Electrical and Systems Engineering,Philadelphia,PA","Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,Department of Electrical and Systems Engineering,Philadelphia,PA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113696439","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3460-6989"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA","GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania,GRASP Laboratory,Philadelphia,PA,USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8787","last_page":"8793"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9994000196456909,"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":0.9994000196456909,"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/T13553","display_name":"Age of Information Optimization","score":0.9940000176429749,"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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.7025421857833862},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6866286396980286},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6602705717086792},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5924354195594788},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.573248028755188},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.5127661824226379},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4760931730270386},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4187925457954407},{"id":"https://openalex.org/keywords/transferability","display_name":"Transferability","score":0.4120742380619049},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4055889844894409},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3993304967880249},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26295846700668335},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.2067158818244934}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7025421857833862},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6866286396980286},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6602705717086792},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5924354195594788},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.573248028755188},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.5127661824226379},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4760931730270386},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4187925457954407},{"id":"https://openalex.org/C61272859","wikidata":"https://www.wikidata.org/wiki/Q7834031","display_name":"Transferability","level":3,"score":0.4120742380619049},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4055889844894409},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3993304967880249},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26295846700668335},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2067158818244934},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C140331021","wikidata":"https://www.wikidata.org/wiki/Q1868104","display_name":"Logit","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811854","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G8105335945","display_name":"FMSG: Additive Manufacturing via Bioinspired Distributed Agents","funder_award_id":"2036881","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"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":43,"referenced_works":["https://openalex.org/W1542327224","https://openalex.org/W1567588345","https://openalex.org/W1662382123","https://openalex.org/W2014516626","https://openalex.org/W2039915459","https://openalex.org/W2044195080","https://openalex.org/W2051752778","https://openalex.org/W2082564561","https://openalex.org/W2124435169","https://openalex.org/W2140929789","https://openalex.org/W2150188733","https://openalex.org/W2153357054","https://openalex.org/W2160318775","https://openalex.org/W2167485994","https://openalex.org/W2222512263","https://openalex.org/W2577535794","https://openalex.org/W2782792473","https://openalex.org/W2793398421","https://openalex.org/W2798598284","https://openalex.org/W2804736530","https://openalex.org/W2912158309","https://openalex.org/W2943959761","https://openalex.org/W2946558443","https://openalex.org/W2962894046","https://openalex.org/W2963087838","https://openalex.org/W2964311892","https://openalex.org/W2969052628","https://openalex.org/W2987504971","https://openalex.org/W3011233936","https://openalex.org/W3028801376","https://openalex.org/W3095521706","https://openalex.org/W3130869292","https://openalex.org/W3142317134","https://openalex.org/W3145768065","https://openalex.org/W3159434985","https://openalex.org/W3160221829","https://openalex.org/W3163853021","https://openalex.org/W3206303178","https://openalex.org/W4200484849","https://openalex.org/W6732317039","https://openalex.org/W6760725535","https://openalex.org/W6763087925","https://openalex.org/W6793171044"],"related_works":["https://openalex.org/W1886477626","https://openalex.org/W1541472850","https://openalex.org/W4317826762","https://openalex.org/W218732962","https://openalex.org/W1540467731","https://openalex.org/W1979383880","https://openalex.org/W2538037439","https://openalex.org/W2741909783","https://openalex.org/W4210919297","https://openalex.org/W2081361781"],"abstract_inverted_index":{"This":[0],"paper":[1],"develops":[2],"a":[3,11,16,19,37,50,58,83],"decentralized":[4,51,80],"approach":[5],"to":[6,30,65,90,103],"mobile":[7],"sensor":[8],"coverage":[9,87,116],"by":[10,40],"multi-robot":[12,115],"system.":[13],"We":[14],"consider":[15],"scenario":[17],"where":[18],"team":[20],"of":[21,34,42,86,111,123],"robots":[22],"with":[23],"limited":[24],"sensing":[25],"range":[26],"must":[27],"position":[28],"itself":[29],"effectively":[31],"detect":[32],"events":[33],"interest":[35],"in":[36],"region":[38],"characterized":[39],"areas":[41],"varying":[43],"importance.":[44],"Towards":[45],"this":[46],"end,":[47],"we":[48],"develop":[49],"control":[52,70],"policy":[53],"for":[54,69,114],"the":[55,79,109,119,124],"robots-realized":[56],"via":[57],"Graph":[59],"Neural":[60],"Network-which":[61],"uses":[62],"inter-robot":[63],"communication":[64,113],"leverage":[66,98],"non-local":[67],"information":[68,75,101],"decisions.":[71],"By":[72],"explicitly":[73],"sharing":[74],"between":[76],"multi-hop":[77,112],"neighbors,":[78],"controller":[81],"achieves":[82],"higher":[84],"quality":[85],"when":[88],"compared":[89],"classical":[91],"approaches":[92],"that":[93],"do":[94],"not":[95],"communicate":[96],"and":[97,117,121],"only":[99],"local":[100],"available":[102],"each":[104],"robot.":[105],"Simulated":[106],"experiments":[107],"demonstrate":[108],"efficacy":[110],"evaluate":[118],"scalability":[120],"transferability":[122],"learning-based":[125],"controllers.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}