{"id":"https://openalex.org/W2568615566","doi":"https://doi.org/10.1109/iecon.2016.7793589","title":"On the implementation of area coverage optimization using mobile robots","display_name":"On the implementation of area coverage optimization using mobile robots","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2568615566","doi":"https://doi.org/10.1109/iecon.2016.7793589","mag":"2568615566"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2016.7793589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2016.7793589","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society","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/A5000681023","display_name":"Suruz Miah","orcid":"https://orcid.org/0000-0001-6533-0770"},"institutions":[{"id":"https://openalex.org/I24648388","display_name":"Bradley University","ror":"https://ror.org/04kmeaw70","country_code":"US","type":"education","lineage":["https://openalex.org/I24648388"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Suruz Miah","raw_affiliation_strings":["Electrical and Computer Engineering, Bradley University, Peoria, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, Bradley University, Peoria, IL, USA","institution_ids":["https://openalex.org/I24648388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048668006","display_name":"Jacob Knoll","orcid":null},"institutions":[{"id":"https://openalex.org/I24648388","display_name":"Bradley University","ror":"https://ror.org/04kmeaw70","country_code":"US","type":"education","lineage":["https://openalex.org/I24648388"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jacob Knoll","raw_affiliation_strings":["Electrical and Computer Engineering, Bradley University, Peoria, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, Bradley University, Peoria, IL, USA","institution_ids":["https://openalex.org/I24648388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060342311","display_name":"A. Malinowski","orcid":"https://orcid.org/0000-0001-7010-5738"},"institutions":[{"id":"https://openalex.org/I24648388","display_name":"Bradley University","ror":"https://ror.org/04kmeaw70","country_code":"US","type":"education","lineage":["https://openalex.org/I24648388"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aleksander Malinowski","raw_affiliation_strings":["Electrical and Computer Engineering, Bradley University, Peoria, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, Bradley University, Peoria, IL, USA","institution_ids":["https://openalex.org/I24648388"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000714989","display_name":"Davide Spinello","orcid":"https://orcid.org/0000-0002-6063-4289"},"institutions":[{"id":"https://openalex.org/I153718931","display_name":"University of Ottawa","ror":"https://ror.org/03c4mmv16","country_code":"CA","type":"education","lineage":["https://openalex.org/I153718931"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Davide Spinello","raw_affiliation_strings":["Mechanical Engineering Department, University of Ottawa, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Ottawa, Canada","institution_ids":["https://openalex.org/I153718931"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2954,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.67668275,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"4916","last_page":"4921"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9944999814033508,"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/workspace","display_name":"Workspace","score":0.9167520999908447},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6929786801338196},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6705886721611023},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6495951414108276},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.6121190190315247},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5037071108818054},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3370526432991028},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.332869291305542},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24947458505630493},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1801842749118805},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08345994353294373}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9167520999908447},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6929786801338196},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6705886721611023},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6495951414108276},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.6121190190315247},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5037071108818054},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3370526432991028},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.332869291305542},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24947458505630493},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1801842749118805},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08345994353294373}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon.2016.7793589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2016.7793589","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320310330","display_name":"Bradley University","ror":"https://ror.org/04kmeaw70"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1542327224","https://openalex.org/W1788292158","https://openalex.org/W1971977644","https://openalex.org/W1981934471","https://openalex.org/W1982790752","https://openalex.org/W1999728094","https://openalex.org/W2007403280","https://openalex.org/W2025421018","https://openalex.org/W2035465647","https://openalex.org/W2082564561","https://openalex.org/W2082829278","https://openalex.org/W2086794496","https://openalex.org/W2092924973","https://openalex.org/W2098692763","https://openalex.org/W2117450598","https://openalex.org/W2123923211","https://openalex.org/W2132399935","https://openalex.org/W2134183500","https://openalex.org/W2150593711","https://openalex.org/W2159128558","https://openalex.org/W2160643434","https://openalex.org/W2166136386","https://openalex.org/W2167485994","https://openalex.org/W2951276827","https://openalex.org/W4239339957","https://openalex.org/W6632414627","https://openalex.org/W6671006779"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W3114279067","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2170661558"],"abstract_inverted_index":{"Consequent":[0],"to":[1,43,64,134,167],"authors'":[2],"previous":[3],"work":[4],"on":[5,18],"developing":[6],"a":[7,39,44,60,92,115,169,175,203,209,216],"coverage":[8,26,97,124,180],"control":[9,27],"algorithm":[10,28,126],"using":[11,29,208],"multiple":[12,53,161],"autonomous":[13],"agents/robots,":[14],"this":[15],"paper":[16],"focuses":[17],"implementing":[19],"real-time":[20],"simulations":[21,207],"of":[22,81,114,122,129,145,171,205],"the":[23,68,88,95,102,109,112,123,130,136,143,146,164,179,186,195],"previously":[24],"published":[25],"differential":[30,55],"drive":[31,56],"mobile":[32,57],"robots.":[33],"Mobile":[34],"robots":[35,58,83,157,173],"are":[36,158],"deployed":[37,86],"in":[38,59,87,90,108,117,174,219],"planar":[40,62],"area":[41,96],"subject":[42],"suitable":[45],"nonuniform":[46,191],"scalar":[47,77,103],"metric.":[48],"In":[49],"particular,":[50],"we":[51],"deploy":[52],"P3-DX":[54,82,172],"two-dimensional":[61],"workspace":[63,89,110,176],"be":[65],"covered":[66],"where":[67],"non-uniform":[69],"metric":[70],"is":[71,84,98,153,166,181,200],"defined":[72,193],"by":[73,202],"density":[74,107,192],"function":[75],"representing":[76],"measure.":[78],"A":[79],"platoon":[80],"spatially":[85],"such":[91,177],"way":[93],"that":[94,118,178,214],"maximized":[99,182],"with":[100,160],"respect":[101],"field":[104],"(density).":[105],"The":[106,120,156,197],"defines":[111],"importance":[113],"point":[116],"workspace.":[119,137,196,222],"implementation":[121],"optimization":[125],"takes":[127],"advantage":[128],"Voronoi":[131,150],"tessellation":[132],"technique":[133],"partition":[135,147],"Each":[138],"robot":[139,212],"then":[140],"moves":[141],"towards":[142],"centroid":[144],"(called":[148],"herein":[149],"cell)":[151],"it":[152],"responsible":[154],"for.":[155],"equipped":[159],"sensors.":[162],"Hence,":[163],"objective":[165],"converge":[168],"set":[170,204],"taking":[183],"into":[184],"consideration":[185],"robots'":[187],"sensory":[188],"performance":[189],"and":[190],"throughout":[194],"asymptotic":[198],"convergence":[199],"validated":[201],"computer":[206],"commercially":[210],"available":[211],"simulator":[213],"mimics":[215],"real":[217],"scenario":[218],"an":[220],"indoor":[221]},"counts_by_year":[{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
