{"id":"https://openalex.org/W4285102315","doi":"https://doi.org/10.1109/icra46639.2022.9811941","title":"Coverage Path Planning in Large-scale Multi-floor Urban Environments with Applications to Autonomous Road Sweeping","display_name":"Coverage Path Planning in Large-scale Multi-floor Urban Environments with Applications to Autonomous Road Sweeping","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102315","doi":"https://doi.org/10.1109/icra46639.2022.9811941"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811941","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811941","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":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-187020","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092296242","display_name":"Daniel Engelsons","orcid":null},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Daniel Engelsons","raw_affiliation_strings":["Linköping University,Department of Computer and Information Science,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Linköping University,Department of Computer and Information Science,Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042676602","display_name":"Mattias Tiger","orcid":"https://orcid.org/0000-0002-8546-4431"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Mattias Tiger","raw_affiliation_strings":["Linköping University,Department of Computer and Information Science,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Linköping University,Department of Computer and Information Science,Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014042891","display_name":"Fredrik Heintz","orcid":"https://orcid.org/0000-0002-9595-2471"},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Fredrik Heintz","raw_affiliation_strings":["Linköping University,Department of Computer and Information Science,Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Linköping University,Department of Computer and Information Science,Sweden","institution_ids":["https://openalex.org/I102134673"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I102134673"],"apc_list":null,"apc_paid":null,"fwci":0.8275,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.82007475,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3328","last_page":"3334"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9970999956130981,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7210546731948853},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6794624924659729},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6701592206954956},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.623765230178833},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5955021977424622},{"id":"https://openalex.org/keywords/suite","display_name":"Suite","score":0.5604183077812195},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5377140045166016},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.49622970819473267},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4534766972064972},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.44833052158355713},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.432782918214798},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4188942313194275},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4118221700191498},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3677174150943756},{"id":"https://openalex.org/keywords/industrial-engineering","display_name":"Industrial engineering","score":0.3306957483291626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25987279415130615},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21822568774223328},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.198043555021286}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7210546731948853},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6794624924659729},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6701592206954956},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.623765230178833},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5955021977424622},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.5604183077812195},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5377140045166016},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.49622970819473267},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4534766972064972},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.44833052158355713},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.432782918214798},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4188942313194275},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4118221700191498},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3677174150943756},{"id":"https://openalex.org/C13736549","wikidata":"https://www.wikidata.org/wiki/Q4489420","display_name":"Industrial engineering","level":1,"score":0.3306957483291626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25987279415130615},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21822568774223328},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.198043555021286},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra46639.2022.9811941","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811941","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"},{"id":"pmh:oai:DiVA.org:liu-187020","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-187020","pdf_url":null,"source":{"id":"https://openalex.org/S4306400838","display_name":"DiVA (Linkoping University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102134673","host_organization_name":"Link\u00f6ping University","host_organization_lineage":["https://openalex.org/I102134673"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/bachelorThesis"},{"id":"pmh:oai:DiVA.org:liu-188562","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-188562","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I86987016","host_organization_name":"KTH Royal Institute of Technology","host_organization_lineage":["https://openalex.org/I86987016"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:liu-187020","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-187020","pdf_url":null,"source":{"id":"https://openalex.org/S4306400838","display_name":"DiVA (Linkoping University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102134673","host_organization_name":"Link\u00f6ping University","host_organization_lineage":["https://openalex.org/I102134673"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/bachelorThesis"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8299999833106995}],"awards":[{"id":"https://openalex.org/G6357928404","display_name":null,"funder_award_id":"KAW 2019.0350","funder_id":"https://openalex.org/F4320322327","funder_display_name":"Knut och Alice Wallenbergs Stiftelse"}],"funders":[{"id":"https://openalex.org/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1535557537","https://openalex.org/W1590932131","https://openalex.org/W1591576742","https://openalex.org/W1595025511","https://openalex.org/W1970499532","https://openalex.org/W2012044892","https://openalex.org/W2019738489","https://openalex.org/W2048261630","https://openalex.org/W2076397896","https://openalex.org/W2113207845","https://openalex.org/W2133844819","https://openalex.org/W2186085842","https://openalex.org/W2192203593","https://openalex.org/W2526781987","https://openalex.org/W2600201730","https://openalex.org/W2623293810","https://openalex.org/W2766249432","https://openalex.org/W2767269945","https://openalex.org/W2848676021","https://openalex.org/W2892049203","https://openalex.org/W2912243751","https://openalex.org/W2938170127","https://openalex.org/W2971167143","https://openalex.org/W2973864946","https://openalex.org/W3083648773","https://openalex.org/W3100948105","https://openalex.org/W3135643734","https://openalex.org/W3197167612","https://openalex.org/W6677088747","https://openalex.org/W6758389032","https://openalex.org/W6767141193"],"related_works":["https://openalex.org/W2083794993","https://openalex.org/W4379115841","https://openalex.org/W1511772879","https://openalex.org/W3170750609","https://openalex.org/W2979471250","https://openalex.org/W2127898439","https://openalex.org/W2186315912","https://openalex.org/W2098397451","https://openalex.org/W2248125223","https://openalex.org/W3195664246"],"abstract_inverted_index":{"Coverage":[0,98],"Path":[1,99],"Planning":[2,100],"is":[3,89,125,149],"the":[4,62,114,119,126,142,154,159],"work":[5],"horse":[6],"of":[7,86,113,118,128],"contemporary":[8],"service":[9],"task":[10,88],"automation,":[11],"powering":[12],"autonomous":[13,65],"floor":[14],"cleaning":[15,33],"robots":[16,68],"and":[17,22,34,41,74,109,145,158],"lawn":[18],"mowers":[19],"in":[20,71,102],"households":[21],"office":[23],"sites.":[24],"While":[25],"steady":[26],"progress":[27],"has":[28],"been":[29],"made":[30,150],"on":[31],"indoor":[32],"outdoor":[35],"mowing,":[36],"these":[37],"environments":[38,49,84],"are":[39],"small":[40],"with":[42,80,104],"simple":[43],"geometry":[44],"compared":[45],"to":[46,69],"general":[47],"urban":[48],"such":[50,72],"as":[51],"city":[52,58],"parking":[53],"garages,":[54],"highway":[55],"bridges":[56],"or":[57],"crossings.":[59],"To":[60],"pave":[61],"way":[63],"for":[64,121],"road":[66],"sweeping":[67],"operate":[70],"difficult":[73],"complex":[75],"environments,":[76],"a":[77,96],"benchmark":[78,93],"suite":[79],"three":[81],"large-scale":[82],"3D":[83],"representative":[85],"this":[87,92],"presented.":[90],"On":[91],"we":[94],"evaluate":[95],"new":[97],"method":[101],"comparison":[103],"previous":[105],"well":[106],"performing":[107],"algorithms,":[108,124],"demonstrate":[110],"state-of-the-art":[111],"performance":[112],"proposed":[115],"method.":[116],"Part":[117],"success,":[120],"all":[122],"evaluated":[123],"usage":[127],"automated":[129],"domain":[130],"adaptation":[131],"by":[132],"in-the-loop":[133],"parameter":[134],"optimization":[135],"using":[136],"Bayesian":[137],"Optimization.":[138],"Apart":[139],"from":[140],"improving":[141],"performance,":[143],"tedious":[144],"bias-prone":[146],"manual":[147],"tuning":[148],"obsolete,":[151],"which":[152],"makes":[153],"evaluation":[155],"more":[156],"robust":[157],"results":[160],"even":[161],"stronger.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-27T14:10:00.468798","created_date":"2025-10-10T00:00:00"}