{"id":"https://openalex.org/W2782792473","doi":"https://doi.org/10.1109/lra.2018.2792698","title":"Coverage Control for Multirobot Teams With Heterogeneous Sensing Capabilities","display_name":"Coverage Control for Multirobot Teams With Heterogeneous Sensing Capabilities","publication_year":2018,"publication_date":"2018-01-12","ids":{"openalex":"https://openalex.org/W2782792473","doi":"https://doi.org/10.1109/lra.2018.2792698","mag":"2782792473"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2792698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2792698","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5031643258","display_name":"Mar\u00eda Santos","orcid":"https://orcid.org/0000-0003-0897-9404"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Maria Santos","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0897-9404","affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050664586","display_name":"Yancy Diaz-Mercado","orcid":"https://orcid.org/0000-0003-0288-0112"},"institutions":[{"id":"https://openalex.org/I2802946424","display_name":"Johns Hopkins University Applied Physics Laboratory","ror":"https://ror.org/029pp9z10","country_code":"US","type":"facility","lineage":["https://openalex.org/I145311948","https://openalex.org/I2802946424"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yancy Diaz-Mercado","raw_affiliation_strings":["Johns Hopkins University Applied Physics Laboratory, Laurel, MD, USA"],"raw_orcid":"https://orcid.org/0000-0003-0288-0112","affiliations":[{"raw_affiliation_string":"Johns Hopkins University Applied Physics Laboratory, Laurel, MD, USA","institution_ids":["https://openalex.org/I2802946424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091125105","display_name":"Magnus Egerstedt","orcid":"https://orcid.org/0000-0003-4213-5299"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Magnus Egerstedt","raw_affiliation_strings":["School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5031643258"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":10.8636,"has_fulltext":false,"cited_by_count":113,"citation_normalized_percentile":{"value":0.98498877,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"3","issue":"2","first_page":"919","last_page":"925"},"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/T12288","display_name":"Optimization and Search Problems","score":0.9991999864578247,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/computer-science","display_name":"Computer science","score":0.6470537185668945},{"id":"https://openalex.org/keywords/homogeneous","display_name":"Homogeneous","score":0.5589907765388489},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.5294784307479858},{"id":"https://openalex.org/keywords/cover","display_name":"Cover (algebra)","score":0.5153693556785583},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.462831050157547},{"id":"https://openalex.org/keywords/gradient-descent","display_name":"Gradient descent","score":0.4528272747993469},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4387666583061218},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4155206084251404},{"id":"https://openalex.org/keywords/dominance","display_name":"Dominance (genetics)","score":0.4134797155857086},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36496806144714355},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2296549677848816},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17736893892288208},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12117704749107361}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6470537185668945},{"id":"https://openalex.org/C66882249","wikidata":"https://www.wikidata.org/wiki/Q169336","display_name":"Homogeneous","level":2,"score":0.5589907765388489},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.5294784307479858},{"id":"https://openalex.org/C2780428219","wikidata":"https://www.wikidata.org/wiki/Q16952335","display_name":"Cover (algebra)","level":2,"score":0.5153693556785583},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.462831050157547},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.4528272747993469},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4387666583061218},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4155206084251404},{"id":"https://openalex.org/C151913843","wikidata":"https://www.wikidata.org/wiki/Q3454555","display_name":"Dominance (genetics)","level":3,"score":0.4134797155857086},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36496806144714355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2296549677848816},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17736893892288208},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12117704749107361},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2792698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2792698","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6170796774","display_name":null,"funder_award_id":"#N00014-15-1-2115","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1500145734","https://openalex.org/W1518154293","https://openalex.org/W1532202581","https://openalex.org/W1543364602","https://openalex.org/W1788292158","https://openalex.org/W2035465647","https://openalex.org/W2048475323","https://openalex.org/W2051752778","https://openalex.org/W2079580774","https://openalex.org/W2092709181","https://openalex.org/W2100430744","https://openalex.org/W2108258756","https://openalex.org/W2116485803","https://openalex.org/W2123923211","https://openalex.org/W2126745741","https://openalex.org/W2136517076","https://openalex.org/W2150593711","https://openalex.org/W2165652658","https://openalex.org/W2167485994","https://openalex.org/W2266809378","https://openalex.org/W2751979999","https://openalex.org/W2951276827","https://openalex.org/W2964138223"],"related_works":["https://openalex.org/W1598955744","https://openalex.org/W4285167822","https://openalex.org/W2951710344","https://openalex.org/W2204136089","https://openalex.org/W2144602163","https://openalex.org/W4384111961","https://openalex.org/W2127985649","https://openalex.org/W4249202279","https://openalex.org/W2959587195","https://openalex.org/W2175220642"],"abstract_inverted_index":{"This":[0],"letter":[1],"investigates":[2],"how":[3,132],"mobile":[4],"agents":[5,73],"with":[6],"qualitatively":[7],"different":[8,26,29,46,58,62,162],"sensing":[9,59],"capabilities":[10,27],"should":[11],"be":[12,137],"organized":[13],"in":[14,32,90,122],"order":[15,123],"to":[16,117,124,145],"effectively":[17],"cover":[18],"an":[19],"area.":[20],"In":[21],"particular,":[22],"by":[23],"encoding":[24],"the":[25,33,36,45,72,79,91,100,103,114,126,146],"as":[28,50,71,76,139],"density":[30,47,63],"functions":[31,48,64],"locational":[34,104,127],"cost,":[35,128],"result":[37],"is":[38,68],"a":[39,51,77,107,119,159],"heterogeneous":[40],"coverage":[41],"control":[42],"problem":[43],"where":[44],"serve":[49],"way":[52],"of":[53,88,102,161],"both":[54],"abstracting":[55],"and":[56,129],"encapsulating":[57],"capabilities.":[60],"However,":[61],"imply":[65],"that":[66,82,142],"mass":[67],"not":[69],"conserved":[70],"move":[74],"and,":[75],"result,":[78,108],"normal":[80],"cancellations":[81],"occur":[83],"across":[84],"boundaries":[85],"between":[86],"regions":[87],"dominance":[89],"homogeneous":[92],"case":[93],"no":[94],"longer":[95],"take":[96],"place":[97],"when":[98],"computing":[99],"gradient":[101],"cost.":[105],"As":[106],"new":[109],"terms":[110,135,141],"are":[111,116,143,152],"needed":[112],"if":[113],"robots":[115],"execute":[118],"descent":[120],"flow":[121],"minimize":[125],"we":[130],"show":[131],"these":[133],"additional":[134],"can":[136],"formulated":[138],"boundary-disagreement":[140],"added":[144],"standard":[147],"Lloyd's":[148],"algorithm.":[149],"The":[150],"results":[151],"implemented":[153],"on":[154],"real":[155],"robotic":[156],"platforms":[157],"for":[158],"number":[160],"use":[163],"cases.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":20},{"year":2020,"cited_by_count":16},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":5}],"updated_date":"2026-05-12T08:28:47.272897","created_date":"2025-10-10T00:00:00"}
