{"id":"https://openalex.org/W4391306293","doi":"https://doi.org/10.1109/rose60297.2023.10410671","title":"Experimental Validation of Multirobot Coverage using Underactuated Networked Mobile Robots","display_name":"Experimental Validation of Multirobot Coverage using Underactuated Networked Mobile Robots","publication_year":2023,"publication_date":"2023-11-06","ids":{"openalex":"https://openalex.org/W4391306293","doi":"https://doi.org/10.1109/rose60297.2023.10410671"},"language":"en","primary_location":{"id":"doi:10.1109/rose60297.2023.10410671","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/rose60297.2023.10410671","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","raw_type":"proceedings-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/A5092337809","display_name":"Isaiah Chism","orcid":null},"institutions":[{"id":"https://openalex.org/I24648388","display_name":"Bradley University","ror":"https://ror.org/04kmeaw70","country_code":"US","type":"education","lineage":["https://openalex.org/I24648388"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Isaiah Chism","raw_affiliation_strings":["Bradley University,Department of Electrical and Computer Engineering,Peoria,Illinois, 61615,USA","Department of Electrical and Computer Engineering, Bradley University, Peoria, Illinois, 61615, USA"],"affiliations":[{"raw_affiliation_string":"Bradley University,Department of Electrical and Computer Engineering,Peoria,Illinois, 61615,USA","institution_ids":["https://openalex.org/I24648388"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Bradley University, Peoria, Illinois, 61615, USA","institution_ids":["https://openalex.org/I24648388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081569037","display_name":"Daniel Plante","orcid":null},"institutions":[{"id":"https://openalex.org/I24648388","display_name":"Bradley University","ror":"https://ror.org/04kmeaw70","country_code":"US","type":"education","lineage":["https://openalex.org/I24648388"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Plante","raw_affiliation_strings":["Bradley University,Department of Electrical and Computer Engineering,Peoria,Illinois, 61615,USA","Department of Electrical and Computer Engineering, Bradley University, Peoria, Illinois, 61615, USA"],"affiliations":[{"raw_affiliation_string":"Bradley University,Department of Electrical and Computer Engineering,Peoria,Illinois, 61615,USA","institution_ids":["https://openalex.org/I24648388"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Bradley University, Peoria, Illinois, 61615, USA","institution_ids":["https://openalex.org/I24648388"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045456375","display_name":"Mohammed Abouheaf","orcid":"https://orcid.org/0000-0002-6130-9015"},"institutions":[{"id":"https://openalex.org/I24648388","display_name":"Bradley University","ror":"https://ror.org/04kmeaw70","country_code":"US","type":"education","lineage":["https://openalex.org/I24648388"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohammed Abouheaf","raw_affiliation_strings":["Bradley University,Department of Electrical and Computer Engineering,Peoria,Illinois, 61615,USA","Department of Electrical and Computer Engineering, Bradley University, Peoria, Illinois, 61615, USA"],"affiliations":[{"raw_affiliation_string":"Bradley University,Department of Electrical and Computer Engineering,Peoria,Illinois, 61615,USA","institution_ids":["https://openalex.org/I24648388"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Bradley University, Peoria, Illinois, 61615, USA","institution_ids":["https://openalex.org/I24648388"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000681023","display_name":"Suruz Miah","orcid":"https://orcid.org/0000-0001-6533-0770"},"institutions":[{"id":"https://openalex.org/I24648388","display_name":"Bradley University","ror":"https://ror.org/04kmeaw70","country_code":"US","type":"education","lineage":["https://openalex.org/I24648388"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Md Suruz Miah","raw_affiliation_strings":["Bradley University,Department of Electrical and Computer Engineering,Peoria,Illinois, 61615,USA","Department of Electrical and Computer Engineering, Bradley University, Peoria, Illinois, 61615, USA"],"affiliations":[{"raw_affiliation_string":"Bradley University,Department of Electrical and Computer Engineering,Peoria,Illinois, 61615,USA","institution_ids":["https://openalex.org/I24648388"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Bradley University, Peoria, Illinois, 61615, USA","institution_ids":["https://openalex.org/I24648388"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5092337809"],"corresponding_institution_ids":["https://openalex.org/I24648388"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23224913,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"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":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980999827384949,"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/T11133","display_name":"UAV Applications and Optimization","score":0.9973000288009644,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7201065421104431},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6854362487792969},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6489722728729248},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.560306191444397},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1889401078224182}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7201065421104431},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6854362487792969},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6489722728729248},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.560306191444397},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1889401078224182}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rose60297.2023.10410671","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/rose60297.2023.10410671","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320307966","display_name":"Caterpillar","ror":"https://ror.org/01qhm7e49"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1971977644","https://openalex.org/W2007403280","https://openalex.org/W2081501943","https://openalex.org/W2081511162","https://openalex.org/W2134183500","https://openalex.org/W2167485994","https://openalex.org/W2317179323","https://openalex.org/W2559225780","https://openalex.org/W2600224351","https://openalex.org/W2789715205","https://openalex.org/W2791175669","https://openalex.org/W2966986364","https://openalex.org/W2973840551","https://openalex.org/W3086203063","https://openalex.org/W4210680895","https://openalex.org/W4239339957","https://openalex.org/W4283790957","https://openalex.org/W4289627534","https://openalex.org/W4312322250","https://openalex.org/W4361026739","https://openalex.org/W4375858793","https://openalex.org/W6680905481"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Consequent":[0],"to":[1,56,70,76,130,192,217],"previously":[2],"published":[3],"numerical":[4],"results":[5,17,208],"on":[6,41,165],"area":[7,46,157,201,220],"coverage":[8,50,73,202,221],"control":[9,74],"with":[10,58,91,209,232],"state":[11],"estimation,":[12],"we":[13],"present":[14],"apparatus":[15],"and":[16,25,101,104,113,134,136],"of":[18,32,116,145,174,189,196,206,213,236],"experiments":[19],"conducted":[20,231],"at":[21],"Bradley":[22],"University\u2019s":[23],"robotics":[24],"controls":[26],"laboratories.":[27],"For":[28],"that,":[29],"a":[30,42,62,124,210,233],"team":[31],"underactuated":[33],"wheeled":[34],"mobile":[35],"robots":[36,78,103,147,153,191,214,237],"is":[37,51,68,84,89,183,215],"deployed":[38,79],"for":[39,93],"operating":[40,148],"two-dimensional":[43],"(2D)":[44],"floor":[45],"so":[47],"that":[48,86,150,170,185],"its":[49,109,132,138],"maximized.":[52],"Robots":[53],"are":[54,229],"able":[55],"communicate":[57],"each":[59,87],"other":[60,102,118,146,175],"through":[61],"Wi-Fi":[63],"network.":[64],"A":[65,204],"remote":[66],"computer":[67],"used":[69],"launch":[71],"the":[72,81,95,105,114,117,143,156,159,166,172,178,186,200,219,225,239,242,250],"algorithm":[75],"networked":[77],"in":[80,149,238,257],"area.":[82,151],"It":[83],"assumed":[85],"robot":[88,119,122,245],"mounted":[90],"sensors":[92],"measuring":[94],"noisy":[96,106],"line-of-sight":[97],"distance":[98],"between":[99,108],"itself":[100],"angle":[107],"current":[110],"heading":[111],"direction":[112,115],"positions.":[120],"Each":[121],"employs":[123],"distributed":[125],"Extended":[126],"Kalman":[127],"filter":[128],"(EKF)":[129],"estimate":[131],"position":[133],"orientation":[135],"build":[137],"local":[139,168],"map":[140,169],"by":[141],"estimating":[142],"positions":[144,173],"The":[152],"then":[154],"partition":[155],"using":[158,241],"conventional":[160,179],"Voronoi":[161,197],"tessellation":[162],"technique":[163],"based":[164],"estimated":[167],"represents":[171],"robots.":[176],"Using":[177],"Lloyd":[180],"algorithm,":[181],"it":[182,254],"guaranteed":[184],"asymptotic":[187],"convergence":[188],"all":[190],"their":[193],"corresponding":[194],"circumcenters":[195],"cells":[198],"maximizes":[199],"metric.":[203,222],"set":[205],"experimental":[207],"limited":[211],"number":[212,235],"presented":[216],"evaluate":[218],"To":[223],"generalize":[224],"idea,":[226],"test":[227],"runs":[228],"also":[230],"large":[234],"network":[240],"commercially":[243],"available":[244],"simulator,":[246],"CoppeliaSim,":[247],"which":[248],"mimics":[249],"performance":[251],"as":[252],"if":[253],"would":[255],"happen":[256],"real":[258],"life.":[259]},"counts_by_year":[],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}