{"id":"https://openalex.org/W2102384849","doi":"https://doi.org/10.1109/iros.2003.1248885","title":"BSA: a coverage algorithm","display_name":"BSA: a coverage algorithm","publication_year":2004,"publication_date":"2004-04-23","ids":{"openalex":"https://openalex.org/W2102384849","doi":"https://doi.org/10.1109/iros.2003.1248885","mag":"2102384849"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1248885","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1248885","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5088600265","display_name":"Enr\u00edque Gonz\u00e1lez","orcid":"https://orcid.org/0000-0001-8011-1760"},"institutions":[{"id":"https://openalex.org/I233745408","display_name":"Pontificia Universidad Javeriana","ror":"https://ror.org/03etyjw28","country_code":"CO","type":"education","lineage":["https://openalex.org/I233745408"]}],"countries":["CO"],"is_corresponding":true,"raw_author_name":"E. Gonzalez","raw_affiliation_strings":["Pontificia Universidad Javeriana, Bogota, Colombia","Pontificia Univ. Javeriana, Bogota, Colombia"],"affiliations":[{"raw_affiliation_string":"Pontificia Universidad Javeriana, Bogota, Colombia","institution_ids":["https://openalex.org/I233745408"]},{"raw_affiliation_string":"Pontificia Univ. Javeriana, Bogota, Colombia","institution_ids":["https://openalex.org/I233745408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020238616","display_name":"Marl\u00e9n Andrea Alarc\u00f3n","orcid":null},"institutions":[{"id":"https://openalex.org/I233745408","display_name":"Pontificia Universidad Javeriana","ror":"https://ror.org/03etyjw28","country_code":"CO","type":"education","lineage":["https://openalex.org/I233745408"]}],"countries":["CO"],"is_corresponding":false,"raw_author_name":"M. Alarcon","raw_affiliation_strings":["Pontificia Universidad Javeriana, Bogota, Colombia","Pontificia Univ. Javeriana, Bogota, Colombia"],"affiliations":[{"raw_affiliation_string":"Pontificia Universidad Javeriana, Bogota, Colombia","institution_ids":["https://openalex.org/I233745408"]},{"raw_affiliation_string":"Pontificia Univ. Javeriana, Bogota, Colombia","institution_ids":["https://openalex.org/I233745408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027561570","display_name":"P. Aristizabal","orcid":null},"institutions":[{"id":"https://openalex.org/I233745408","display_name":"Pontificia Universidad Javeriana","ror":"https://ror.org/03etyjw28","country_code":"CO","type":"education","lineage":["https://openalex.org/I233745408"]}],"countries":["CO"],"is_corresponding":false,"raw_author_name":"P. Aristizabal","raw_affiliation_strings":["Pontificia Universidad Javeriana, Bogota, Colombia","Pontificia Univ. Javeriana, Bogota, Colombia"],"affiliations":[{"raw_affiliation_string":"Pontificia Universidad Javeriana, Bogota, Colombia","institution_ids":["https://openalex.org/I233745408"]},{"raw_affiliation_string":"Pontificia Univ. Javeriana, Bogota, Colombia","institution_ids":["https://openalex.org/I233745408"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039369877","display_name":"Carlos Parra","orcid":"https://orcid.org/0000-0001-7209-6150"},"institutions":[{"id":"https://openalex.org/I233745408","display_name":"Pontificia Universidad Javeriana","ror":"https://ror.org/03etyjw28","country_code":"CO","type":"education","lineage":["https://openalex.org/I233745408"]}],"countries":["CO"],"is_corresponding":false,"raw_author_name":"C. Parra","raw_affiliation_strings":["Pontificia Universidad Javeriana, Bogota, Colombia","Pontificia Univ. Javeriana, Bogota, Colombia"],"affiliations":[{"raw_affiliation_string":"Pontificia Universidad Javeriana, Bogota, Colombia","institution_ids":["https://openalex.org/I233745408"]},{"raw_affiliation_string":"Pontificia Univ. Javeriana, Bogota, Colombia","institution_ids":["https://openalex.org/I233745408"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5088600265"],"corresponding_institution_ids":["https://openalex.org/I233745408"],"apc_list":null,"apc_paid":null,"fwci":1.3664,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.82601924,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2","issue":null,"first_page":"1679","last_page":"1684"},"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":0.9993000030517578,"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":0.9984999895095825,"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/backtracking","display_name":"Backtracking","score":0.9147080183029175},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6042212843894958},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5902518033981323},{"id":"https://openalex.org/keywords/spiral","display_name":"Spiral (railway)","score":0.5807268619537354},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5723294615745544},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5338334441184998},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.512535572052002},{"id":"https://openalex.org/keywords/beacon","display_name":"Beacon","score":0.5111146569252014},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5032638907432556},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.48140645027160645},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.47268015146255493},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.3497936427593231},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2542177736759186},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.2525203227996826},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2408732771873474},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1675022542476654},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.12360507249832153}],"concepts":[{"id":"https://openalex.org/C156884757","wikidata":"https://www.wikidata.org/wiki/Q798554","display_name":"Backtracking","level":2,"score":0.9147080183029175},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6042212843894958},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5902518033981323},{"id":"https://openalex.org/C174128100","wikidata":"https://www.wikidata.org/wiki/Q846907","display_name":"Spiral (railway)","level":2,"score":0.5807268619537354},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5723294615745544},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5338334441184998},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.512535572052002},{"id":"https://openalex.org/C102168758","wikidata":"https://www.wikidata.org/wiki/Q7321258","display_name":"Beacon","level":2,"score":0.5111146569252014},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5032638907432556},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.48140645027160645},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.47268015146255493},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.3497936427593231},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2542177736759186},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2525203227996826},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2408732771873474},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1675022542476654},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.12360507249832153},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical 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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2003.1248885","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1248885","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1604935688","https://openalex.org/W2054566447","https://openalex.org/W2093284501","https://openalex.org/W2127873468","https://openalex.org/W2129211504","https://openalex.org/W2148005079","https://openalex.org/W2623293810","https://openalex.org/W3021909058","https://openalex.org/W4229602954","https://openalex.org/W4249315263","https://openalex.org/W6678087030","https://openalex.org/W6810823152"],"related_works":["https://openalex.org/W2883256816","https://openalex.org/W2171408034","https://openalex.org/W2101178385","https://openalex.org/W2790129070","https://openalex.org/W3003320923","https://openalex.org/W2106845956","https://openalex.org/W3158435160","https://openalex.org/W2112938119","https://openalex.org/W2106140982","https://openalex.org/W1643556013"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,33,98,115,141],"new":[4],"coverage":[5,45],"online":[6],"strategy":[7],"BSA,":[8],"backtracking":[9,99],"spiral":[10,65],"algorithm.":[11],"Some":[12],"service":[13],"tasks":[14],"involve":[15],"the":[16,19,25,43,47,51,56,62,79,88,93,103,121,125,131,138],"filling/sweeping":[17],"of":[18,40,46,50,55,59,64,69,78,117,124,140],"surface":[20,48,90],"that":[21,87,101],"is":[22,32,61,91,95,112,128],"accessible":[23],"to":[24,36,85,107,136],"robot":[26,80,104],"from":[27],"its":[28],"starting":[29],"position.":[30],"BSA":[31,60,111,133,148],"structured":[34],"way":[35],"perform":[37],"this":[38],"kind":[39],"procedures":[41],"assuring":[42],"complete":[44],"regardless":[49,77],"space":[52],"topology.":[53],"One":[54],"main":[57],"innovations":[58],"use":[63],"filling":[66],"paths":[67],"instead":[68],"zig-zag":[70],"like":[71],"paths,":[72],"which":[73],"makes":[74,102],"it":[75],"robust":[76],"initial":[81],"orientation.":[82],"In":[83],"order":[84],"assure":[86],"whole":[89],"covered,":[92],"algorithm":[94],"based":[96],"in":[97,152],"procedure":[100],"get":[105],"back":[106],"unfulfilled":[108],"detected":[109],"regions.":[110],"implemented":[113],"with":[114],"set":[116],"simple":[118],"rules.":[119],"As":[120],"first":[122],"ring":[123],"spiral-filling":[126],"path":[127],"accomplished":[129],"nearby":[130],"obstacles,":[132],"indirectly":[134],"contributes":[135],"improve":[137],"performance":[139],"localisation":[142],"system":[143],"using":[144],"obstacles":[145],"as":[146],"beacons.":[147],"has":[149],"been":[150],"validated":[151],"simulation.":[153]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
