{"id":"https://openalex.org/W3132906235","doi":"https://doi.org/10.1109/lra.2021.3061072","title":"Graph Connectivity Control of a Mobile Robot Network With Mixed Dynamic Multi-Tasks","display_name":"Graph Connectivity Control of a Mobile Robot Network With Mixed Dynamic Multi-Tasks","publication_year":2021,"publication_date":"2021-02-22","ids":{"openalex":"https://openalex.org/W3132906235","doi":"https://doi.org/10.1109/lra.2021.3061072","mag":"3132906235"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3061072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061072","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5001689106","display_name":"Manuel Boldrer","orcid":"https://orcid.org/0000-0002-7534-5762"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manuel Boldrer","raw_affiliation_strings":["Department of Industrial Engineering (DII), University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0002-7534-5762","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering (DII), University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000093663","display_name":"Paolo Bevilacqua","orcid":"https://orcid.org/0000-0003-0695-481X"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Bevilacqua","raw_affiliation_strings":["Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0695-481X","affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006224560","display_name":"Luigi Palopoli","orcid":"https://orcid.org/0000-0001-8813-8685"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi Palopoli","raw_affiliation_strings":["Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8813-8685","affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045097296","display_name":"Daniele Fontanelli","orcid":"https://orcid.org/0000-0002-5486-9989"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Fontanelli","raw_affiliation_strings":["Department of Industrial Engineering (DII), University of Trento, Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5486-9989","affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering (DII), University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I193223587"],"apc_list":null,"apc_paid":null,"fwci":0.9094,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.74565093,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"6","issue":"2","first_page":"1934","last_page":"1941"},"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/T11896","display_name":"Opportunistic and Delay-Tolerant Networks","score":0.994700014591217,"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":0.9930999875068665,"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":0.7809114456176758},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.6625350713729858},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6245999336242676},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6245111227035522},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5311656594276428},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5228050947189331},{"id":"https://openalex.org/keywords/spanning-tree","display_name":"Spanning tree","score":0.5042022466659546},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44300568103790283},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42085781693458557},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.326100617647171},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.31525713205337524},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30938100814819336},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13284984230995178},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08397826552391052}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7809114456176758},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.6625350713729858},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6245999336242676},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6245111227035522},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5311656594276428},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5228050947189331},{"id":"https://openalex.org/C64331007","wikidata":"https://www.wikidata.org/wiki/Q831672","display_name":"Spanning tree","level":2,"score":0.5042022466659546},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44300568103790283},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42085781693458557},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.326100617647171},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.31525713205337524},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30938100814819336},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13284984230995178},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08397826552391052},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3061072","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061072","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"},{"id":"pmh:oai:iris.unitn.it:11572/328848","is_oa":false,"landing_page_url":"http://hdl.handle.net/11572/328848","pdf_url":null,"source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1927738706","https://openalex.org/W1974676331","https://openalex.org/W2063596703","https://openalex.org/W2063801303","https://openalex.org/W2070842753","https://openalex.org/W2074032690","https://openalex.org/W2100920791","https://openalex.org/W2125510865","https://openalex.org/W2129011652","https://openalex.org/W2141327408","https://openalex.org/W2144752369","https://openalex.org/W2150593711","https://openalex.org/W2152244994","https://openalex.org/W2160409949","https://openalex.org/W2167485994","https://openalex.org/W2323417403","https://openalex.org/W2331066323","https://openalex.org/W2810907219","https://openalex.org/W2987358769","https://openalex.org/W3007327890","https://openalex.org/W3011493183","https://openalex.org/W3090292192","https://openalex.org/W3130529439","https://openalex.org/W6640271875","https://openalex.org/W6753065481","https://openalex.org/W6768328238","https://openalex.org/W6790645454"],"related_works":["https://openalex.org/W2374925474","https://openalex.org/W2046435967","https://openalex.org/W4231775656","https://openalex.org/W2073397884","https://openalex.org/W1987177025","https://openalex.org/W4389325756","https://openalex.org/W2149927264","https://openalex.org/W315249011","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Given":[0],"a":[1,16,121],"team":[2],"composed":[3],"of":[4,6,31,42,64,69,93,101],"groups":[5],"robots":[7,111],"with":[8],"different":[9,12,33,49],"abilities":[10],"and":[11,57,90,104,139],"tasks,":[13],"we":[14],"propose":[15],"control":[17],"solution":[18,97],"that":[19,47],"allows":[20],"maintaining":[21],"the":[22,25,29,32,37,48,67,70,84,91,99,105,110,115],"connectivity":[23,43],"between":[24,109],"agents":[26,50],"whilst":[27],"securing":[28],"execution":[30,100],"tasks":[34,92,103],"assigned":[35],"to":[36,52],"team.":[38],"The":[39,117],"specific":[40],"notion":[41],"adopted":[44],"here":[45],"is":[46,60,126,135],"have":[51],"mutually":[53],"remain":[54],"in":[55,62,128],"line-of-sight,":[56],"this":[58,129],"condition":[59],"guaranteed":[61],"presence":[63],"obstacles.":[65],"In":[66],"computation":[68],"graph":[71],"topology,":[72],"based":[73],"on":[74,120],"Minimum":[75],"Spanning":[76],"Tree":[77],"(MST),":[78],"each":[79],"agent":[80],"takes":[81],"into":[82],"account":[83],"surrounding":[85],"environment,":[86],"its":[87,94,132],"own":[88],"task":[89,106],"neighbours.":[95],"Our":[96],"permits":[98],"heterogeneous":[102],"dynamic":[107],"reallocation":[108],"when":[112],"required":[113],"by":[114],"situation.":[116],"approach":[118],"relies":[119],"sound":[122],"theoretical":[123],"framework,":[124],"which":[125],"discussed":[127],"letter,":[130],"while":[131],"practical":[133],"feasibility":[134],"shown":[136],"through":[137],"simulations":[138],"experimental":[140],"data":[141],"using":[142],"real":[143],"robotic":[144],"platforms.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}