{"id":"https://openalex.org/W3109907338","doi":"https://doi.org/10.1109/iros51168.2021.9636675","title":"Multi-Robot Coverage and Exploration using Spatial Graph Neural Networks","display_name":"Multi-Robot Coverage and Exploration using Spatial Graph Neural Networks","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3109907338","doi":"https://doi.org/10.1109/iros51168.2021.9636675","mag":"3109907338"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636675","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2021 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/A5023551962","display_name":"Ekaterina Tolstaya","orcid":"https://orcid.org/0000-0003-0275-9574"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ekaterina Tolstaya","raw_affiliation_strings":["University of Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, USA","institution_ids":["https://openalex.org/I36788626"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073424051","display_name":"James Paulos","orcid":"https://orcid.org/0000-0002-4906-5679"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Paulos","raw_affiliation_strings":["University of Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, USA","institution_ids":["https://openalex.org/I36788626"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["University of Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, USA","institution_ids":["https://openalex.org/I36788626"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078862959","display_name":"Alejandro Ribeiro","orcid":"https://orcid.org/0000-0003-4230-9906"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alejandro Ribeiro","raw_affiliation_strings":["University of Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, USA","institution_ids":["https://openalex.org/I36788626"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5023551962"],"corresponding_institution_ids":["https://openalex.org/I36788626"],"apc_list":null,"apc_paid":null,"fwci":2.9544,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":{"value":0.93825215,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"8944","last_page":"8950"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9977999925613403,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/computer-science","display_name":"Computer science","score":0.7414453625679016},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5150222778320312},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4711681008338928},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4383573532104492}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7414453625679016},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5150222778320312},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4711681008338928},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4383573532104492}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636675","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636675","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8100000023841858}],"awards":[{"id":"https://openalex.org/G1633690903","display_name":null,"funder_award_id":"00014-20","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G2336166159","display_name":null,"funder_award_id":"4-20-","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G2747436919","display_name":null,"funder_award_id":"W911NF-13-1-","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G5397883260","display_name":null,"funder_award_id":"W911NF-13-1-0350","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G5469137442","display_name":null,"funder_award_id":"W911NF-17-2-0181","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G6274897657","display_name":null,"funder_award_id":"W911NF-13","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G7028374112","display_name":null,"funder_award_id":"N00014-20-S-B001","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G7034037648","display_name":null,"funder_award_id":"4-20-1-","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G7452299184","display_name":null,"funder_award_id":"W911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G8661253275","display_name":null,"funder_award_id":"N00014-20-1-2822","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G8727049869","display_name":null,"funder_award_id":"W911NF-13","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8876996369","display_name":null,"funder_award_id":"N00014","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G8895310522","display_name":null,"funder_award_id":"W911NF-17-2-0181","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G8998121839","display_name":null,"funder_award_id":"911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1541256735","https://openalex.org/W1542670833","https://openalex.org/W1584640914","https://openalex.org/W1601649239","https://openalex.org/W2019738489","https://openalex.org/W2121272499","https://openalex.org/W2134765105","https://openalex.org/W2169240708","https://openalex.org/W2340982237","https://openalex.org/W2399100674","https://openalex.org/W2736601468","https://openalex.org/W2753798143","https://openalex.org/W2790514337","https://openalex.org/W2798598284","https://openalex.org/W2805516822","https://openalex.org/W2908729504","https://openalex.org/W2919449706","https://openalex.org/W2940133096","https://openalex.org/W2948433391","https://openalex.org/W2964015378","https://openalex.org/W2969052628","https://openalex.org/W3024375163","https://openalex.org/W3028801376","https://openalex.org/W3031236342","https://openalex.org/W3034369882","https://openalex.org/W3041833837","https://openalex.org/W3135165578","https://openalex.org/W4299285968","https://openalex.org/W6726873649","https://openalex.org/W6741002519","https://openalex.org/W6744580074","https://openalex.org/W6751796012","https://openalex.org/W6760136860","https://openalex.org/W6760725535","https://openalex.org/W6763838503","https://openalex.org/W6766224423","https://openalex.org/W6779716342"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"The":[0],"multi-robot":[1],"coverage":[2,24],"problem":[3,25],"is":[4],"an":[5,59,98,112],"essential":[6],"building":[7],"block":[8],"for":[9,78],"systems":[10],"that":[11,49,75],"perform":[12],"tasks":[13],"like":[14],"inspection,":[15],"exploration,":[16],"or":[17],"search":[18],"and":[19,33,72,93],"rescue.":[20],"We":[21,101],"discretize":[22],"the":[23,39,51,55,79,83,104],"to":[26,57,68,87],"induce":[27],"a":[28,44,88],"spatial":[29,52],"graph":[30],"of":[31,54,90,95],"locations":[32],"represent":[34],"robots":[35],"as":[36],"nodes":[37],"in":[38,97,111],"graph.":[40],"Then,":[41],"we":[42],"train":[43],"Graph":[45],"Neural":[46],"Network":[47],"controller":[48,106],"leverages":[50],"equivariance":[53],"task":[56],"imitate":[58],"expert":[60],"open-loop":[61],"routing":[62],"solution.":[63],"This":[64],"approach":[65],"generalizes":[66,85],"well":[67],"much":[69],"larger":[70,73],"maps":[71],"teams":[74],"are":[76],"intractable":[77],"expert.":[80],"In":[81],"particular,":[82],"model":[84],"effectively":[86],"simulation":[89],"ten":[91],"quadrotors":[92],"dozens":[94],"buildings":[96],"urban":[99],"setting.":[100],"also":[102],"demonstrate":[103],"GNN":[105],"can":[107],"surpass":[108],"planning-based":[109],"approaches":[110],"exploration":[113],"task.":[114]},"counts_by_year":[{"year":2025,"cited_by_count":22},{"year":2024,"cited_by_count":23},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
