{"id":"https://openalex.org/W7162452300","doi":"https://doi.org/10.1109/jiot.2026.3697350","title":"CleanAll: Efficient Object Collection Route Planning From LiDAR Point Clouds Transmission in Cleaning Scenarios","display_name":"CleanAll: Efficient Object Collection Route Planning From LiDAR Point Clouds Transmission in Cleaning Scenarios","publication_year":2026,"publication_date":"2026-05-26","ids":{"openalex":"https://openalex.org/W7162452300","doi":"https://doi.org/10.1109/jiot.2026.3697350"},"language":null,"primary_location":{"id":"doi:10.1109/jiot.2026.3697350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2026.3697350","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5137059665","display_name":"Muhammad Nawaz Khan","orcid":"https://orcid.org/0000-0002-6682-7049"},"institutions":[{"id":"https://openalex.org/I12832649","display_name":"Gachon University","ror":"https://ror.org/03ryywt80","country_code":"KR","type":"education","lineage":["https://openalex.org/I12832649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Muhammad Nawaz Khan","raw_affiliation_strings":["Gachon University"],"raw_orcid":"https://orcid.org/0000-0002-6682-7049","affiliations":[{"raw_affiliation_string":"Gachon University","institution_ids":["https://openalex.org/I12832649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013248212","display_name":"Sokjoon Lee","orcid":"https://orcid.org/0000-0002-4632-8322"},"institutions":[{"id":"https://openalex.org/I12832649","display_name":"Gachon University","ror":"https://ror.org/03ryywt80","country_code":"KR","type":"education","lineage":["https://openalex.org/I12832649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sokjoon Lee","raw_affiliation_strings":["Gachon University"],"raw_orcid":"https://orcid.org/0000-0002-4632-8322","affiliations":[{"raw_affiliation_string":"Gachon University","institution_ids":["https://openalex.org/I12832649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059949408","display_name":"Ali Alqazzaz","orcid":"https://orcid.org/0000-0001-7721-0450"},"institutions":[{"id":"https://openalex.org/I4210136004","display_name":"University of Bisha","ror":"https://ror.org/040548g92","country_code":"SA","type":"education","lineage":["https://openalex.org/I4210136004"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Ali Alqazzaz","raw_affiliation_strings":["University of Bisha"],"raw_orcid":"https://orcid.org/0000-0001-7721-0450","affiliations":[{"raw_affiliation_string":"University of Bisha","institution_ids":["https://openalex.org/I4210136004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089107181","display_name":"Mana Saleh Al Reshan","orcid":"https://orcid.org/0000-0002-2266-9608"},"institutions":[{"id":"https://openalex.org/I47164929","display_name":"Najran University","ror":"https://ror.org/05edw4a90","country_code":"SA","type":"education","lineage":["https://openalex.org/I47164929"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Mana Saleh Al Reshan","raw_affiliation_strings":["Najran University"],"raw_orcid":"https://orcid.org/0000-0002-2266-9608","affiliations":[{"raw_affiliation_string":"Najran University","institution_ids":["https://openalex.org/I47164929"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137082175","display_name":"Asadullah Shaikh","orcid":"https://orcid.org/0000-0003-4806-6159"},"institutions":[{"id":"https://openalex.org/I47164929","display_name":"Najran University","ror":"https://ror.org/05edw4a90","country_code":"SA","type":"education","lineage":["https://openalex.org/I47164929"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Asadullah Shaikh","raw_affiliation_strings":["Najran University"],"raw_orcid":"https://orcid.org/0000-0003-4806-6159","affiliations":[{"raw_affiliation_string":"Najran University","institution_ids":["https://openalex.org/I47164929"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5137076216","display_name":"Mousa Alalhareth","orcid":"https://orcid.org/0000-0002-8664-8953"},"institutions":[{"id":"https://openalex.org/I47164929","display_name":"Najran University","ror":"https://ror.org/05edw4a90","country_code":"SA","type":"education","lineage":["https://openalex.org/I47164929"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Mousa Alalhareth","raw_affiliation_strings":["Najran University"],"raw_orcid":"https://orcid.org/0000-0002-8664-8953","affiliations":[{"raw_affiliation_string":"Najran University","institution_ids":["https://openalex.org/I47164929"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.64256766,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"15","first_page":"35223","last_page":"35236"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.15000000596046448,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.15000000596046448,"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":0.12790000438690186,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.07259999960660934,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/route-planning","display_name":"Route planning","score":0.6984999775886536},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5751000046730042},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.49540001153945923},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4578000009059906},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.44690001010894775},{"id":"https://openalex.org/keywords/data-collection","display_name":"Data collection","score":0.4438000023365021},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.38510000705718994}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7595000267028809},{"id":"https://openalex.org/C2989549987","wikidata":"https://www.wikidata.org/wiki/Q350882","display_name":"Route planning","level":2,"score":0.6984999775886536},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5751000046730042},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.49540001153945923},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.48840001225471497},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4578000009059906},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.44690001010894775},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.4438000023365021},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.4196000099182129},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.38510000705718994},{"id":"https://openalex.org/C557945733","wikidata":"https://www.wikidata.org/wiki/Q389772","display_name":"Data transmission","level":2,"score":0.3416000008583069},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.31839999556541443},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.3018999993801117},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2888999879360199},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.28619998693466187},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.27379998564720154},{"id":"https://openalex.org/C3019973339","wikidata":"https://www.wikidata.org/wiki/Q899523","display_name":"Object based","level":3,"score":0.2630000114440918},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.25450000166893005}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2026.3697350","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2026.3697350","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Due":[0],"to":[1,14,73,86,148,182,195,353],"technological":[2],"advancements,":[3],"today\u2019s":[4],"world":[5],"is":[6,60,134,179,193,201,231,259],"rapidly":[7],"changing":[8],"from":[9,92,125,143],"traditional":[10],"and":[11,16,22,40,54,68,75,88,102,172,184,188,204,218,245,292,298,315,355,360],"legacy":[12],"approaches":[13],"smarter":[15],"more":[17,202,358],"autonomous":[18],"techniques.":[19],"Intelligent":[20],"systems":[21,70],"super-connectivity":[23],"make":[24],"possible":[25],"the":[26,93,104,130,159,197,229,237,247,299,309,318,328,347],"era":[27],"of":[28,275],"pervasive":[29],"services,":[30],"where":[31,65,216],"these":[32,252,339],"services":[33],"can":[34],"be":[35],"used":[36,72,181,194,227],"by":[37,228,250],"anyone,":[38],"anywhere,":[39],"at":[41],"any":[42],"time":[43,244],"(AAA).":[44],"These":[45,95],"advancements":[46],"have":[47,111,296,301,313],"completely":[48],"transformed":[49],"modern":[50],"living,":[51],"increasing":[52],"convenience":[53],"providing":[55],"greater":[56],"comfort.":[57],"Robotic":[58],"cleaning":[59,103,115,214],"one":[61],"such":[62],"revolutionized":[63],"area":[64],"self-driving":[66],"robots":[67,96],"automated":[69],"are":[71,97,220],"navigate":[74],"clean":[76,356],"dirt.":[77],"3D":[78,145],"mapping":[79],"adapts":[80],"changes":[81],"based":[82],"on":[83,280],"visual":[84],"conditions":[85],"detect":[87,185],"remove":[89],"waste":[90,101],"obstacles":[91],"location.":[94],"useful":[98,234],"for":[99,213,255],"collecting":[100,265],"floor.":[105],"In":[106],"this":[107],"research":[108],"work,":[109],"we":[110],"proposed":[112],"a":[113,168,210],"LiDAR-based":[114],"robotic":[116],"system":[117,137],"called":[118],"\u201dCleanAll:":[119],"Efficient":[120],"Object":[121],"Collection":[122],"Route":[123],"Planning":[124],"LiDAR":[126],"Point":[127],"Clouds":[128],"in":[129,235,261,306,311,317],"Cleaning":[131],"Scenario.\u201d":[132],"It":[133],"an":[135,140,173,189,270],"automotive":[136],"that":[138,323,342],"calculates":[139],"optimized":[141,160,225],"path":[142,161,226],"its":[144,153,205],"point-cloud":[146],"data":[147,165,177,330,349],"collect":[149],"some":[150],"objects":[151,267],"through":[152],"object":[154,186],"collector.":[155],"CleanAll":[156,200,258,324,343],"moves":[157],"over":[158],"using":[162,327,346],"point":[163],"cloud":[164],"along":[166],"with":[167,269,287,335],"dual-antenna":[169],"GNSS":[170],"receiver":[171],"IMU.":[174],"A":[175],"defined":[176],"set":[178],"already":[180],"compare":[183],"shapes,":[187],"extended":[190],"Kalman":[191],"filter":[192],"obtain":[196],"robot\u2019s":[198],"position.":[199],"responsive,":[203],"quick":[206],"decision-making":[207],"makes":[208],"it":[209,241,283],"better":[211,326,345],"option":[212],"scenarios":[215],"dirt":[217],"trash":[219,256,357],"scattered":[221],"throughout":[222],"areas.":[223],"The":[224,294],"robot":[230],"not":[232],"only":[233],"finding":[236],"shortest":[238],"path,":[239],"but":[240],"also":[242],"saves":[243],"consumes":[246],"minimum":[248],"energy":[249],"following":[251],"short":[253],"paths":[254],"collection.":[257],"evaluated":[260],"three":[262],"different":[263],"scenarios,":[264],"all":[266],"(scattered/line-by-line)":[268],"average":[271],"standard":[272,289],"error":[273],"rate":[274],"0.4593.":[276],"To":[277],"assess":[278],"performance":[279],"other":[281],"parameters,":[282],"has":[284],"been":[285,302],"tested":[286],"two":[288],"datasets,":[290],"ACIN":[291,329,348],"IPA.":[293],"TPRs":[295,310,334],"0.75,":[297],"FPRs":[300],"recorded":[303],"as":[304],"0.40":[305],"ACIN,":[307],"while":[308],"IPA":[312],"0.7":[314],"0.4":[316],"same":[319],"scenario.":[320],"This":[321],"means":[322],"performs":[325,344],"set,":[331,350],"achieving":[332],"higher":[333],"lower":[336],"FPRs.":[337],"All":[338],"experiments":[340],"illustrate":[341],"which":[351],"aims":[352],"recognize":[354],"precisely":[359],"efficiently.":[361]},"counts_by_year":[],"updated_date":"2026-07-25T05:54:39.514286","created_date":"2026-05-27T00:00:00"}
