{"id":"https://openalex.org/W4293199059","doi":"https://doi.org/10.1109/tro.2022.3197339","title":"Self-Triggered Coverage Control for Mobile Sensors","display_name":"Self-Triggered Coverage Control for Mobile Sensors","publication_year":2022,"publication_date":"2022-08-25","ids":{"openalex":"https://openalex.org/W4293199059","doi":"https://doi.org/10.1109/tro.2022.3197339"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3197339","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3197339","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/2117/388710","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056000399","display_name":"Erick J. Rodr\u00edguez-Seda","orcid":"https://orcid.org/0000-0003-1108-4329"},"institutions":[{"id":"https://openalex.org/I189158971","display_name":"United States Naval Academy","ror":"https://ror.org/00znex860","country_code":"US","type":"education","lineage":["https://openalex.org/I1330347796","https://openalex.org/I189158971","https://openalex.org/I3130687028"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Erick J. Rodriguez-Seda","raw_affiliation_strings":["Department of Weapons, Robotics, and Control Engineering, United States Naval Academy, Annapolis, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Weapons, Robotics, and Control Engineering, United States Naval Academy, Annapolis, MD, USA","institution_ids":["https://openalex.org/I189158971"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063330508","display_name":"Xiaotian Xu","orcid":"https://orcid.org/0000-0002-9138-3910"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaotian Xu","raw_affiliation_strings":["Department of Mechanical Engineering, University of Maryland, College Park, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024453476","display_name":"Josep M. Olm","orcid":"https://orcid.org/0000-0003-4925-9251"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Josep M. Olm","raw_affiliation_strings":["Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016272149","display_name":"Arnau D\u00f2ria\u2010Cerezo","orcid":"https://orcid.org/0000-0001-9352-066X"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Arnau Doria-Cerezo","raw_affiliation_strings":["Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, Barcelona, Spain"],"affiliations":[{"raw_affiliation_string":"Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050664586","display_name":"Yancy Diaz-Mercado","orcid":"https://orcid.org/0000-0003-0288-0112"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yancy Diaz-Mercado","raw_affiliation_strings":["Department of Mechanical Engineering, University of Maryland, College Park, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5056000399"],"corresponding_institution_ids":["https://openalex.org/I189158971"],"apc_list":null,"apc_paid":null,"fwci":1.7033,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.84880022,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"39","issue":"1","first_page":"223","last_page":"238"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9997000098228455,"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"}},"topics":[{"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"}},{"id":"https://openalex.org/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9961000084877014,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/voronoi-diagram","display_name":"Voronoi diagram","score":0.7184420228004456},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6251914501190186},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5963560342788696},{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.5492956638336182},{"id":"https://openalex.org/keywords/wireless-sensor-network","display_name":"Wireless sensor network","score":0.5327233076095581},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.5155527591705322},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.458562970161438},{"id":"https://openalex.org/keywords/monotonic-function","display_name":"Monotonic function","score":0.4570898711681366},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.44164854288101196},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.43892940878868103},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4247526228427887},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.420352578163147},{"id":"https://openalex.org/keywords/uniform-boundedness","display_name":"Uniform boundedness","score":0.41677138209342957},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4102940261363983},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35845810174942017},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32311350107192993},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.19192615151405334},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.14647692441940308},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14235535264015198},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11490076780319214},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09726753830909729}],"concepts":[{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.7184420228004456},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6251914501190186},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5963560342788696},{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.5492956638336182},{"id":"https://openalex.org/C24590314","wikidata":"https://www.wikidata.org/wiki/Q336038","display_name":"Wireless sensor network","level":2,"score":0.5327233076095581},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.5155527591705322},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.458562970161438},{"id":"https://openalex.org/C72169020","wikidata":"https://www.wikidata.org/wiki/Q194404","display_name":"Monotonic function","level":2,"score":0.4570898711681366},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.44164854288101196},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.43892940878868103},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4247526228427887},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.420352578163147},{"id":"https://openalex.org/C90377204","wikidata":"https://www.wikidata.org/wiki/Q1052594","display_name":"Uniform boundedness","level":3,"score":0.41677138209342957},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4102940261363983},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35845810174942017},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32311350107192993},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.19192615151405334},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.14647692441940308},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14235535264015198},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11490076780319214},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09726753830909729},{"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/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2022.3197339","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3197339","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:upcommons.upc.edu:2117/388710","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/388710","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:upcommons.upc.edu:2117/388710","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/388710","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4235613735","display_name":null,"funder_award_id":"N0001419WX01589","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G8961788904","display_name":null,"funder_award_id":"DPI2017-85404-P","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"}],"funders":[{"id":"https://openalex.org/F4320335598","display_name":"Agencia Estatal de Investigaci\u00f3n","ror":null},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W153294671","https://openalex.org/W1951599798","https://openalex.org/W1978518835","https://openalex.org/W1985235885","https://openalex.org/W1998288905","https://openalex.org/W2009803967","https://openalex.org/W2051752778","https://openalex.org/W2065978712","https://openalex.org/W2084209135","https://openalex.org/W2103151730","https://openalex.org/W2118531290","https://openalex.org/W2119929244","https://openalex.org/W2123923211","https://openalex.org/W2133947385","https://openalex.org/W2154718413","https://openalex.org/W2156561078","https://openalex.org/W2163129755","https://openalex.org/W2164948897","https://openalex.org/W2167485994","https://openalex.org/W2173965117","https://openalex.org/W2195881515","https://openalex.org/W2285657798","https://openalex.org/W2321213519","https://openalex.org/W2475898547","https://openalex.org/W2500455926","https://openalex.org/W2583257213","https://openalex.org/W2604974201","https://openalex.org/W2763753747","https://openalex.org/W2782792473","https://openalex.org/W2793079352","https://openalex.org/W2797090510","https://openalex.org/W2944223466","https://openalex.org/W2948260330","https://openalex.org/W2953929051","https://openalex.org/W2981079744","https://openalex.org/W2982653071","https://openalex.org/W3002687059","https://openalex.org/W3082822446","https://openalex.org/W3091531072","https://openalex.org/W3120397927","https://openalex.org/W3132098689","https://openalex.org/W3159721475","https://openalex.org/W4243904478","https://openalex.org/W4247284649","https://openalex.org/W6683784088"],"related_works":["https://openalex.org/W3020555194","https://openalex.org/W2793256277","https://openalex.org/W2348235448","https://openalex.org/W4360958759","https://openalex.org/W2116218375","https://openalex.org/W2389906634","https://openalex.org/W176898926","https://openalex.org/W288156810","https://openalex.org/W1562406979","https://openalex.org/W2962797788"],"abstract_inverted_index":{"The":[0],"deployment":[1],"and":[2,25,36,107,144,172,180,201,210],"coordination":[3],"of":[4,31,90,104,111,129,135,220],"mobile":[5,92,192],"sensor":[6,93,193],"networks":[7],"for":[8,69],"coverage":[9,72],"control":[10,67,73,208],"applications":[11],"can":[12,216],"present":[13,62],"several":[14],"practical":[15],"challenges,":[16],"including":[17],"how":[18,26],"to":[19,27,41,45,77,100,150,184,196],"efficiently":[20],"share":[21],"limited":[22],"communication":[23,82],"resources":[24],"reduce":[28,46],"the":[29,47,79,88,91,102,122,127,140,146,155,166,191,207,213],"use":[30],"localization":[32],"devices":[33],"(e.g.,":[34],"radars":[35],"lidars).":[37],"One":[38],"potential":[39],"solution":[40],"these":[42],"challenges":[43],"is":[44,75,117],"frequency":[48],"at":[49,186],"which":[50],"agents":[51,85,106,130,147],"communicate":[52],"or":[53,81,225],"sample":[54,101],"each":[55],"other's":[56],"position.":[57],"In":[58,161],"this":[59],"article,":[60],"we":[61,163],"a":[63,136,187,197,223],"distributed":[64],"asynchronous":[65],"self-triggered":[66],"policy":[68,215],"centroidal":[70],"Voronoi":[71,152],"that":[74,121,145,165,212],"shown":[76],"decrease":[78],"sampling":[80,167],"instants":[83],"among":[84],"without":[86],"degrading":[87],"performance":[89,221],"network.":[94],"Each":[95],"agent":[96],"independently":[97],"decides":[98],"when":[99],"position":[103],"nearby":[105],"uses":[108],"outdated":[109],"information":[110,116],"its":[112],"neighbors":[113],"until":[114],"new":[115],"required.":[118],"We":[119],"prove":[120],"locational":[123],"cost":[124],"function":[125],"describing":[126],"distribution":[128],"monotonically":[131],"decreases":[132],"everywhere":[133],"outside":[134],"bounded":[137,174],"neighborhood":[138],"around":[139],"group's":[141],"optimal":[142],"configuration":[143],"asymptotically":[148],"converge":[149],"their":[151],"centroids":[153],"if":[154],"data-sampled":[156],"centroid":[157],"errors":[158],"approach":[159],"zero.":[160],"addition,":[162],"show":[164,211],"intervals":[168],"are":[169],"always":[170],"positive":[171],"lower":[173],"and,":[175],"as":[176,190,222],"illustrated":[177],"by":[178],"simulations":[179],"experiments,":[181],"they":[182],"tend":[183],"stabilize":[185],"large":[188],"value":[189],"network":[194],"comes":[195],"steady":[198],"state.":[199],"Simulations":[200],"experiments":[202],"with":[203],"ground":[204],"vehicles":[205],"validate":[206],"strategy":[209],"proposed":[214],"achieve":[217],"similar":[218],"level":[219],"continuous":[224],"fast":[226],"periodic":[227],"implementation.":[228]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}