{"id":"https://openalex.org/W4393032631","doi":"https://doi.org/10.1109/tase.2024.3379166","title":"DIBNN: A Dual-Improved-BNN Based Algorithm for Multi-Robot Cooperative Area Search in Complex Obstacle Environments","display_name":"DIBNN: A Dual-Improved-BNN Based Algorithm for Multi-Robot Cooperative Area Search in Complex Obstacle Environments","publication_year":2024,"publication_date":"2024-03-21","ids":{"openalex":"https://openalex.org/W4393032631","doi":"https://doi.org/10.1109/tase.2024.3379166"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3379166","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3379166","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5100427376","display_name":"Bo Chen","orcid":"https://orcid.org/0000-0002-8443-0344"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Chen","raw_affiliation_strings":["School of Robotics, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-8443-0344","affiliations":[{"raw_affiliation_string":"School of Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100323420","display_name":"Hui Zhang","orcid":"https://orcid.org/0000-0002-1803-3148"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Zhang","raw_affiliation_strings":["School of Robotics, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-1803-3148","affiliations":[{"raw_affiliation_string":"School of Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100425802","display_name":"Fangfang Zhang","orcid":"https://orcid.org/0000-0001-6516-9673"},"institutions":[{"id":"https://openalex.org/I38877650","display_name":"Zhengzhou University","ror":"https://ror.org/04ypx8c21","country_code":"CN","type":"education","lineage":["https://openalex.org/I38877650"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangfang Zhang","raw_affiliation_strings":["School of Electrical Engineering, Zhengzhou University, Zhengzhou, Henan, China","School of Electrical Engineering, Zhengzhou University, Zhengzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-6516-9673","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Zhengzhou University, Zhengzhou, Henan, China","institution_ids":["https://openalex.org/I38877650"]},{"raw_affiliation_string":"School of Electrical Engineering, Zhengzhou University, Zhengzhou, China","institution_ids":["https://openalex.org/I38877650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067854210","display_name":"Yiming Jiang","orcid":"https://orcid.org/0000-0001-5963-2932"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Jiang","raw_affiliation_strings":["School of Robotics, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0001-5963-2932","affiliations":[{"raw_affiliation_string":"School of Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013336609","display_name":"Zhiqiang Miao","orcid":"https://orcid.org/0000-0002-0899-1537"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Miao","raw_affiliation_strings":["College of Electrical and Information Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-0899-1537","affiliations":[{"raw_affiliation_string":"College of Electrical and Information Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037783994","display_name":"Hongnian Yu","orcid":"https://orcid.org/0000-0003-2894-2086"},"institutions":[{"id":"https://openalex.org/I251738","display_name":"Edinburgh Napier University","ror":"https://ror.org/03zjvnn91","country_code":"GB","type":"education","lineage":["https://openalex.org/I251738"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hongnian Yu","raw_affiliation_strings":["School of Computing, Engineering and the Built Environment, Edinburgh Napier University, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0003-2894-2086","affiliations":[{"raw_affiliation_string":"School of Computing, Engineering and the Built Environment, Edinburgh Napier University, Edinburgh, U.K","institution_ids":["https://openalex.org/I251738"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025640070","display_name":"Yaonan Wang","orcid":"https://orcid.org/0000-0002-0519-6458"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaonan Wang","raw_affiliation_strings":["School of Robotics, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-0519-6458","affiliations":[{"raw_affiliation_string":"School of Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.8435,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.91587499,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"2361","last_page":"2374"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9922000169754028,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9922000169754028,"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/T12288","display_name":"Optimization and Search Problems","score":0.9763000011444092,"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/T11106","display_name":"Data Management and Algorithms","score":0.9690999984741211,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/obstacle","display_name":"Obstacle","score":0.6790905594825745},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.597057580947876},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5803889632225037},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5656160116195679},{"id":"https://openalex.org/keywords/algorithm-design","display_name":"Algorithm design","score":0.46721068024635315},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4501294791698456},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4368249773979187},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43351536989212036},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41497802734375},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3706740140914917},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32522016763687134}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.6790905594825745},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.597057580947876},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5803889632225037},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5656160116195679},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.46721068024635315},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4501294791698456},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4368249773979187},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43351536989212036},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41497802734375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3706740140914917},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32522016763687134},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"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/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2024.3379166","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3379166","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:repository@napier.ac.uk:3574134","is_oa":false,"landing_page_url":"http://researchrepository.napier.ac.uk/Output/3574134","pdf_url":null,"source":{"id":"https://openalex.org/S4306402591","display_name":"Edinburgh Napier Research Repository (Edinburgh Napier University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I251738","host_organization_name":"Edinburgh Napier University","host_organization_lineage":["https://openalex.org/I251738"],"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":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2563698302","display_name":null,"funder_award_id":"2021ZD0114503","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6258236843","display_name":null,"funder_award_id":"92148204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6554369827","display_name":null,"funder_award_id":"2023GK2068","funder_id":"https://openalex.org/F4320330214","funder_display_name":"Key Research and Development Program of Hunan Province of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320330214","display_name":"Key Research and Development Program of Hunan Province of China","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W212036681","https://openalex.org/W1707207708","https://openalex.org/W1985940938","https://openalex.org/W1988196484","https://openalex.org/W1992106482","https://openalex.org/W1996773027","https://openalex.org/W2037337557","https://openalex.org/W2038915176","https://openalex.org/W2048449340","https://openalex.org/W2097197074","https://openalex.org/W2101040790","https://openalex.org/W2118379053","https://openalex.org/W2140047299","https://openalex.org/W2163947939","https://openalex.org/W2170388107","https://openalex.org/W2174829765","https://openalex.org/W2283031475","https://openalex.org/W2288109557","https://openalex.org/W2407583558","https://openalex.org/W2479429355","https://openalex.org/W2520681647","https://openalex.org/W2772714344","https://openalex.org/W2781170968","https://openalex.org/W2790458093","https://openalex.org/W2883485678","https://openalex.org/W2913827941","https://openalex.org/W2950540542","https://openalex.org/W2966477753","https://openalex.org/W2972961588","https://openalex.org/W3006821066","https://openalex.org/W3028504345","https://openalex.org/W3109733879","https://openalex.org/W3119321206","https://openalex.org/W3123803777","https://openalex.org/W3127305823","https://openalex.org/W3144376613","https://openalex.org/W3166228843","https://openalex.org/W3202021129","https://openalex.org/W3208321106","https://openalex.org/W3209782100","https://openalex.org/W4225158077","https://openalex.org/W4241653134","https://openalex.org/W4285114847","https://openalex.org/W4285169373","https://openalex.org/W4285818829","https://openalex.org/W4293704263","https://openalex.org/W4312246040","https://openalex.org/W4317437777","https://openalex.org/W4322731405","https://openalex.org/W4360584287","https://openalex.org/W4383340199"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2906946336"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,35,40,43,55,58,90,94,98,132,138,142,147,163,212,236],"area":[3,20,109,143,170,185,215,229],"search":[4,21,78,110,144,171,186,199,216,230,245],"task":[5,145],"of":[6,42,61,158,214],"a":[7,18,25,76,81,85,243],"multi-robot":[8,108,139,257],"system":[9],"in":[10,89,124,146,198,217,231,259],"an":[11],"unknown":[12,202,232],"complex":[13,44,91,148,218,233],"obstacle":[14,45,92,115,149,219,234],"environment,":[15,93],"we":[16,33,74,106],"propose":[17,75],"cooperative":[19,244],"algorithm":[22,134,238],"based":[23,191],"on":[24,47,192],"dual":[26],"improved":[27],"bio-inspired":[28],"neural":[29],"network":[30],"(DIBNN).":[31],"First,":[32],"improve":[34],"BNN":[36,193],"model":[37],"to":[38,100,140,154,165,205,226,256],"reduce":[39],"interference":[41],"environment":[46],"robot":[48,52,82,99],"decision":[49],"making.":[50],"Each":[51],"generally":[53],"chooses":[54],"neuron":[56],"with":[57,120],"largest":[59],"sum":[60],"surrounding":[62],"activity":[63],"values":[64],"among":[65],"adjacent":[66],"neurons":[67],"as":[68,177],"its":[69,206],"next":[70],"movement":[71],"position.":[72],"Then,":[73],"collaborative":[77],"mechanism.":[79],"When":[80],"falls":[83],"into":[84],"local":[86],"deadlock":[87],"state":[88],"mechanism":[95,246],"will":[96],"guide":[97,137],"quickly":[101],"find":[102],"unsearched":[103],"areas.":[104],"Finally,":[105],"conduct":[107],"simulation":[111,128],"experiments":[112],"under":[113,201],"different":[114,260],"environments":[116,203,220],"and":[117,168,181,187,209,247],"compare":[118],"them":[119],"three":[121],"baseline":[122],"algorithms":[123,172,190],"this":[125,159],"field.":[126],"The":[127,189],"results":[129],"verify":[130],"that":[131],"proposed":[133],"can":[135,252],"efficiently":[136],"complete":[141],"environment.":[150],"<italic":[151],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[152],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[153],"Practitioners</i>":[155],"\u2014The":[156],"motivation":[157],"article":[160],"arises":[161],"from":[162],"need":[164],"develop":[166],"fast":[167],"effective":[169],"for":[173],"practical":[174],"applications":[175],"such":[176],"UAV":[178],"swarm":[179],"reconnaissance":[180],"multiple":[182],"mobile":[183],"robots":[184],"rescue.":[188],"has":[194],"been":[195],"widely":[196],"used":[197],"tasks":[200],"due":[204],"good":[207],"scalability":[208],"efficiency.":[210],"However,":[211],"efficiency":[213],"cannot":[221],"be":[222,254],"guaranteed.":[223],"In":[224],"order":[225],"achieve":[227],"efficient":[228],"environments,":[235],"DIBNN":[237,251],"is":[239],"proposed.":[240],"It":[241],"utilizes":[242],"achieves":[248],"better":[249],"performance.":[250],"also":[253],"applied":[255],"systems":[258],"scenarios,":[261],"demonstrating":[262],"strong":[263],"scalability.":[264]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}