{"id":"https://openalex.org/W2114738954","doi":"https://doi.org/10.1109/iros.2009.5354327","title":"Prioritized sensor detection via dynamic Voronoi-based navigation","display_name":"Prioritized sensor detection via dynamic Voronoi-based navigation","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2114738954","doi":"https://doi.org/10.1109/iros.2009.5354327","mag":"2114738954"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354327","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354327","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5038044261","display_name":"R. Andres Cortez","orcid":null},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"R. Andres Cortez","raw_affiliation_strings":["Department of Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA","Department of Mechanical Engineering, Univ. of New Mexico, Albuquerque, NM 87131-0001, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Univ. of New Mexico, Albuquerque, NM 87131-0001, USA","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074464769","display_name":"Rafael Fierro","orcid":"https://orcid.org/0000-0002-5574-7246"},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rafael Fierro","raw_affiliation_strings":["Marshes Laboratory Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA","MARHES Lab, Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM 87131-0001, USA"],"affiliations":[{"raw_affiliation_string":"Marshes Laboratory Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"MARHES Lab, Electrical & Computer Engineering Department, University of New Mexico, Albuquerque, NM 87131-0001, USA","institution_ids":["https://openalex.org/I169521973"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030412645","display_name":"John Wood","orcid":null},"institutions":[{"id":"https://openalex.org/I169521973","display_name":"University of New Mexico","ror":"https://ror.org/05fs6jp91","country_code":"US","type":"education","lineage":["https://openalex.org/I169521973"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John E. Wood","raw_affiliation_strings":["Department of Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA","Department of Mechanical Engineering, Univ. of New Mexico, Albuquerque, NM 87131-0001, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of New Mexico, Albuquerque, NM, USA","institution_ids":["https://openalex.org/I169521973"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Univ. of New Mexico, Albuquerque, NM 87131-0001, USA","institution_ids":["https://openalex.org/I169521973"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5038044261"],"corresponding_institution_ids":["https://openalex.org/I169521973"],"apc_list":null,"apc_paid":null,"fwci":3.2629,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.92505283,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5815","last_page":"5820"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9994000196456909,"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/T12288","display_name":"Optimization and Search Problems","score":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.8784686923027039},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.6887273192405701},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6619356870651245},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.564032793045044},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5332353115081787},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.5321186184883118},{"id":"https://openalex.org/keywords/global-map","display_name":"Global Map","score":0.4160439074039459},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36417120695114136},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.27078425884246826},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.270691454410553},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13897553086280823}],"concepts":[{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.8784686923027039},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.6887273192405701},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6619356870651245},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.564032793045044},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5332353115081787},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.5321186184883118},{"id":"https://openalex.org/C2779188883","wikidata":"https://www.wikidata.org/wiki/Q82446","display_name":"Global Map","level":3,"score":0.4160439074039459},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36417120695114136},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.27078425884246826},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.270691454410553},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13897553086280823},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2009.5354327","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354327","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.453.7990","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.453.7990","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://marhes.ece.unm.edu/documents/Andres/Six_Page_Final_IROS_09.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1508056422","https://openalex.org/W1511213320","https://openalex.org/W2076738229","https://openalex.org/W2096078692","https://openalex.org/W2112929421","https://openalex.org/W2124435169","https://openalex.org/W2126870145","https://openalex.org/W2130461596","https://openalex.org/W2135001435","https://openalex.org/W2136517076","https://openalex.org/W2147632348","https://openalex.org/W2160681648","https://openalex.org/W2166136386","https://openalex.org/W2169528473","https://openalex.org/W2172276081","https://openalex.org/W2483000560","https://openalex.org/W2610216665","https://openalex.org/W3020882730","https://openalex.org/W4233358567","https://openalex.org/W4242811155"],"related_works":["https://openalex.org/W3020555194","https://openalex.org/W2793256277","https://openalex.org/W2348235448","https://openalex.org/W4360958759","https://openalex.org/W2116218375","https://openalex.org/W2389906634","https://openalex.org/W288156810","https://openalex.org/W176898926","https://openalex.org/W2485819214","https://openalex.org/W2106324066"],"abstract_inverted_index":{"This":[0,37],"paper":[1],"presents":[2],"a":[3,9,16,69,90,95],"decentralized":[4],"coordination":[5],"algorithm":[6,86,129],"that":[7,27,58,64],"allows":[8],"team":[10],"of":[11,32,46,62,126],"sensor-enabled":[12],"robots":[13],"to":[14,99],"navigate":[15],"region":[17,26],"containing":[18],"non-convex":[19,109],"obstacles":[20,110],"and":[21,76,80,94,132],"take":[22],"measurements":[23],"within":[24],"the":[25,29,47,60,121,127,134,141],"contain":[28],"highest":[30],"probability":[31],"having":[33],"\u00bfgood\u00bf":[34],"information":[35],"first.":[36],"approach":[38],"is":[39,50],"motivated":[40],"by":[41,68],"scenarios":[42],"where":[43],"prior":[44],"knowledge":[45],"search":[48,75,115],"space":[49],"known":[51],"or":[52],"when":[53],"time":[54],"constraints":[55],"are":[56,116,130],"present":[57],"limit":[59],"amount":[61],"area":[63],"can":[65],"be":[66],"searched":[67],"robot":[70],"team.":[71],"Practical":[72],"applications":[73],"include":[74],"rescue,":[77],"target":[78],"detection,":[79],"hazardous":[81],"contaminations.":[82],"Our":[83],"cooperative":[84],"control":[85,128],"combines":[87],"Voronoi":[88],"partitioning,":[89],"global":[91,114],"optimization":[92],"technique,":[93],"modified":[96],"navigation":[97],"function":[98],"prioritize":[100],"sensor":[101],"detection.":[102],"The":[103],"issues":[104],"we":[105],"address":[106],"such":[107],"as":[108,111,113,138,140],"well":[112,139],"not":[117],"extensively":[118],"addressed":[119],"in":[120],"current":[122],"literature.":[123],"Simulation":[124],"results":[125],"given":[131],"validate":[133],"prioritized":[135],"sensing":[136],"behavior":[137],"collision":[142],"avoidance":[143],"property.":[144]},"counts_by_year":[{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}