{"id":"https://openalex.org/W4378804834","doi":"https://doi.org/10.1109/tcyb.2023.3268844","title":"A Herd-Foraging-Based Approach to Adaptive Coverage Path Planning in Dual Environments","display_name":"A Herd-Foraging-Based Approach to Adaptive Coverage Path Planning in Dual Environments","publication_year":2023,"publication_date":"2023-05-31","ids":{"openalex":"https://openalex.org/W4378804834","doi":"https://doi.org/10.1109/tcyb.2023.3268844","pmid":"https://pubmed.ncbi.nlm.nih.gov/37256798"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2023.3268844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2023.3268844","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5100648251","display_name":"Junqi Zhang","orcid":"https://orcid.org/0000-0002-4465-5880"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junqi Zhang","raw_affiliation_strings":["Department of Computer Science and Technology, Key Laboratory of Embedded System and Service Computing, Ministry of Education, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-4465-5880","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Key Laboratory of Embedded System and Service Computing, Ministry of Education, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080154939","display_name":"Peng Zu","orcid":null},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Zu","raw_affiliation_strings":["Department of Computer Science and Technology, Key Laboratory of Embedded System and Service Computing, Ministry of Education, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Key Laboratory of Embedded System and Service Computing, Ministry of Education, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Kun Liu","orcid":"https://orcid.org/0009-0006-8791-9459"},"institutions":[{"id":"https://openalex.org/I4210096250","display_name":"Beijing Institute of Big Data Research","ror":"https://ror.org/00s1sz824","country_code":"CN","type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I37796252","https://openalex.org/I4210096250"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Liu","raw_affiliation_strings":["Big Data Analytic, Advanced Institute of Big Data, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0006-8791-9459","affiliations":[{"raw_affiliation_string":"Big Data Analytic, Advanced Institute of Big Data, Beijing, China","institution_ids":["https://openalex.org/I4210096250"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081318069","display_name":"MengChu Zhou","orcid":"https://orcid.org/0000-0002-5408-8752"},"institutions":[{"id":"https://openalex.org/I111950717","display_name":"Macau University of Science and Technology","ror":"https://ror.org/03jqs2n27","country_code":"MO","type":"education","lineage":["https://openalex.org/I111950717","https://openalex.org/I4391767947"]},{"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":["MO","US"],"is_corresponding":false,"raw_author_name":"Mengchu Zhou","raw_affiliation_strings":["Macao Institute of Systems Engineering and Collaborative Laboratory for Intelligent Science and Systems, Macau University of Science and Technology, Macao, China and","Department of Electrical and Computer Engineering, New Jersey Institute of Technology, Newark, NJ, USA"],"raw_orcid":"https://orcid.org/0000-0002-5408-8752","affiliations":[{"raw_affiliation_string":"Macao Institute of Systems Engineering and Collaborative Laboratory for Intelligent Science and Systems, Macau University of Science and Technology, Macao, China and","institution_ids":["https://openalex.org/I111950717"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, New Jersey Institute of Technology, Newark, NJ, USA","institution_ids":["https://openalex.org/I118118575"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8082,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.87372303,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"54","issue":"3","first_page":"1882","last_page":"1893"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.994700014591217,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/foraging","display_name":"Foraging","score":0.8665789365768433},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.7016966938972473},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5702310800552368},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5220065712928772},{"id":"https://openalex.org/keywords/herd","display_name":"Herd","score":0.503602921962738},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4979252815246582},{"id":"https://openalex.org/keywords/dual-purpose","display_name":"Dual purpose","score":0.45074090361595154},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.3337762951850891},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.2680017948150635},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2384355664253235},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.19928714632987976},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1819036602973938},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.06764519214630127},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.05880790948867798}],"concepts":[{"id":"https://openalex.org/C165287380","wikidata":"https://www.wikidata.org/wiki/Q2916569","display_name":"Foraging","level":2,"score":0.8665789365768433},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.7016966938972473},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5702310800552368},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5220065712928772},{"id":"https://openalex.org/C194775826","wikidata":"https://www.wikidata.org/wiki/Q209542","display_name":"Herd","level":2,"score":0.503602921962738},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4979252815246582},{"id":"https://openalex.org/C3019953569","wikidata":"https://www.wikidata.org/wiki/Q5310141","display_name":"Dual purpose","level":2,"score":0.45074090361595154},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.3337762951850891},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.2680017948150635},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2384355664253235},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.19928714632987976},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1819036602973938},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.06764519214630127},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.05880790948867798},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2023.3268844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2023.3268844","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:37256798","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37256798","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6399999856948853}],"awards":[{"id":"https://openalex.org/G2701178210","display_name":null,"funder_award_id":"62073244","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2927280735","display_name":null,"funder_award_id":"61703279","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4369383357","display_name":null,"funder_award_id":"0047/2021/A1","funder_id":"https://openalex.org/F4320323893","funder_display_name":"Fundo para o Desenvolvimento das Ci\u00eancias e da Tecnologia"},{"id":"https://openalex.org/G4765004916","display_name":null,"funder_award_id":"202101070007E00098","funder_id":"https://openalex.org/F4320321881","funder_display_name":"Shanghai Municipal Education Commission"},{"id":"https://openalex.org/G6499523850","display_name":null,"funder_award_id":"51775385","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8586123930","display_name":null,"funder_award_id":"61876218","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation 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/F4320321881","display_name":"Shanghai Municipal Education Commission","ror":"https://ror.org/05tewj457"},{"id":"https://openalex.org/F4320323893","display_name":"Fundo para o Desenvolvimento das Ci\u00eancias e da Tecnologia","ror":"https://ror.org/05vna4324"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1979775288","https://openalex.org/W2019738489","https://openalex.org/W2034688899","https://openalex.org/W2114595091","https://openalex.org/W2137224124","https://openalex.org/W2138899304","https://openalex.org/W2139386984","https://openalex.org/W2157788623","https://openalex.org/W2166177494","https://openalex.org/W2168953036","https://openalex.org/W2283031475","https://openalex.org/W2520681647","https://openalex.org/W2603794593","https://openalex.org/W2740121437","https://openalex.org/W2790223694","https://openalex.org/W2790458093","https://openalex.org/W2904387011","https://openalex.org/W2914691959","https://openalex.org/W2920209765","https://openalex.org/W2945996237","https://openalex.org/W2962807522","https://openalex.org/W2988886997","https://openalex.org/W3006821066","https://openalex.org/W3044306737","https://openalex.org/W3049432409","https://openalex.org/W3089520225","https://openalex.org/W3093836483","https://openalex.org/W3110407708","https://openalex.org/W3117520861","https://openalex.org/W3129499688","https://openalex.org/W3140120893","https://openalex.org/W3194353082","https://openalex.org/W3194499284","https://openalex.org/W4200173886","https://openalex.org/W4253570324","https://openalex.org/W6605142574"],"related_works":["https://openalex.org/W2393949104","https://openalex.org/W2223223036","https://openalex.org/W4402635156","https://openalex.org/W1526011401","https://openalex.org/W3046201198","https://openalex.org/W2128391805","https://openalex.org/W2952466936","https://openalex.org/W4393907530","https://openalex.org/W2996104470","https://openalex.org/W4383720864"],"abstract_inverted_index":{"Coverage":[0],"path":[1],"planning":[2],"(CPP)":[3],"is":[4,94,157,231,257],"essential":[5],"for":[6,147],"robotic":[7],"tasks,":[8],"such":[9,62,110],"as":[10,63,111],"environmental":[11,220],"monitoring":[12],"and":[13,54,78,87,104,154,169,214,238,244,246],"terrain":[14],"surveying,":[15],"which":[16],"require":[17],"covering":[18,49],"all":[19],"surface":[20],"areas":[21],"of":[22,34,47,67,144,173,193,241],"interest.":[23],"As":[24],"the":[25,32,40,45,64,91,121,127,134,139,142,148,171,176,183,190,219],"pioneering":[26],"approach":[27,205],"to":[28,100,125,132,165,180,185,210,260],"CPP,":[29],"inspired":[30],"by":[31,189],"concept":[33],"predation":[35],"risk":[36,172],"in":[37,59,75,82,114,152,163,195,222,233],"predator-prey":[38,41],"relations,":[39],"CPP":[42,204,227],"(PPCPP)":[43],"has":[44],"benefit":[46],"adaptively":[48],"arbitrary":[50],"bent":[51],"2-D":[52],"manifolds":[53],"can":[55,72],"handle":[56,80,101,211,261],"unexpected":[57],"changes":[58],"an":[60,201],"environment,":[61,129],"sudden":[65],"introduction":[66],"dynamic":[68,239],"obstacles.":[69],"However,":[70],"it":[71,124,256],"only":[73],"work":[74],"bounded":[76,103,128,153,213],"environment":[77],"cannot":[79],"tasks":[81,89,150],"unbounded":[83,105,135,155,215],"one,":[84],"e.g.,":[85],"search":[86,92],"rescue":[88],"where":[90],"boundary":[93],"unknown.":[95],"Sometimes,":[96],"robots":[97,146,209],"are":[98],"required":[99],"both":[102,151,212],"environments,":[106,109],"i.e.,":[107],"dual":[108,234,262],"capturing":[112],"criminals":[113],"a":[115,119,196],"city.":[116],"Once":[117],"encountering":[118],"building,":[120],"robot":[122],"enters":[123],"cover":[126,133],"then":[130],"continues":[131],"one":[136],"when":[137],"leaving":[138],"building.":[140],"Therefore,":[141],"capability":[143],"swarm":[145,208],"coverage":[149],"environments":[156,216,235],"important.":[158],"In":[159],"nature,":[160],"herbivores":[161],"live":[162],"groups":[164],"find":[166],"more":[167],"food":[168],"reduce":[170],"predation.":[174],"Especially":[175],"juvenile":[177],"ones":[178],"prefer":[179],"forage":[181],"near":[182],"herd":[184],"protect":[186],"themselves.":[187],"Inspired":[188],"foraging":[191],"behavior":[192],"animals":[194],"herd,":[197],"this":[198],"article":[199],"proposes":[200],"online":[202],"adaptive":[203],"that":[206,255],"enables":[207],"without":[217],"knowing":[218],"information":[221],"advance,":[223],"called":[224],"dual-environmental":[225],"herd-foraging-based":[226],"(DH-CPP).":[228],"It's":[229],"performance":[230],"evaluated":[232],"with":[236,248],"stationary":[237],"obstacles":[240],"different":[242],"shapes":[243],"quantity,":[245],"compared":[247],"three":[249],"state-of-the-art":[250],"approaches.":[251],"Simulation":[252],"results":[253],"demonstrate":[254],"highly":[258],"effective":[259],"environments.":[263]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}