{"id":"https://openalex.org/W2146714802","doi":"https://doi.org/10.1109/iros.2011.6095081","title":"Collision avoidance for persistent monitoring in multi-robot systems with intersecting trajectories","display_name":"Collision avoidance for persistent monitoring in multi-robot systems with intersecting trajectories","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2146714802","doi":"https://doi.org/10.1109/iros.2011.6095081","mag":"2146714802"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6095081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095081","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/72508","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003722925","display_name":"Daniel E. Soltero","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel E. Soltero","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, 02139 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, 02139 USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103134580","display_name":"Stephen L. Smith","orcid":"https://orcid.org/0000-0002-8636-407X"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Stephen L. Smith","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ONT, Canada","Department of Electrical and computer Engineering, University of Waterloo, ON, N2L 3G1, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ONT, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"Department of Electrical and computer Engineering, University of Waterloo, ON, N2L 3G1, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066830185","display_name":"Daniela Rus","orcid":"https://orcid.org/0000-0001-5473-3566"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniela Rus","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, 02139 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, 02139 USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.7871,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.96659117,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3645","last_page":"3652"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9976000189781189,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9973999857902527,"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/collision-avoidance","display_name":"Collision avoidance","score":0.854027271270752},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7918400764465332},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6965059041976929},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6079482436180115},{"id":"https://openalex.org/keywords/deadlock","display_name":"Deadlock","score":0.6027753949165344},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5896933078765869},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.5802974700927734},{"id":"https://openalex.org/keywords/behavior-based-robotics","display_name":"Behavior-based robotics","score":0.44771260023117065},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4428132176399231},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4244583547115326},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3448070287704468},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34134364128112793},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.26939916610717773},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2619055509567261},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08345144987106323},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07134637236595154}],"concepts":[{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.854027271270752},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7918400764465332},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6965059041976929},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6079482436180115},{"id":"https://openalex.org/C159023740","wikidata":"https://www.wikidata.org/wiki/Q623276","display_name":"Deadlock","level":2,"score":0.6027753949165344},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5896933078765869},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.5802974700927734},{"id":"https://openalex.org/C19766214","wikidata":"https://www.wikidata.org/wiki/Q4880688","display_name":"Behavior-based robotics","level":4,"score":0.44771260023117065},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4428132176399231},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4244583547115326},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3448070287704468},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34134364128112793},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.26939916610717773},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2619055509567261},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08345144987106323},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07134637236595154},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2011.6095081","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095081","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.364.7249","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.364.7249","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://groups.csail.mit.edu/drl/wiki/images/b/b4/CollisionAvoidancePersistence.pdf","raw_type":"text"},{"id":"pmh:oai:dspace.mit.edu:1721.1/72508","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/72508","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/72508","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/72508","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1544032329","https://openalex.org/W1558686995","https://openalex.org/W1900710004","https://openalex.org/W2025291543","https://openalex.org/W2047083748","https://openalex.org/W2056453745","https://openalex.org/W2080164368","https://openalex.org/W2098803517","https://openalex.org/W2103120971","https://openalex.org/W2112411455","https://openalex.org/W2114549813","https://openalex.org/W2116311127","https://openalex.org/W2122561468","https://openalex.org/W2141967156","https://openalex.org/W2142705361","https://openalex.org/W2148926063","https://openalex.org/W2152358681","https://openalex.org/W2164653942","https://openalex.org/W2169742265","https://openalex.org/W2169822448","https://openalex.org/W2172103629","https://openalex.org/W6633501887","https://openalex.org/W6662533760","https://openalex.org/W6681907386"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W2724299411","https://openalex.org/W1806442025","https://openalex.org/W2124341319","https://openalex.org/W2310563729","https://openalex.org/W4365788246","https://openalex.org/W2965940341"],"abstract_inverted_index":{"Persistent":[0],"robot":[1,50,54],"tasks":[2,51],"such":[3],"as":[4],"monitoring":[5],"and":[6,34,83,93],"cleaning":[7],"are":[8,88],"concerned":[9],"with":[10,56],"controlling":[11],"mobile":[12],"robots":[13,76],"to":[14,32,35,71],"act":[15],"in":[16,20,28,48],"a":[17,21,69],"changing":[18],"environment":[19],"way":[22],"that":[23,25,59,87],"guarantees":[24],"the":[26,29,36,39,95,98,102,106],"uncertainty":[27],"system":[30],"(due":[31],"change":[33],"actions":[37],"of":[38,97,105],"robot)":[40],"remains":[41],"bounded":[42],"for":[43],"all":[44],"time.":[45],"Prior":[46],"work":[47],"persistent":[49,73],"considered":[52],"only":[53],"systems":[55],"collision-free":[57],"paths":[58],"move":[60],"following":[61],"speed":[62,107],"controllers.":[63,108],"In":[64],"this":[65],"paper":[66],"we":[67],"describe":[68],"solution":[70],"multi-robot":[72],"monitoring,":[74],"where":[75],"have":[77],"intersecting":[78],"trajectories.":[79],"We":[80],"develop":[81],"collision":[82],"deadlock":[84],"avoidance":[85],"algorithms":[86],"based":[89],"on":[90,101],"stopping":[91,99],"policies,":[92],"quantify":[94],"impact":[96],"times":[100],"overall":[103],"stability":[104]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
