{"id":"https://openalex.org/W2076545277","doi":"https://doi.org/10.1109/robot.2010.5509479","title":"Maintaining connectivity in environments with obstacles","display_name":"Maintaining connectivity in environments with obstacles","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2076545277","doi":"https://doi.org/10.1109/robot.2010.5509479","mag":"2076545277"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509479","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://conservancy.umn.edu/bitstreams/c225fe6b-889a-4b61-859e-8ab692fa6d57/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014898250","display_name":"Onur Tekdas","orcid":null},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Onur Tekdas","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","Department of Computer Science and Engineering at the University of Minnesota, 200 Union St SE, Minneapolis, 55455, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Department of Computer Science and Engineering at the University of Minnesota, 200 Union St SE, Minneapolis, 55455, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072760259","display_name":"Patrick A. Plonski","orcid":"https://orcid.org/0000-0002-7978-4586"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick A Plonski","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","Department of Computer Science and Engineering at the University of Minnesota, 200 Union St SE, Minneapolis, 55455, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Department of Computer Science and Engineering at the University of Minnesota, 200 Union St SE, Minneapolis, 55455, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073692530","display_name":"Nikhil Karnad","orcid":"https://orcid.org/0000-0003-4935-7142"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikhil Karnad","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","Department of Computer Science and Engineering at the University of Minnesota, 200 Union St SE, Minneapolis, 55455, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Department of Computer Science and Engineering at the University of Minnesota, 200 Union St SE, Minneapolis, 55455, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033839227","display_name":"Volkan Isler","orcid":"https://orcid.org/0000-0002-0868-5441"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Volkan Isler","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","Department of Computer Science and Engineering at the University of Minnesota, 200 Union St SE, Minneapolis, 55455, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]},{"raw_affiliation_string":"Department of Computer Science and Engineering at the University of Minnesota, 200 Union St SE, Minneapolis, 55455, USA","institution_ids":["https://openalex.org/I130238516"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5014898250"],"corresponding_institution_ids":["https://openalex.org/I130238516"],"apc_list":null,"apc_paid":null,"fwci":3.3531,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.92511104,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1952","last_page":"1957"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9998000264167786,"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/T12288","display_name":"Optimization and Search Problems","score":0.9998000264167786,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9983000159263611,"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/T10246","display_name":"Mobile Ad Hoc Networks","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7198754549026489},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.6479318141937256},{"id":"https://openalex.org/keywords/disjoint-sets","display_name":"Disjoint sets","score":0.5637494921684265},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.528663158416748},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.5109190344810486},{"id":"https://openalex.org/keywords/base-station","display_name":"Base station","score":0.5070371627807617},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.5061630606651306},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5013852119445801},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.4957934319972992},{"id":"https://openalex.org/keywords/wireless-network","display_name":"Wireless network","score":0.4922095835208893},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.45926347374916077},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4398709535598755},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16317400336265564},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09803074598312378},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.0798988938331604}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7198754549026489},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6479318141937256},{"id":"https://openalex.org/C45340560","wikidata":"https://www.wikidata.org/wiki/Q215382","display_name":"Disjoint sets","level":2,"score":0.5637494921684265},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.528663158416748},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.5109190344810486},{"id":"https://openalex.org/C68649174","wikidata":"https://www.wikidata.org/wiki/Q1379116","display_name":"Base station","level":2,"score":0.5070371627807617},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.5061630606651306},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5013852119445801},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.4957934319972992},{"id":"https://openalex.org/C108037233","wikidata":"https://www.wikidata.org/wiki/Q11375","display_name":"Wireless network","level":3,"score":0.4922095835208893},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.45926347374916077},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4398709535598755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16317400336265564},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09803074598312378},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0798988938331604},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/robot.2010.5509479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509479","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:conservancy.umn.edu:11299/215820","is_oa":true,"landing_page_url":"http://hdl.handle.net/11299/215820","pdf_url":"https://conservancy.umn.edu/bitstreams/c225fe6b-889a-4b61-859e-8ab692fa6d57/download","source":{"id":"https://openalex.org/S4306402521","display_name":"University of Minnesota Digital Conservancy (University of Minnesota)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130238516","host_organization_name":"University of Minnesota","host_organization_lineage":["https://openalex.org/I130238516"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Report"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.402.3822","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.402.3822","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.umn.edu/tech_reports_upload/tr2010/10-002.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.592.1980","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.592.1980","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-users.cs.umn.edu/~isler/pub/icra10tekdas.pdf","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:conservancy.umn.edu:11299/215820","is_oa":true,"landing_page_url":"http://hdl.handle.net/11299/215820","pdf_url":"https://conservancy.umn.edu/bitstreams/c225fe6b-889a-4b61-859e-8ab692fa6d57/download","source":{"id":"https://openalex.org/S4306402521","display_name":"University of Minnesota Digital Conservancy (University of Minnesota)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130238516","host_organization_name":"University of Minnesota","host_organization_lineage":["https://openalex.org/I130238516"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Report"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7622909465","display_name":"Collaborative Research: CRI: IAD: Research/Education Infrastructure Based on Modular Miniature Robot Teams","funder_award_id":"0936710","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8355044674","display_name":"Pursuit-Evasion Games with Complex Systems in Complex Environments","funder_award_id":"0907658","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"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2076545277.pdf","grobid_xml":"https://content.openalex.org/works/W2076545277.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1539838681","https://openalex.org/W1585653913","https://openalex.org/W2005182554","https://openalex.org/W2040689398","https://openalex.org/W2048475323","https://openalex.org/W2049964568","https://openalex.org/W2076545277","https://openalex.org/W2093897069","https://openalex.org/W2098846072","https://openalex.org/W2103209505","https://openalex.org/W2105039030","https://openalex.org/W2123604997","https://openalex.org/W2133936558","https://openalex.org/W2144752369","https://openalex.org/W2145133629","https://openalex.org/W2159826786","https://openalex.org/W2163978894","https://openalex.org/W2167485994","https://openalex.org/W2243207363","https://openalex.org/W2295092941","https://openalex.org/W2617047680","https://openalex.org/W3137021466","https://openalex.org/W4254445106","https://openalex.org/W6632311945","https://openalex.org/W6678324046","https://openalex.org/W6697042725"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W4245435724","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W2055301889","https://openalex.org/W1505959757","https://openalex.org/W2376554934","https://openalex.org/W2077790809","https://openalex.org/W2906246018"],"abstract_inverted_index":{"Robotic":[0,22],"routers":[1,23,70,82,92],"(mobile":[2],"robots":[3],"with":[4],"wireless":[5,12,55],"communication":[6,16],"capabilities)":[7],"can":[8],"create":[9],"an":[10,47,101,127],"adaptive":[11],"network":[13],"and":[14,126],"provide":[15],"services":[17],"for":[18,27,68,104,117,130,144],"mobile":[19,35],"users":[20],"on-demand.":[21],"are":[24,93],"especially":[25],"appealing":[26],"applications":[28],"in":[29,46,71],"which":[30],"there":[31],"is":[32,50,109,170],"a":[33,40,110,113,123],"single":[34,124],"user":[36],"whose":[37],"connectivity":[38],"to":[39,53,84],"base":[41],"station":[42],"must":[43],"be":[44],"maintained":[45],"environment":[48,108,121,134,148],"that":[49,90],"large":[51],"compared":[52],"the":[54,62,77,91,97,107,120,133,147,163],"range.":[56],"In":[57],"this":[58],"paper,":[59],"we":[60,99],"study":[61],"problem":[63],"of":[64,80,165],"computing":[65],"motion":[66,87],"strategies":[67],"robotic":[69,81],"such":[72],"scenarios,":[73],"as":[74,76,94,96],"well":[75],"minimum":[78,167],"number":[79],"necessary":[83],"enact":[85],"our":[86],"strategies.":[88],"Assuming":[89],"fast":[95],"user,":[98],"present":[100],"optimal":[102],"solution":[103],"cases":[105,118,131,145],"where":[106,119,132,146],"simply-connected":[111],"polygon,":[112],"constant":[114],"factor":[115],"approximation":[116,129,141],"has":[122,135,149],"obstacle,":[125],"O(h)":[128,140],"h":[136,150],"circular":[137],"obstacles.":[138],"The":[139],"also":[142],"holds":[143],"arbitrary":[151],"polygonal":[152],"obstacles,":[153],"provided":[154],"they":[155],"satisfy":[156],"certain":[157],"geometric":[158],"constraints":[159],"-":[160],"e.g.":[161],"when":[162],"set":[164],"their":[166],"bounding":[168],"circles":[169],"disjoint.":[171]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
