{"id":"https://openalex.org/W2587073725","doi":"https://doi.org/10.1109/sarnof.2016.7846742","title":"On the continuous coverage problem for a swarm of UAVs","display_name":"On the continuous coverage problem for a swarm of UAVs","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2587073725","doi":"https://doi.org/10.1109/sarnof.2016.7846742","mag":"2587073725"},"language":"en","primary_location":{"id":"doi:10.1109/sarnof.2016.7846742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sarnof.2016.7846742","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 37th Sarnoff Symposium","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1705.09766","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Hazim Shakhatreh","orcid":null},"institutions":[{"id":"https://openalex.org/I118118575","display_name":"New Jersey Institute of Technology","ror":"https://ror.org/05e74xb87","country_code":"US","type":"education","lineage":["https://openalex.org/I118118575"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hazim Shakhatreh","raw_affiliation_strings":["Department of Electrical and Computer Engineering, New Jersey Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, New Jersey Institute of Technology","institution_ids":["https://openalex.org/I118118575"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Abdallah Khreishah","orcid":null},"institutions":[{"id":"https://openalex.org/I118118575","display_name":"New Jersey Institute of Technology","ror":"https://ror.org/05e74xb87","country_code":"US","type":"education","lineage":["https://openalex.org/I118118575"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abdallah Khreishah","raw_affiliation_strings":["Department of Electrical and Computer Engineering, New Jersey Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, New Jersey Institute of Technology","institution_ids":["https://openalex.org/I118118575"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jacob Chakareski","orcid":null},"institutions":[{"id":"https://openalex.org/I17301866","display_name":"University of Alabama","ror":"https://ror.org/03xrrjk67","country_code":"US","type":"education","lineage":["https://openalex.org/I17301866"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jacob Chakareski","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Alabama"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Alabama","institution_ids":["https://openalex.org/I17301866"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Haythem Bany Salameh","orcid":null},"institutions":[{"id":"https://openalex.org/I85507684","display_name":"Yarmouk University","ror":"https://ror.org/004mbaj56","country_code":"JO","type":"education","lineage":["https://openalex.org/I85507684"]}],"countries":["JO"],"is_corresponding":false,"raw_author_name":"Haythem Bany Salameh","raw_affiliation_strings":["Department of Telecommunications Engineering, Yarmouk University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Telecommunications Engineering, Yarmouk University","institution_ids":["https://openalex.org/I85507684"]}]},{"author_position":"last","author":{"id":null,"display_name":"Issa Khalil","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Issa Khalil","raw_affiliation_strings":["Qarar Computing Research Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Qarar Computing Research Institute","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":71,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"130","last_page":"135"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T11392","display_name":"Energy Harvesting in Wireless Networks","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.984000027179718,"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/cover","display_name":"Cover (algebra)","score":0.7055000066757202},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.49079999327659607},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.4189000129699707},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.3668999969959259},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.34619998931884766},{"id":"https://openalex.org/keywords/battery-capacity","display_name":"Battery capacity","score":0.3402000069618225},{"id":"https://openalex.org/keywords/battery","display_name":"Battery (electricity)","score":0.3386000096797943}],"concepts":[{"id":"https://openalex.org/C2780428219","wikidata":"https://www.wikidata.org/wiki/Q16952335","display_name":"Cover (algebra)","level":2,"score":0.7055000066757202},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5996000170707703},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.49079999327659607},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.48660001158714294},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.4189000129699707},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.3668999969959259},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.34619998931884766},{"id":"https://openalex.org/C2989104859","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery capacity","level":4,"score":0.3402000069618225},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3386000096797943},{"id":"https://openalex.org/C555008776","wikidata":"https://www.wikidata.org/wiki/Q267298","display_name":"Battery (electricity)","level":3,"score":0.3386000096797943},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.30230000615119934},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.2888999879360199},{"id":"https://openalex.org/C108037233","wikidata":"https://www.wikidata.org/wiki/Q11375","display_name":"Wireless network","level":3,"score":0.28060001134872437},{"id":"https://openalex.org/C108005400","wikidata":"https://www.wikidata.org/wiki/Q1305598","display_name":"Facility location problem","level":2,"score":0.27869999408721924},{"id":"https://openalex.org/C3017552255","wikidata":"https://www.wikidata.org/wiki/Q4135208","display_name":"Arrival time","level":2,"score":0.2648000121116638},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.2605000138282776},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.25540000200271606}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/sarnof.2016.7846742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sarnof.2016.7846742","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 37th Sarnoff Symposium","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1705.09766","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1705.09766","pdf_url":"https://arxiv.org/pdf/1705.09766","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1705.09766","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1705.09766","pdf_url":"https://arxiv.org/pdf/1705.09766","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1130343902","https://openalex.org/W1991221930","https://openalex.org/W2036586979","https://openalex.org/W2082040042","https://openalex.org/W2089066744","https://openalex.org/W2117740102","https://openalex.org/W2126805955","https://openalex.org/W2963686678","https://openalex.org/W2963988601","https://openalex.org/W6607571859","https://openalex.org/W6610719302","https://openalex.org/W6611293598","https://openalex.org/W6618166492","https://openalex.org/W6674554722","https://openalex.org/W6689334447","https://openalex.org/W6701954692"],"related_works":[],"abstract_inverted_index":{"Unmanned":[0],"aerial":[1],"vehicles":[2],"(UAVs)":[3],"can":[4],"be":[5,115],"used":[6],"to":[7,25,28,35,71,96,114,139,146,208],"provide":[8],"wireless":[9],"network":[10],"and":[11,109,152,186,190,221],"remote":[12],"surveillance":[13],"coverage":[14,54,78],"for":[15,32,51],"disaster-affected":[16],"areas.":[17],"During":[18],"such":[19,98],"a":[20,29,52,56,99,142],"situation,":[21],"the":[22,42,46,60,77,85,91,103,106,110,118,130,166,172,176,178,183,187,196,209,213,217,227],"UAVs":[23,49,95,206,218],"need":[24],"return":[26],"periodically":[27],"charging":[30,86,104,189],"station":[31],"recharging,":[33],"due":[34],"their":[36],"limited":[37,133,199],"battery":[38],"capacity.":[39],"We":[40,63,88,193],"study":[41,75],"problem":[43,67],"of":[44,48,55,94,112,168,175,180,216,229],"minimizing":[45],"number":[47,93,111,179,228],"required":[50],"continuous":[53],"given":[57,59,143],"area,":[58,185],"recharging":[61],"requirement.":[62],"prove":[64],"that":[65,82,195],"this":[66,122],"is":[68,145,219,231],"NP-complete.":[69],"Due":[70],"its":[72],"intractability,":[73],"we":[74,124],"partitioning":[76],"graph":[79],"into":[80,149],"cycles":[81,131,157,197],"start":[83],"at":[84],"station.":[87],"first":[89],"characterize":[90],"minimum":[92],"cover":[97,141,153],"cycle":[100],"based":[101],"on":[102,121],"time,":[105,108],"traveling":[107,191],"subareas":[113,151,181,230],"covered":[116,184],"by":[117,155],"cycle.":[119],"Based":[120],"analysis,":[123],"then":[125],"develop":[126],"an":[127],"efficient":[128],"algorithm,":[129],"with":[132,198],"energy":[134,173,200,214],"algorithm.":[135],"The":[136],"straightforward":[137,210],"method":[138],"continuously":[140],"area":[144],"split":[147],"it":[148,154],"N":[150,156,159],"using":[158],"additional":[160,205,224],"UAVs.":[161],"Our":[162],"simulation":[163],"results":[164],"examine":[165],"importance":[167],"critical":[169],"system":[170],"parameters:":[171],"capacity":[174,215],"UAVs,":[177,225],"in":[182],"UAV":[188],"times.":[192],"demonstrate":[194],"algorithm":[201],"requires":[202],"69%-94%":[203],"fewer":[204,223],"relative":[207],"method,":[211],"as":[212,226],"increased,":[220],"67%-71%":[222],"increased.":[232]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2017-02-17T00:00:00"}