{"id":"https://openalex.org/W3207257540","doi":"https://doi.org/10.1109/icra48506.2021.9561433","title":"A Geometric Folding Pattern for Robot Coverage Path Planning","display_name":"A Geometric Folding Pattern for Robot Coverage Path Planning","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207257540","doi":"https://doi.org/10.1109/icra48506.2021.9561433","mag":"3207257540"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561433","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561433","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 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/A5009912040","display_name":"Lifeng Zhu","orcid":"https://orcid.org/0000-0002-9999-4513"},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lifeng Zhu","raw_affiliation_strings":["The State Key Laboratory of Bioelectronics, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, P.R.China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Bioelectronics, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, P.R.China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023123451","display_name":"Shuai Yao","orcid":"https://orcid.org/0000-0001-6462-4670"},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Yao","raw_affiliation_strings":["China Jiliang University, China","The State Key Laboratory of Bioelectronics, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, P.R.China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Jiliang University, China","institution_ids":["https://openalex.org/I55538621"]},{"raw_affiliation_string":"The State Key Laboratory of Bioelectronics, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, P.R.China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100732747","display_name":"Boyang Li","orcid":"https://orcid.org/0000-0002-6900-0901"},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boyang Li","raw_affiliation_strings":["The State Key Laboratory of Bioelectronics, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, P.R.China","Tsinghua University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Bioelectronics, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, P.R.China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]},{"raw_affiliation_string":"Tsinghua University, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048327458","display_name":"Aiguo Song","orcid":"https://orcid.org/0000-0002-1982-6780"},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aiguo Song","raw_affiliation_strings":["The State Key Laboratory of Bioelectronics, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, P.R.China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Bioelectronics, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, P.R.China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025410658","display_name":"Yiyang Jia","orcid":"https://orcid.org/0000-0002-5202-6611"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yiyang Jia","raw_affiliation_strings":["University of Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026765677","display_name":"Jun Mitani","orcid":"https://orcid.org/0000-0002-1596-844X"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Mitani","raw_affiliation_strings":["University of Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8509","last_page":"8515"},"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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":0.9934999942779541,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tree-traversal","display_name":"Tree traversal","score":0.9305173754692078},{"id":"https://openalex.org/keywords/folding","display_name":"Folding (DSP implementation)","score":0.7359766364097595},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7133206725120544},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6201117634773254},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6155641674995422},{"id":"https://openalex.org/keywords/zigzag","display_name":"Zigzag","score":0.5553607940673828},{"id":"https://openalex.org/keywords/graph-traversal","display_name":"Graph traversal","score":0.5254589319229126},{"id":"https://openalex.org/keywords/spiral","display_name":"Spiral (railway)","score":0.4836527109146118},{"id":"https://openalex.org/keywords/computational-geometry","display_name":"Computational geometry","score":0.478464812040329},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.47345584630966187},{"id":"https://openalex.org/keywords/geometric-modeling","display_name":"Geometric modeling","score":0.45158371329307556},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4179805517196655},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39520418643951416},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30898603796958923},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2816963195800781},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19910487532615662},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09176009893417358}],"concepts":[{"id":"https://openalex.org/C140745168","wikidata":"https://www.wikidata.org/wiki/Q1210082","display_name":"Tree traversal","level":2,"score":0.9305173754692078},{"id":"https://openalex.org/C2776545253","wikidata":"https://www.wikidata.org/wiki/Q5464292","display_name":"Folding (DSP implementation)","level":2,"score":0.7359766364097595},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7133206725120544},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6201117634773254},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6155641674995422},{"id":"https://openalex.org/C192271897","wikidata":"https://www.wikidata.org/wiki/Q198438","display_name":"Zigzag","level":2,"score":0.5553607940673828},{"id":"https://openalex.org/C96333769","wikidata":"https://www.wikidata.org/wiki/Q907955","display_name":"Graph traversal","level":3,"score":0.5254589319229126},{"id":"https://openalex.org/C174128100","wikidata":"https://www.wikidata.org/wiki/Q846907","display_name":"Spiral (railway)","level":2,"score":0.4836527109146118},{"id":"https://openalex.org/C29123130","wikidata":"https://www.wikidata.org/wiki/Q874709","display_name":"Computational geometry","level":2,"score":0.478464812040329},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.47345584630966187},{"id":"https://openalex.org/C104065381","wikidata":"https://www.wikidata.org/wiki/Q1002535","display_name":"Geometric modeling","level":2,"score":0.45158371329307556},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4179805517196655},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39520418643951416},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30898603796958923},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2816963195800781},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19910487532615662},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09176009893417358},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561433","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561433","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1505889193","https://openalex.org/W1542367368","https://openalex.org/W1544032329","https://openalex.org/W1572844260","https://openalex.org/W1992780165","https://openalex.org/W2019738489","https://openalex.org/W2020213693","https://openalex.org/W2054118019","https://openalex.org/W2088362341","https://openalex.org/W2089344586","https://openalex.org/W2150241776","https://openalex.org/W2473797470","https://openalex.org/W2502429356","https://openalex.org/W2744785839","https://openalex.org/W2906764419","https://openalex.org/W2915816881","https://openalex.org/W4238518651","https://openalex.org/W4240774490"],"related_works":["https://openalex.org/W2200188075","https://openalex.org/W4252596799","https://openalex.org/W4254594467","https://openalex.org/W4230405657","https://openalex.org/W244044452","https://openalex.org/W2552915643","https://openalex.org/W3213135344","https://openalex.org/W170547082","https://openalex.org/W3183956626","https://openalex.org/W2136735429"],"abstract_inverted_index":{"Conventional":[0],"coverage":[1,34,48,87,107],"path":[2,108],"planning":[3,109],"algorithms":[4],"are":[5,97],"mainly":[6],"based":[7],"on":[8,73],"the":[9,23,42,57,62,74,79,82,92,106],"zigzag":[10],"and":[11,59,99],"spiral":[12],"patterns":[13,35,84,96],"or":[14,25],"their":[15],"combinations.":[16],"The":[17],"traversal":[18,53],"order":[19],"is":[20,70],"limited":[21],"by":[22],"linear":[24],"inside-outside":[26],"manner.":[27],"We":[28,55,89],"propose":[29],"a":[30,67],"new":[31],"set":[32],"of":[33,61,81],"induced":[36],"from":[37],"geometric":[38,43,63,94],"folding":[39,44,64,95],"operations,":[40],"called":[41],"pattern,":[45],"to":[46],"make":[47],"paths":[49],"with":[50],"more":[51,103],"flexible":[52,98],"order.":[54],"study":[56],"modeling":[58],"parameterization":[60],"patterns.":[65],"Then,":[66],"sampling":[68],"operator":[69],"introduced.":[71],"Based":[72],"computational":[75],"tools,":[76],"we":[77],"demonstrate":[78],"application":[80],"proposed":[83],"in":[85],"designing":[86],"paths.":[88],"show":[90],"that":[91],"simple":[93],"controllable,":[100],"which":[101],"enables":[102],"choices":[104],"for":[105],"problem.":[110]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
