{"id":"https://openalex.org/W3004266520","doi":"https://doi.org/10.1109/iros40897.2019.8968299","title":"Constrained Heterogeneous Vehicle Path Planning for Large-area Coverage","display_name":"Constrained Heterogeneous Vehicle Path Planning for Large-area Coverage","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3004266520","doi":"https://doi.org/10.1109/iros40897.2019.8968299","mag":"3004266520"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968299","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968299","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5076374249","display_name":"Di Deng","orcid":"https://orcid.org/0000-0001-7805-3012"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Di Deng","raw_affiliation_strings":["Carnegie Mellon University 5000 Forbes Ave,Faculty of Mechanical Engineering,Pittsburgh,PA,USA,15213","Faculty of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University 5000 Forbes Ave,Faculty of Mechanical Engineering,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103244741","display_name":"Wei Jing","orcid":"https://orcid.org/0000-0003-3286-5925"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I4210161496","display_name":"A*STAR Graduate Academy","ror":"https://ror.org/059yjzn93","country_code":"SG","type":"education","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210161496"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wei Jing","raw_affiliation_strings":["A&#x002A; STAR Artificial Intelligence Initiative (A&#x002A; AI),Dept.of CS, IHPC, A&#x002A; STAR; 1,Fusionopolis Way,Singapore,138632","Dept.of CS, IHPC, A* STAR","1, A* STAR Artificial Intelligence Initiative (A* AI), Fusionopolis Way, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"A&#x002A; STAR Artificial Intelligence Initiative (A&#x002A; AI),Dept.of CS, IHPC, A&#x002A; STAR; 1,Fusionopolis Way,Singapore,138632","institution_ids":["https://openalex.org/I4210161496"]},{"raw_affiliation_string":"Dept.of CS, IHPC, A* STAR","institution_ids":["https://openalex.org/I115228651"]},{"raw_affiliation_string":"1, A* STAR Artificial Intelligence Initiative (A* AI), Fusionopolis Way, Singapore","institution_ids":["https://openalex.org/I115228651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027538698","display_name":"Yuhe Fu","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuhe Fu","raw_affiliation_strings":["Carnegie Mellon University 5000 Forbes Ave,Faculty of Mechanical Engineering,Pittsburgh,PA,USA,15213","Faculty of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University 5000 Forbes Ave,Faculty of Mechanical Engineering,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022786630","display_name":"Ziyin Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ziyin Huang","raw_affiliation_strings":["Carnegie Mellon University 5000 Forbes Ave,Faculty of Mechanical Engineering,Pittsburgh,PA,USA,15213","Faculty of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University 5000 Forbes Ave,Faculty of Mechanical Engineering,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101915252","display_name":"Jiahong Liu","orcid":"https://orcid.org/0000-0001-9166-9364"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiahong Liu","raw_affiliation_strings":["Carnegie Mellon University 5000 Forbes Ave,Faculty of Mechanical Engineering,Pittsburgh,PA,USA,15213","Faculty of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University 5000 Forbes Ave,Faculty of Mechanical Engineering,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101724128","display_name":"Kenji Shimada","orcid":"https://orcid.org/0000-0001-8827-672X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kenji Shimada","raw_affiliation_strings":["Carnegie Mellon University 5000 Forbes Ave,Faculty of Mechanical Engineering,Pittsburgh,PA,USA,15213","Faculty of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University 5000 Forbes Ave,Faculty of Mechanical Engineering,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Carnegie Mellon University 5000 Forbes Ave, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1186,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.82830239,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4113","last_page":"4120"},"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/T11133","display_name":"UAV Applications and Optimization","score":0.9948999881744385,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9919999837875366,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/travelling-salesman-problem","display_name":"Travelling salesman problem","score":0.6564821004867554},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6243091821670532},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4940469563007355},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4354633092880249},{"id":"https://openalex.org/keywords/routing","display_name":"Routing (electronic design automation)","score":0.4288707673549652},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4264928102493286},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4242265522480011},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.42361217737197876},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.32954153418540955},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1809663474559784},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14330589771270752},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.11675378680229187},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11508721113204956},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10953858494758606}],"concepts":[{"id":"https://openalex.org/C175859090","wikidata":"https://www.wikidata.org/wiki/Q322212","display_name":"Travelling salesman problem","level":2,"score":0.6564821004867554},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6243091821670532},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4940469563007355},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4354633092880249},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.4288707673549652},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4264928102493286},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4242265522480011},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.42361217737197876},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.32954153418540955},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1809663474559784},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14330589771270752},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11675378680229187},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11508721113204956},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10953858494758606},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968299","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968299","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W171569338","https://openalex.org/W1540172570","https://openalex.org/W1543983621","https://openalex.org/W1544032329","https://openalex.org/W2001127546","https://openalex.org/W2019738489","https://openalex.org/W2063472265","https://openalex.org/W2154418813","https://openalex.org/W2460774278","https://openalex.org/W2563383233","https://openalex.org/W2565276930","https://openalex.org/W2584306035","https://openalex.org/W2607767115","https://openalex.org/W2613565849","https://openalex.org/W2620763225","https://openalex.org/W2744785839","https://openalex.org/W2753134287","https://openalex.org/W2773385683","https://openalex.org/W2779103944","https://openalex.org/W2800295115","https://openalex.org/W2890073142","https://openalex.org/W2892049203","https://openalex.org/W2912874092","https://openalex.org/W2949613486","https://openalex.org/W2950752390","https://openalex.org/W2964247317","https://openalex.org/W3084292537","https://openalex.org/W3104379836","https://openalex.org/W3106014386","https://openalex.org/W4293850932","https://openalex.org/W6632293601","https://openalex.org/W6718675241","https://openalex.org/W6739030312","https://openalex.org/W6747587512","https://openalex.org/W6750907766"],"related_works":["https://openalex.org/W1525389557","https://openalex.org/W2361554335","https://openalex.org/W2359992618","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W2093343611","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3154539612"],"abstract_inverted_index":{"There":[0],"is":[1,147,179,211],"a":[2,7,19,53,61,80,88,138,171,200,204,217],"strong":[3],"demand":[4],"for":[5,71,106,182],"covering":[6],"large":[8,33,81],"area":[9,82],"autonomously":[10],"by":[11,18,23,52,149,197,215],"multiple":[12,37],"UAVs":[13,48,92,116,122],"(Unmanned":[14],"Aerial":[15],"Vehicles)":[16],"supported":[17],"ground":[20,54,74,139],"vehicle.":[21,55],"Limited":[22],"UAVs'":[24],"battery":[25],"life":[26],"and":[27,39,44,73,117,164],"communication":[28],"distance,":[29],"complete":[30],"coverage":[31],"of":[32,47,86,91,112],"areas":[34,51],"typically":[35],"involves":[36],"take-offs":[38],"landings":[40],"to":[41,114,130,194],"recharge":[42],"batteries,":[43],"the":[45,69,110,118,132,159,177,188],"transportation":[46,141],"between":[49],"operation":[50,99],"In":[56],"this":[57],"paper,":[58],"we":[59],"introduce":[60],"novel":[62],"large-area-coverage":[63],"planning":[64],"framework":[65],"which":[66,87,121,143,210],"collectively":[67],"optimizes":[68],"paths":[70,166],"aerial":[72],"vehicles.":[75],"Our":[76],"method":[77],"first":[78,198],"partitions":[79],"into":[83],"sub-areas,":[84],"each":[85,107],"given":[89],"fleet":[90],"can":[93,167,191],"cover":[94],"without":[95],"recharging":[96],"batteries.":[97],"UAV":[98,134],"routes,":[100],"or":[101],"trails,":[102],"are":[103,127],"then":[104,212],"generated":[105],"sub-area.":[108],"Next,":[109],"assignment":[111,163],"trials":[113],"different":[115],"order":[119],"in":[120],"visit":[123],"their":[124],"assigned":[125],"trails":[126],"simultaneously":[128],"optimized":[129,214],"minimize":[131],"total":[133],"flight":[135],"distance.":[136],"Finally,":[137],"vehicle":[140],"path":[142],"visits":[144],"all":[145],"sub-areas":[146],"found":[148],"solving":[150,216],"an":[151],"asymmetric":[152],"traveling":[153],"salesman":[154],"problem":[155],"(ATSP).":[156],"Although":[157],"finding":[158,199],"globally":[160],"optimal":[161],"trail":[162],"transition":[165],"be":[168,192],"formulated":[169],"as":[170],"Mixed":[172],"Integer":[173],"Quadratic":[174],"Program":[175],"(MIQP),":[176],"MIQP":[178],"intractable":[180],"even":[181],"small":[183],"problems.":[184],"We":[185],"show":[186],"that":[187],"solution":[189,202],"time":[190],"reduced":[193],"close-to-real-time":[195],"levels":[196],"feasible":[201],"using":[203],"Random":[205],"Key":[206],"Genetic":[207],"Algorithm":[208],"(RKGA),":[209],"locally":[213],"much":[218],"smaller":[219],"MIQP.":[220]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
