{"id":"https://openalex.org/W2142270784","doi":"https://doi.org/10.1109/icsmc.2009.5346856","title":"Complete coverage path planning for cleaning task using multiple robots","display_name":"Complete coverage path planning for cleaning task using multiple robots","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2142270784","doi":"https://doi.org/10.1109/icsmc.2009.5346856","mag":"2142270784"},"language":"en","primary_location":{"id":"doi:10.1109/icsmc.2009.5346856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2009.5346856","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Systems, Man and Cybernetics","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/A5080542528","display_name":"Jeong H. Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jeong H. Lee","raw_affiliation_strings":["ASRI, Department of Electrical Engineering, Seoul National University, Seoul, South Korea","ASRI, Department of Electrical Engineering, Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"ASRI, Department of Electrical Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"ASRI, Department of Electrical Engineering, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111376542","display_name":"Jeong Sik Choi","orcid":"https://orcid.org/0009-0006-5122-1374"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeong S. Choi","raw_affiliation_strings":["ASRI, Department of Electrical Engineering, Seoul National University, Seoul, South Korea","ASRI, Department of Electrical Engineering, Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"ASRI, Department of Electrical Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"ASRI, Department of Electrical Engineering, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022401141","display_name":"Beom H. Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Beom H. Lee","raw_affiliation_strings":["ASRI, Department of Electrical Engineering, Seoul National University, Seoul, South Korea","ASRI, Department of Electrical Engineering, Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"ASRI, Department of Electrical Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"ASRI, Department of Electrical Engineering, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026519439","display_name":"Kong W. Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kong W. Lee","raw_affiliation_strings":["ASRI, Department of Electrical Engineering, Seoul National University, Seoul, South Korea","ASRI, Department of Electrical Engineering, Seoul National University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"ASRI, Department of Electrical Engineering, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"ASRI, Department of Electrical Engineering, Seoul National University, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5080542528"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":1.6179,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.86144235,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3618","last_page":"3622"},"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":0.996999979019165,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9878000020980835,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7816595435142517},{"id":"https://openalex.org/keywords/dijkstras-algorithm","display_name":"Dijkstra's algorithm","score":0.7810510396957397},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.722098708152771},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7164933681488037},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6809679269790649},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6118091940879822},{"id":"https://openalex.org/keywords/cover","display_name":"Cover (algebra)","score":0.5816737413406372},{"id":"https://openalex.org/keywords/table","display_name":"Table (database)","score":0.5780571699142456},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4518732726573944},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.42559218406677246},{"id":"https://openalex.org/keywords/shortest-path-problem","display_name":"Shortest path problem","score":0.4108964204788208},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33205467462539673},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3120970129966736},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.16488397121429443},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.16189950704574585},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.15648001432418823},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14907896518707275},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.07531052827835083}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7816595435142517},{"id":"https://openalex.org/C173870130","wikidata":"https://www.wikidata.org/wiki/Q8548","display_name":"Dijkstra's algorithm","level":4,"score":0.7810510396957397},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.722098708152771},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7164933681488037},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6809679269790649},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6118091940879822},{"id":"https://openalex.org/C2780428219","wikidata":"https://www.wikidata.org/wiki/Q16952335","display_name":"Cover (algebra)","level":2,"score":0.5816737413406372},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.5780571699142456},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4518732726573944},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.42559218406677246},{"id":"https://openalex.org/C22590252","wikidata":"https://www.wikidata.org/wiki/Q1058754","display_name":"Shortest path problem","level":3,"score":0.4108964204788208},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33205467462539673},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3120970129966736},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.16488397121429443},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.16189950704574585},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.15648001432418823},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14907896518707275},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.07531052827835083},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icsmc.2009.5346856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2009.5346856","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Systems, Man and Cybernetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4099999964237213,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1543983621","https://openalex.org/W1702514015","https://openalex.org/W1970935285","https://openalex.org/W2039947369","https://openalex.org/W2056842906","https://openalex.org/W2072782111","https://openalex.org/W2101744753","https://openalex.org/W2114595091","https://openalex.org/W2140047299","https://openalex.org/W2148005079","https://openalex.org/W2162975412","https://openalex.org/W2166177494","https://openalex.org/W2544670706","https://openalex.org/W3139448511","https://openalex.org/W6668316756","https://openalex.org/W6684094961"],"related_works":["https://openalex.org/W3209137076","https://openalex.org/W4223969905","https://openalex.org/W2374560440","https://openalex.org/W1490490684","https://openalex.org/W4221129498","https://openalex.org/W2887026015","https://openalex.org/W2361442013","https://openalex.org/W2373384475","https://openalex.org/W1904098742","https://openalex.org/W4310124294"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,25],"novel":[4],"path":[5,36,114],"planning":[6,92,139],"method":[7],"for":[8,91,111,138],"cleaning":[9,52,131,166],"task":[10],"using":[11,133],"multiple":[12],"robots":[13,53,60,132,167],"in":[14,71],"large":[15],"environment.":[16],"To":[17],"do":[18],"so,":[19],"we":[20,147],"suggested":[21],"algorithm":[22,45],"which":[23,37,59,104,125,154],"partitions":[24],"given":[26,78,159],"region":[27,79,160],"into":[28,80],"several":[29,81],"smaller":[30],"regions":[31],"and":[32,55,90,168],"plans":[33],"the":[34,48,57,72,77,84,93,95,106,113,127,143,149,158,163,170],"covering":[35],"can":[38,61,155],"completely":[39,156],"cover":[40,142,157],"these":[41],"divided":[42,128],"areas.":[43],"The":[44,120],"also":[46],"allocates":[47,126],"planed":[49],"areas":[50,129],"to":[51,68,118,130],"sequentially":[54],"generates":[56],"paths":[58,140],"take,":[62],"when":[63],"moving":[64],"from":[65,115],"an":[66],"area":[67,144],"another":[69],"area,":[70],"shortest":[73],"time.":[74],"For":[75],"partitioning":[76],"small":[82],"areas,":[83],"Virtual":[85],"Door":[86],"Algorithm":[87],"is":[88,98,109,136],"used,":[89],"paths,":[94],"template-based":[96],"approach":[97],"used.":[99],"Previously":[100],"generated":[101],"look-up":[102,134],"table,":[103,135],"uses":[105],"Dijkstra":[107],"algorithm,":[108],"used":[110,137],"determining":[112],"one":[116],"are":[117],"another.":[119],"Task":[121],"Area":[122],"Allocation":[123],"Algorithm,":[124],"that":[141],"completely.":[145],"Finally,":[146],"evaluated":[148],"performance":[150],"of":[151,162,165,172],"our":[152,173],"algorithms":[153,175],"regardless":[161],"number":[164],"verify":[169],"effectiveness":[171],"proposed":[174],"through":[176],"computer":[177],"simulations.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
