{"id":"https://openalex.org/W4402300055","doi":"https://doi.org/10.1109/lra.2024.3455804","title":"Safe Coverage for Heterogeneous Systems With Limited Connectivity","display_name":"Safe Coverage for Heterogeneous Systems With Limited Connectivity","publication_year":2024,"publication_date":"2024-09-06","ids":{"openalex":"https://openalex.org/W4402300055","doi":"https://doi.org/10.1109/lra.2024.3455804"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3455804","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3455804","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/A5048079759","display_name":"Annalisa Taylor","orcid":"https://orcid.org/0000-0002-7204-4956"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Annalisa T. Taylor","raw_affiliation_strings":["Center for Robotics and Biosystems, Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA"],"raw_orcid":"https://orcid.org/0000-0002-7204-4956","affiliations":[{"raw_affiliation_string":"Center for Robotics and Biosystems, Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043752929","display_name":"Thomas A. Berrueta","orcid":"https://orcid.org/0000-0002-3781-0934"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas A. Berrueta","raw_affiliation_strings":["Center for Robotics and Biosystems, Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA"],"raw_orcid":"https://orcid.org/0000-0002-3781-0934","affiliations":[{"raw_affiliation_string":"Center for Robotics and Biosystems, Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013330580","display_name":"Allison Pinosky","orcid":"https://orcid.org/0000-0002-3095-8856"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison Pinosky","raw_affiliation_strings":["Center for Robotics and Biosystems, Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA"],"raw_orcid":"https://orcid.org/0000-0002-3095-8856","affiliations":[{"raw_affiliation_string":"Center for Robotics and Biosystems, Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067725461","display_name":"Todd D. Murphey","orcid":"https://orcid.org/0000-0003-2262-8176"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Todd D. Murphey","raw_affiliation_strings":["Center for Robotics and Biosystems, Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA"],"raw_orcid":"https://orcid.org/0000-0003-2262-8176","affiliations":[{"raw_affiliation_string":"Center for Robotics and Biosystems, Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I111979921"],"apc_list":null,"apc_paid":null,"fwci":0.2841,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.55850401,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"9","issue":"10","first_page":"8866","last_page":"8873"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9961000084877014,"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":0.989300012588501,"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":0.5113376975059509}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5113376975059509}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3455804","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3455804","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/G4566812657","display_name":null,"funder_award_id":"N00014-21-1-2706","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G7356139724","display_name":null,"funder_award_id":"CNS-2229170","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1512329318","https://openalex.org/W1556924139","https://openalex.org/W1996905878","https://openalex.org/W2006625750","https://openalex.org/W2028721241","https://openalex.org/W2083245347","https://openalex.org/W2135947416","https://openalex.org/W2136478830","https://openalex.org/W2283600647","https://openalex.org/W2398089096","https://openalex.org/W2422465219","https://openalex.org/W2472475467","https://openalex.org/W2475307529","https://openalex.org/W2563129138","https://openalex.org/W2567377301","https://openalex.org/W2620840602","https://openalex.org/W2620902575","https://openalex.org/W2759569768","https://openalex.org/W2787690100","https://openalex.org/W2807778117","https://openalex.org/W2891877367","https://openalex.org/W2936516903","https://openalex.org/W2945541231","https://openalex.org/W2956901944","https://openalex.org/W2964057747","https://openalex.org/W2968945909","https://openalex.org/W3100296869","https://openalex.org/W3106197191","https://openalex.org/W3142421752","https://openalex.org/W3146928153","https://openalex.org/W3184087412","https://openalex.org/W3207315207","https://openalex.org/W4235414394","https://openalex.org/W4292845460","https://openalex.org/W4360976218","https://openalex.org/W4383108399","https://openalex.org/W4385430612","https://openalex.org/W4390439726","https://openalex.org/W4390659168"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"Operating":[0],"multi-robot":[1,41],"teams":[2],"of":[3,27,90],"diverse":[4],"agents":[5,69,81],"is":[6,16,98],"an":[7,36,117],"ongoing":[8],"challenge":[9],"for":[10,38,51],"emergency":[11],"deployments,":[12],"where":[13,65],"inter-agent":[14],"connectivity":[15,109],"rare":[17],"and":[18,53],"environments":[19],"are":[20],"unpredictable.":[21],"Heterogeneous":[22],"systems":[23,42],"must":[24],"be":[25,114],"capable":[26],"adapting":[28],"autonomously":[29],"while":[30],"maintaining":[31],"safety.":[32],"Here,":[33],"we":[34,85],"develop":[35],"algorithm":[37,62],"heterogeneous":[39],"decentralized":[40],"to":[43,67,100],"independently":[44],"manage":[45],"safety":[46,52,76],"constraints":[47,77],"with":[48,75,93,116],"provable":[49],"guarantees":[50],"communication":[54,104],"in":[55,63],"a":[56,71,91,94,101,111],"coverage":[57],"task.":[58],"We":[59],"demonstrate":[60],"this":[61],"settings":[64],"up":[66],"100":[68],"navigate":[70],"simulated":[72],"cluttered":[73],"environment":[74],"that":[78,87,107],"change":[79],"as":[80,110],"observe":[82],"hazards.":[83],"Further,":[84],"show":[86],"the":[88],"performance":[89],"system":[92],"largely":[95],"disconnected":[96],"network":[97],"equivalent":[99],"fully":[102],"connected":[103],"network,":[105],"suggesting":[106],"treating":[108],"constraint":[112],"may":[113],"unnecessary":[115],"appropriate":[118],"control":[119],"strategy.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
