{"id":"https://openalex.org/W2047654455","doi":"https://doi.org/10.1109/tcns.2015.2428304","title":"Dynamic Partitioning and Coverage Control With Asynchronous One-to-Base-Station Communication","display_name":"Dynamic Partitioning and Coverage Control With Asynchronous One-to-Base-Station Communication","publication_year":2015,"publication_date":"2015-04-30","ids":{"openalex":"https://openalex.org/W2047654455","doi":"https://doi.org/10.1109/tcns.2015.2428304","mag":"2047654455"},"language":"en","primary_location":{"id":"doi:10.1109/tcns.2015.2428304","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2015.2428304","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"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 Control of Network Systems","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/A5058020436","display_name":"Rushabh Patel","orcid":"https://orcid.org/0000-0003-3093-4376"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rushabh Patel","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA","Dept. of Mech. Eng., Univ. of California Santa Barbara, Santa Barbara, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Univ. of California Santa Barbara, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050626793","display_name":"Paolo Frasca","orcid":"https://orcid.org/0000-0003-0962-3119"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Paolo Frasca","raw_affiliation_strings":["Department of Applied Mathematics, University of Twente, Enschede, The Netherlands","Dept. of Appl. Math., Univ. of Twente, Enschede, Netherlands#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Mathematics, University of Twente, Enschede, The Netherlands","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Dept. of Appl. Math., Univ. of Twente, Enschede, Netherlands#TAB#","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085289306","display_name":"Joseph W. Durham","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Joseph W. Durham","raw_affiliation_strings":["Kiva Systems, North Reading, MA, USA","Kiva Syst., North Reading, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kiva Systems, North Reading, MA, USA","institution_ids":[]},{"raw_affiliation_string":"Kiva Syst., North Reading, MA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089846134","display_name":"Ruggero Carli","orcid":"https://orcid.org/0000-0002-6506-5898"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ruggero Carli","raw_affiliation_strings":["Department of Information Engineering, University of Padova, Padova, Italy","Department of Information Engineering, University of Padova , Padua, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering, University of Padova, Padova, Italy","institution_ids":["https://openalex.org/I138689650"]},{"raw_affiliation_string":"Department of Information Engineering, University of Padova , Padua, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068353454","display_name":"Francesco Bullo","orcid":"https://orcid.org/0000-0002-4785-2118"},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Francesco Bullo","raw_affiliation_strings":["Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA","Dept. of Mech. Eng., Univ. of California Santa Barbara, Santa Barbara, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Univ. of California Santa Barbara, Santa Barbara, CA, USA","institution_ids":["https://openalex.org/I154570441"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.739,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.95240466,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"3","issue":"1","first_page":"24","last_page":"33"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9998999834060669,"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":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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/base-station","display_name":"Base station","score":0.8030992746353149},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.7584302425384521},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7528572678565979},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6138843894004822},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6030144095420837},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.5972388386726379},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5879186391830444},{"id":"https://openalex.org/keywords/partition","display_name":"Partition (number theory)","score":0.5292900204658508},{"id":"https://openalex.org/keywords/mobile-telephony","display_name":"Mobile telephony","score":0.5131941437721252},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48024728894233704},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.41456738114356995},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.396445095539093},{"id":"https://openalex.org/keywords/mobile-radio","display_name":"Mobile radio","score":0.3734424114227295},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.3207797408103943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19043275713920593},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08640027046203613}],"concepts":[{"id":"https://openalex.org/C68649174","wikidata":"https://www.wikidata.org/wiki/Q1379116","display_name":"Base station","level":2,"score":0.8030992746353149},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.7584302425384521},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7528572678565979},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6138843894004822},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6030144095420837},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.5972388386726379},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5879186391830444},{"id":"https://openalex.org/C42812","wikidata":"https://www.wikidata.org/wiki/Q1082910","display_name":"Partition (number theory)","level":2,"score":0.5292900204658508},{"id":"https://openalex.org/C95491727","wikidata":"https://www.wikidata.org/wiki/Q992968","display_name":"Mobile telephony","level":3,"score":0.5131941437721252},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48024728894233704},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.41456738114356995},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.396445095539093},{"id":"https://openalex.org/C2781307350","wikidata":"https://www.wikidata.org/wiki/Q6887221","display_name":"Mobile radio","level":2,"score":0.3734424114227295},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.3207797408103943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19043275713920593},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08640027046203613},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tcns.2015.2428304","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcns.2015.2428304","pdf_url":null,"source":{"id":"https://openalex.org/S2502544478","display_name":"IEEE Transactions on Control of Network Systems","issn_l":"2325-5870","issn":["2325-5870","2372-2533"],"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 Control of Network Systems","raw_type":"journal-article"},{"id":"pmh:oai:ris.utwente.nl:openaire_cris_publications/69658750-8c2b-4295-9ecf-3376eb93e5e1","is_oa":false,"landing_page_url":"https://research.utwente.nl/en/publications/69658750-8c2b-4295-9ecf-3376eb93e5e1","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Patel, R, Frasca, P, Durham, J W, Carli, R & Bullo, F 2016, 'Dynamic partitioning and coverage control with asynchronous one-to-base-station communication', IEEE transactions on control of network systems, vol. 3, no. 1, pp. 24-33. https://doi.org/10.1109/TCNS.2015.2428304","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.650.930","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.650.930","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://motion.me.ucsb.edu/pdf/2013w-pfdcb.pdf","raw_type":"text"},{"id":"pmh:oai:www.research.unipd.it:11577/3192628","is_oa":false,"landing_page_url":"http://hdl.handle.net/11577/3192628","pdf_url":null,"source":{"id":"https://openalex.org/S4306402547","display_name":"Padua Research Archive (University of Padova)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"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":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[{"id":"https://openalex.org/G6497517655","display_name":null,"funder_award_id":"W911NF-11-1-0092","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G7452299184","display_name":null,"funder_award_id":"W911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G7558344282","display_name":"CPS: Medium: Collaborative Research: Dynamic Routing and Robotic Coordination for Oceanographic Adaptive Sampling","funder_award_id":"1035917","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G798375180","display_name":null,"funder_award_id":"CPS-1035917","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G862988727","display_name":null,"funder_award_id":"W911NF-11","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W158780599","https://openalex.org/W1208385249","https://openalex.org/W1509295102","https://openalex.org/W1549280300","https://openalex.org/W1788292158","https://openalex.org/W1973573057","https://openalex.org/W1992419399","https://openalex.org/W2032443917","https://openalex.org/W2035671048","https://openalex.org/W2064155562","https://openalex.org/W2089998775","https://openalex.org/W2093897069","https://openalex.org/W2097002253","https://openalex.org/W2136517076","https://openalex.org/W2136644454","https://openalex.org/W2138610673","https://openalex.org/W2150593711","https://openalex.org/W2154718413","https://openalex.org/W2167485994","https://openalex.org/W4230573295","https://openalex.org/W6632662516"],"related_works":["https://openalex.org/W4320064709","https://openalex.org/W2883866751","https://openalex.org/W2090039596","https://openalex.org/W2153151466","https://openalex.org/W2374739289","https://openalex.org/W2089411671","https://openalex.org/W1676046567","https://openalex.org/W1561469256","https://openalex.org/W2123906046","https://openalex.org/W1503570654"],"abstract_inverted_index":{"We":[0,90],"propose":[1],"algorithms":[2,72,101],"to":[3,40,53,85,102,107],"automatically":[4],"deploy":[5],"a":[6,15,41,67,86],"group":[7],"of":[8,14,96],"mobile":[9],"robots":[10],"and":[11,37,63,82],"provide":[12],"coverage":[13,55],"nonconvex":[16],"environment":[17],"with":[18,66],"communication":[19,33,39,65],"limitations.":[20],"In":[21],"settings,":[22],"such":[23],"as":[24],"hilly":[25],"terrain":[26],"or":[27],"for":[28],"underwater":[29],"ocean":[30],"gliders,":[31],"peer-to-peer":[32],"can":[34],"be":[35,46],"impossible":[36],"frequent":[38],"central":[42],"base":[43,68],"station":[44],"may":[45],"impractical.":[47],"This":[48],"paper":[49],"instead":[50],"explores":[51],"how":[52,93],"perform":[54],"control":[56],"when":[57],"each":[58],"robot":[59,109],"has":[60],"only":[61],"asynchronous":[62],"sporadic":[64],"station.":[69],"The":[70],"proposed":[71],"rely":[73],"upon":[74],"overlapping":[75,97],"territories,":[76],"monotonically":[77],"minimize":[78],"suitable":[79],"cost":[80],"functions,":[81],"provably":[83],"converge":[84],"centroidal":[87],"Voronoi":[88],"partition.":[89],"also":[91],"describe":[92],"the":[94,108],"use":[95],"territories":[98],"allows":[99],"our":[100],"smoothly":[103],"handle":[104],"dynamic":[105],"changes":[106],"team.":[110]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}