{"id":"https://openalex.org/W4391695406","doi":"https://doi.org/10.1109/sii58957.2024.10417163","title":"A Random Walk-Based Stochastic Distributed Exploration Algorithm for Low-Cost Swarm Robots","display_name":"A Random Walk-Based Stochastic Distributed Exploration Algorithm for Low-Cost Swarm Robots","publication_year":2024,"publication_date":"2024-01-08","ids":{"openalex":"https://openalex.org/W4391695406","doi":"https://doi.org/10.1109/sii58957.2024.10417163"},"language":"en","primary_location":{"id":"doi:10.1109/sii58957.2024.10417163","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii58957.2024.10417163","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/SICE International Symposium on System Integration (SII)","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/A5060287130","display_name":"Kosuke Sakamoto","orcid":"https://orcid.org/0000-0002-8781-516X"},"institutions":[{"id":"https://openalex.org/I96679780","display_name":"Chuo University","ror":"https://ror.org/03qvqb743","country_code":"JP","type":"education","lineage":["https://openalex.org/I96679780"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kosuke Sakamoto","raw_affiliation_strings":["Chuo University,Department of Electrical, Electronic, and Communication Engineering,Tokyo,Japan","Department of Electrical, Electronic, and Communication Engineering, Chuo University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Chuo University,Department of Electrical, Electronic, and Communication Engineering,Tokyo,Japan","institution_ids":["https://openalex.org/I96679780"]},{"raw_affiliation_string":"Department of Electrical, Electronic, and Communication Engineering, Chuo University, Tokyo, Japan","institution_ids":["https://openalex.org/I96679780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015116909","display_name":"Toui Sato","orcid":null},"institutions":[{"id":"https://openalex.org/I96679780","display_name":"Chuo University","ror":"https://ror.org/03qvqb743","country_code":"JP","type":"education","lineage":["https://openalex.org/I96679780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toui Sato","raw_affiliation_strings":["Chuo University,Department of Electrical, Electronic, and Communication Engineering,Tokyo,Japan","Department of Electrical, Electronic, and Communication Engineering, Chuo University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Chuo University,Department of Electrical, Electronic, and Communication Engineering,Tokyo,Japan","institution_ids":["https://openalex.org/I96679780"]},{"raw_affiliation_string":"Department of Electrical, Electronic, and Communication Engineering, Chuo University, Tokyo, Japan","institution_ids":["https://openalex.org/I96679780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101303164","display_name":"Kiyohisa Izumi","orcid":null},"institutions":[{"id":"https://openalex.org/I96679780","display_name":"Chuo University","ror":"https://ror.org/03qvqb743","country_code":"JP","type":"education","lineage":["https://openalex.org/I96679780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kiyohisa Izumi","raw_affiliation_strings":["Chuo University,Department of Electrical, Electronic, and Communication Engineering,Tokyo,Japan","Department of Electrical, Electronic, and Communication Engineering, Chuo University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Chuo University,Department of Electrical, Electronic, and Communication Engineering,Tokyo,Japan","institution_ids":["https://openalex.org/I96679780"]},{"raw_affiliation_string":"Department of Electrical, Electronic, and Communication Engineering, Chuo University, Tokyo, Japan","institution_ids":["https://openalex.org/I96679780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100996919","display_name":"Tomoki Kato","orcid":null},"institutions":[{"id":"https://openalex.org/I96679780","display_name":"Chuo University","ror":"https://ror.org/03qvqb743","country_code":"JP","type":"education","lineage":["https://openalex.org/I96679780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoki Kato","raw_affiliation_strings":["Chuo University,Department of Electrical, Electronic, and Communication Engineering,Tokyo,Japan","Department of Electrical, Electronic, and Communication Engineering, Chuo University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Chuo University,Department of Electrical, Electronic, and Communication Engineering,Tokyo,Japan","institution_ids":["https://openalex.org/I96679780"]},{"raw_affiliation_string":"Department of Electrical, Electronic, and Communication Engineering, Chuo University, Tokyo, Japan","institution_ids":["https://openalex.org/I96679780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063653919","display_name":"Takao Maeda","orcid":null},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takao Maeda","raw_affiliation_strings":["Tokyo University of Agriculture and Technology,Department of Mechanical Systems Engineering,Koganei, Tokyo,Japan,184-0012"],"affiliations":[{"raw_affiliation_string":"Tokyo University of Agriculture and Technology,Department of Mechanical Systems Engineering,Koganei, Tokyo,Japan,184-0012","institution_ids":["https://openalex.org/I92614990"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112662257","display_name":"Yasuharu Kunii","orcid":null},"institutions":[{"id":"https://openalex.org/I96679780","display_name":"Chuo University","ror":"https://ror.org/03qvqb743","country_code":"JP","type":"education","lineage":["https://openalex.org/I96679780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuharu Kunii","raw_affiliation_strings":["Chuo University,Department of Electrical, Electronic, and Communication Engineering,Tokyo,Japan","Department of Electrical, Electronic, and Communication Engineering, Chuo University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Chuo University,Department of Electrical, Electronic, and Communication Engineering,Tokyo,Japan","institution_ids":["https://openalex.org/I96679780"]},{"raw_affiliation_string":"Department of Electrical, Electronic, and Communication Engineering, Chuo University, Tokyo, Japan","institution_ids":["https://openalex.org/I96679780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5060287130"],"corresponding_institution_ids":["https://openalex.org/I96679780"],"apc_list":null,"apc_paid":null,"fwci":1.8156,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.84764288,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"998","last_page":"1003"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9986000061035156,"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":0.9986000061035156,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.996999979019165,"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/robot","display_name":"Robot","score":0.7796325087547302},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.7178945541381836},{"id":"https://openalex.org/keywords/random-walk","display_name":"Random walk","score":0.7113905549049377},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.7037771344184875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6842044591903687},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.6387274265289307},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5691981911659241},{"id":"https://openalex.org/keywords/scope","display_name":"Scope (computer science)","score":0.5184894800186157},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4750628173351288},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.44304922223091125},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4180719554424286},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4024898409843445},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3833763599395752},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08330878615379333}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7796325087547302},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.7178945541381836},{"id":"https://openalex.org/C121194460","wikidata":"https://www.wikidata.org/wiki/Q856741","display_name":"Random walk","level":2,"score":0.7113905549049377},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.7037771344184875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6842044591903687},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.6387274265289307},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5691981911659241},{"id":"https://openalex.org/C2778012447","wikidata":"https://www.wikidata.org/wiki/Q1034415","display_name":"Scope (computer science)","level":2,"score":0.5184894800186157},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4750628173351288},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.44304922223091125},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4180719554424286},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4024898409843445},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3833763599395752},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08330878615379333},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii58957.2024.10417163","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii58957.2024.10417163","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320907","display_name":"Japan Science and Technology Corporation","ror":"https://ror.org/00097mb19"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1516582706","https://openalex.org/W2050957746","https://openalex.org/W2146086743","https://openalex.org/W2161194249","https://openalex.org/W2505310813","https://openalex.org/W2768620720","https://openalex.org/W2921051524","https://openalex.org/W3012458227","https://openalex.org/W3046825707","https://openalex.org/W4244105789","https://openalex.org/W4287220078","https://openalex.org/W4391405898","https://openalex.org/W6602758072","https://openalex.org/W6630972016"],"related_works":["https://openalex.org/W1871202614","https://openalex.org/W4233987368","https://openalex.org/W65954170","https://openalex.org/W1988876749","https://openalex.org/W3094438089","https://openalex.org/W2518382144","https://openalex.org/W2350154411","https://openalex.org/W4229451618","https://openalex.org/W617387166","https://openalex.org/W2787547275"],"abstract_inverted_index":{"The":[0,102,160],"advancement":[1],"of":[2,15,40,56,89,135],"swarm":[3,43,90],"robotics":[4],"has":[5],"made":[6],"tremendous":[7],"strides":[8],"in":[9,42],"recent":[10],"years,":[11],"expanding":[12],"the":[13,37,51,86,130,133,136,147,152,164],"scope":[14],"its":[16,93],"deployment":[17,39],"from":[18],"outdoor":[19],"settings":[20],"like":[21],"construction":[22],"sites":[23],"and":[24,53,70,92,100,111,115],"planetary":[25],"exploration":[26,81,158],"to":[27,36,49,64,71,120,132],"indoor":[28],"scenarios":[29],"such":[30],"as":[31],"transportation-related":[32],"activities.":[33],"However,":[34],"due":[35],"large":[38,58],"units":[41],"robots,":[44,91,126],"they":[45],"cannot":[46],"be":[47],"engineered":[48],"have":[50],"costly":[52],"high-performance":[54],"characteristics":[55],"conventional":[57],"robots.":[59],"Thus,":[60],"it":[61,119],"is":[62,95,105],"desirable":[63],"maintain":[65],"low":[66],"performance":[67,94],"per":[68],"unit":[69],"reduce":[72],"manufacturing":[73],"costs.":[74],"This":[75],"paper":[76],"presents":[77],"a":[78,108,156],"stochastic":[79],"distributed":[80],"algorithm":[82,104,149],"that":[83,146,163],"accounts":[84],"for":[85],"above":[87],"features":[88],"verified":[96],"through":[97],"both":[98],"simulations":[99],"experiments.":[101],"proposed":[103,148],"based":[106,139],"on":[107,129,140],"random":[109,141],"walk":[110],"avoids":[112],"path":[113],"planning":[114],"high-precision":[116],"sensing,":[117],"enabling":[118],"function":[121],"well":[122],"even":[123],"with":[124,155],"low-performance":[125],"relying":[127],"only":[128],"distance":[131],"center":[134],"search":[137,153,170],"area":[138,154],"walks.":[142],"Simulation":[143],"outcomes":[144],"demonstrate":[145],"can":[150,166],"explore":[151,168],"specified":[157],"distribution.":[159],"experiments":[161],"affirm":[162],"robot":[165],"sequentially":[167],"multiple":[169],"areas.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-03-01T08:55:55.761014","created_date":"2025-10-10T00:00:00"}