{"id":"https://openalex.org/W4382567948","doi":"https://doi.org/10.1109/tsmc.2023.3285264","title":"Distributed Control of Multirobot Sweep Coverage Over a Region With Unknown Workload Distribution","display_name":"Distributed Control of Multirobot Sweep Coverage Over a Region With Unknown Workload Distribution","publication_year":2023,"publication_date":"2023-06-29","ids":{"openalex":"https://openalex.org/W4382567948","doi":"https://doi.org/10.1109/tsmc.2023.3285264"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2023.3285264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3285264","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: 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/A5045222213","display_name":"Muqing Cao","orcid":"https://orcid.org/0000-0002-5867-5049"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Muqing Cao","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-5867-5049","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101436339","display_name":"Kun Cao","orcid":"https://orcid.org/0000-0003-4688-1096"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kun Cao","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-4688-1096","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037854048","display_name":"Xiuxian Li","orcid":"https://orcid.org/0000-0002-4938-0468"},"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":"Xiuxian Li","raw_affiliation_strings":["Department of Control Science and Engineering and the Institute for Advanced Study, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-4938-0468","affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering and the Institute for Advanced Study, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100365448","display_name":"Lihua Xie","orcid":"https://orcid.org/0000-0002-7137-4136"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lihua Xie","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-7137-4136","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5792,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.83895309,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"53","issue":"10","first_page":"6503","last_page":"6515"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9947999715805054,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9945999979972839,"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/workload","display_name":"Workload","score":0.9478181600570679},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6732409596443176},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.6497385501861572},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5886660814285278},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5530527234077454},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5050373673439026},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.47222116589546204},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.47057220339775085},{"id":"https://openalex.org/keywords/distribution","display_name":"Distribution (mathematics)","score":0.4413680136203766},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4283282160758972},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4166927933692932},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.342536985874176},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3274382948875427},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18999513983726501},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.160739004611969},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.13304826617240906},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1227145791053772}],"concepts":[{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.9478181600570679},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6732409596443176},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.6497385501861572},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5886660814285278},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5530527234077454},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5050373673439026},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.47222116589546204},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.47057220339775085},{"id":"https://openalex.org/C110121322","wikidata":"https://www.wikidata.org/wiki/Q865811","display_name":"Distribution (mathematics)","level":2,"score":0.4413680136203766},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4283282160758972},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4166927933692932},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.342536985874176},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3274382948875427},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18999513983726501},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.160739004611969},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.13304826617240906},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1227145791053772},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"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/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/tsmc.2023.3285264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2023.3285264","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/171801","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/171801","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":[],"funders":[{"id":"https://openalex.org/F4320320766","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1488089606","https://openalex.org/W1503081023","https://openalex.org/W1992193646","https://openalex.org/W2026250987","https://openalex.org/W2032780510","https://openalex.org/W2038137192","https://openalex.org/W2051769086","https://openalex.org/W2056172814","https://openalex.org/W2090726530","https://openalex.org/W2103296723","https://openalex.org/W2105848344","https://openalex.org/W2107876819","https://openalex.org/W2124541940","https://openalex.org/W2143818739","https://openalex.org/W2152179543","https://openalex.org/W2164948897","https://openalex.org/W2172248592","https://openalex.org/W2465948386","https://openalex.org/W2500455926","https://openalex.org/W2558152615","https://openalex.org/W2559957666","https://openalex.org/W2744190170","https://openalex.org/W2766990839","https://openalex.org/W2786458188","https://openalex.org/W2794944192","https://openalex.org/W2797270750","https://openalex.org/W2952408149","https://openalex.org/W2963593798","https://openalex.org/W2979915142","https://openalex.org/W2982653071","https://openalex.org/W3000745556","https://openalex.org/W3039432707","https://openalex.org/W3044456476","https://openalex.org/W3082697078","https://openalex.org/W3216540532","https://openalex.org/W4200206909","https://openalex.org/W4205569920","https://openalex.org/W4229706427","https://openalex.org/W4300549156","https://openalex.org/W6675343733","https://openalex.org/W6782364735"],"related_works":["https://openalex.org/W2000785801","https://openalex.org/W986318368","https://openalex.org/W2384410913","https://openalex.org/W2352878646","https://openalex.org/W2004734601","https://openalex.org/W2287264064","https://openalex.org/W2130149817","https://openalex.org/W2990194547","https://openalex.org/W1480123525","https://openalex.org/W2620865396"],"abstract_inverted_index":{"In":[0,79],"this":[1,80],"article,":[2],"we":[3,82,199],"consider":[4],"the":[5,47,54,65,84,88,147,156,159,162,168,193,196,206,233,255,259],"problem":[6],"of":[7,37,56,72,132,161,192,195,210,232],"using":[8,246],"a":[9,17,30,40,97,109,175,189,201],"multirobot":[10],"system":[11],"to":[12,33,64,105,111,167,253],"conduct":[13],"sweep":[14],"coverage":[15],"over":[16],"region":[18,90],"with":[19,155],"uneven":[20],"and":[21,70,96,126,129,145,151,179,223,229,242,257],"unknown":[22,62],"workload":[23,26,50,57,73,100,107,164,170],"distribution.":[24],"Uneven":[25],"distribution":[27,51],"means":[28,52],"that":[29,53,116,204],"robot":[31],"has":[32],"spend":[34],"different":[35,44],"amounts":[36],"time":[38],"covering":[39],"unit":[41],"area":[42],"at":[43,58],"locations":[45],"in":[46,86,217],"region.":[48],"Unknown":[49],"amount":[55],"any":[59],"location":[60],"is":[61,74,91,103,172,213],"prior":[63],"operation,":[66],"hence":[67],"online":[68],"sensing":[69],"allocation":[71,101,165],"needed":[75],"for":[76],"better":[77,190],"efficiency.":[78],"work,":[81],"adopt":[83,117],"formulation":[85],"which":[87,186,212],"entire":[89],"separated":[92],"into":[93],"multiple":[94],"stripes,":[95],"discrete-time":[98],"distributed":[99,163],"algorithm":[102,166,203,235],"used":[104],"allocate":[106],"on":[108],"stripe":[110],"each":[112],"robot.":[113],"Previous":[114],"works":[115],"similar":[118],"formulations":[119],"do":[120],"not":[121],"provide":[122],"rigorous":[123],"stability":[124,227],"analysis":[125,228],"experimental":[127],"verification":[128],"lack":[130],"consideration":[131],"practical":[133],"aspects,":[134],"such":[135,219],"as":[136,188,220],"limited":[137,207],"sensor":[138,208],"range.":[139],"This":[140],"work":[141],"addresses":[142,205],"these":[143],"weaknesses":[144],"bridges":[146],"gap":[148],"between":[149],"theory":[150],"practice.":[152],"First,":[153],"compared":[154],"existing":[157],"works,":[158],"convergence":[160],"optimal":[169],"assignment":[171],"established":[173],"under":[174],"more":[176],"realistic":[177,240],"assumption,":[178],"less":[180],"conservative":[181],"error":[182,230],"bounds":[183],"are":[184,236,250],"derived,":[185],"serve":[187],"indicator":[191],"effectiveness":[194],"algorithm.":[197],"Second,":[198],"propose":[200],"new":[202],"range":[209],"robots,":[211],"an":[214],"important":[215],"constraint":[216],"applications,":[218],"agricultural":[221],"spraying":[222],"building":[224],"inspection.":[225],"The":[226],"bound":[231],"proposed":[234],"also":[237],"provided.":[238],"Third,":[239],"simulations":[241],"actual":[243],"flight":[244],"experiments":[245],"unmanned":[247],"aerial":[248],"vehicles":[249],"carried":[251],"out":[252],"demonstrate":[254],"practicality":[256],"validate":[258],"theoretical":[260],"results.":[261]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
