{"id":"https://openalex.org/W2005776539","doi":"https://doi.org/10.1109/iros.2013.6697225","title":"A hybrid algorithm for coverage path planning with imperfect sensors","display_name":"A hybrid algorithm for coverage path planning with imperfect sensors","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2005776539","doi":"https://doi.org/10.1109/iros.2013.6697225","mag":"2005776539"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6697225","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697225","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-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/A5074193108","display_name":"Michael Morin","orcid":"https://orcid.org/0000-0002-1008-4303"},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Michael Morin","raw_affiliation_strings":["Department of Computer Science and Software Engineering, Universit\u00e9 Laval, Qu\u00e9bec, Qc, Canada","Dept. of Comput. Sci. & Software Eng., Univ. Laval, Quebec City, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Software Engineering, Universit\u00e9 Laval, Qu\u00e9bec, Qc, Canada","institution_ids":["https://openalex.org/I43406934"]},{"raw_affiliation_string":"Dept. of Comput. Sci. & Software Eng., Univ. Laval, Quebec City, QC, Canada","institution_ids":["https://openalex.org/I43406934"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007427405","display_name":"Ir\u00e8ne Abi\u2010Zeid","orcid":null},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Irene Abi-Zeid","raw_affiliation_strings":["Department of Operations and Decision Systems, Universit\u00e9 Laval, Qu\u00e9bec, Qc, Canada","Dept. of Oper. & Decision Syst., Univ. Laval, Quebec City, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Operations and Decision Systems, Universit\u00e9 Laval, Qu\u00e9bec, Qc, Canada","institution_ids":["https://openalex.org/I43406934"]},{"raw_affiliation_string":"Dept. of Oper. & Decision Syst., Univ. Laval, Quebec City, QC, Canada","institution_ids":["https://openalex.org/I43406934"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034972272","display_name":"Yvan P\u00e9tillot","orcid":"https://orcid.org/0000-0002-1596-289X"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yvan Petillot","raw_affiliation_strings":["Ocean Systems Laboratory, Heriot-Watt University, Edinburgh, UK","Ocean Systems Lab, Heriot Watt University, Edinburgh UK"],"affiliations":[{"raw_affiliation_string":"Ocean Systems Laboratory, Heriot-Watt University, Edinburgh, UK","institution_ids":["https://openalex.org/I32062511"]},{"raw_affiliation_string":"Ocean Systems Lab, Heriot Watt University, Edinburgh UK","institution_ids":["https://openalex.org/I32062511"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046366918","display_name":"Claude-Guy Quimper","orcid":"https://orcid.org/0000-0002-5899-0217"},"institutions":[{"id":"https://openalex.org/I43406934","display_name":"Universit\u00e9 Laval","ror":"https://ror.org/04sjchr03","country_code":"CA","type":"education","lineage":["https://openalex.org/I43406934"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Claude-Guy Quimper","raw_affiliation_strings":["Department of Computer Science and Software Engineering, Universit\u00e9 Laval, Qu\u00e9bec, Qc, Canada","Dept. of Comput. Sci. & Software Eng., Univ. Laval, Quebec City, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Software Engineering, Universit\u00e9 Laval, Qu\u00e9bec, Qc, Canada","institution_ids":["https://openalex.org/I43406934"]},{"raw_affiliation_string":"Dept. of Comput. Sci. & Software Eng., Univ. Laval, Quebec City, QC, Canada","institution_ids":["https://openalex.org/I43406934"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074193108"],"corresponding_institution_ids":["https://openalex.org/I43406934"],"apc_list":null,"apc_paid":null,"fwci":0.2764,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.58701514,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5988","last_page":"5993"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9993000030517578,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/motion-planning","display_name":"Motion planning","score":0.758239209651947},{"id":"https://openalex.org/keywords/sonar","display_name":"Sonar","score":0.6908365488052368},{"id":"https://openalex.org/keywords/travelling-salesman-problem","display_name":"Travelling salesman problem","score":0.6110484004020691},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6091468334197998},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5653992891311646},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5375850200653076},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5208016633987427},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.49886202812194824},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.47851502895355225},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.46641266345977783},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42652034759521484},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.41957736015319824},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32882195711135864},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1886993646621704}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.758239209651947},{"id":"https://openalex.org/C555745239","wikidata":"https://www.wikidata.org/wiki/Q133220","display_name":"Sonar","level":2,"score":0.6908365488052368},{"id":"https://openalex.org/C175859090","wikidata":"https://www.wikidata.org/wiki/Q322212","display_name":"Travelling salesman problem","level":2,"score":0.6110484004020691},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6091468334197998},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5653992891311646},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5375850200653076},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5208016633987427},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.49886202812194824},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.47851502895355225},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.46641266345977783},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42652034759521484},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.41957736015319824},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32882195711135864},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1886993646621704},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6697225","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697225","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.637.4177","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.637.4177","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.michaelmorin.info/publications/mm2013Iros.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W329093344","https://openalex.org/W1544032329","https://openalex.org/W1964092601","https://openalex.org/W1999050017","https://openalex.org/W2006269887","https://openalex.org/W2020957543","https://openalex.org/W2023162898","https://openalex.org/W2043003284","https://openalex.org/W2060164640","https://openalex.org/W2061433520","https://openalex.org/W2084113595","https://openalex.org/W2094687500","https://openalex.org/W2100778827","https://openalex.org/W2119064581","https://openalex.org/W2124730127","https://openalex.org/W2130706967","https://openalex.org/W2133725796","https://openalex.org/W2150241776","https://openalex.org/W2161960205","https://openalex.org/W2163032586","https://openalex.org/W2163428398","https://openalex.org/W2735570886","https://openalex.org/W3083648773","https://openalex.org/W4213368447","https://openalex.org/W4399664180","https://openalex.org/W6677666822","https://openalex.org/W6684080852","https://openalex.org/W7005493145"],"related_works":["https://openalex.org/W2032109086","https://openalex.org/W1965929402","https://openalex.org/W2356789814","https://openalex.org/W1998133575","https://openalex.org/W2176548496","https://openalex.org/W2967145462","https://openalex.org/W4200380753","https://openalex.org/W4293530535","https://openalex.org/W2903765850","https://openalex.org/W2041492381"],"abstract_inverted_index":{"We":[0,41,110,127],"are":[1],"interested":[2],"in":[3,95,142,158],"the":[4,13,21,33,36,48,91,100,105,156],"coverage":[5,94],"path":[6,88,145],"planning":[7],"problem":[8,125],"with":[9,30,67],"imperfect":[10],"sensors,":[11],"within":[12],"context":[14],"of":[15,35,54,64,71,76,79,108,144],"robotics":[16],"for":[17,39],"mine":[18],"countermeasures.":[19],"In":[20],"studied":[22],"problem,":[23],"an":[24,112,159],"autonomous":[25],"underwater":[26],"vehicle":[27],"(AUV)":[28],"equipped":[29],"sonar":[31],"surveys":[32],"bottom":[34],"ocean":[37,49],"searching":[38],"mines.":[40],"use":[42],"a":[43,52,61,68,74,87,122],"cellular":[44],"decomposition":[45],"to":[46,85,139,154],"represent":[47],"floor":[50],"by":[51],"grid":[53],"uniform":[55],"square":[56],"cells.":[57],"The":[58,82],"robot":[59],"scans":[60],"fixed":[62],"number":[63,107],"cells":[65],"sideways":[66],"varying":[69],"probability":[70],"detection":[72],"as":[73],"function":[75],"distance":[77,103],"and":[78,104,120,131,147],"seabed":[80],"type.":[81],"goal":[83],"is":[84,137],"plan":[86],"that":[89,133],"achieves":[90],"minimal":[92],"required":[93],"each":[96],"cell":[97],"while":[98],"minimizing":[99],"total":[101,106],"traveled":[102],"turns.":[109],"propose":[111],"off-line":[113],"hybrid":[114],"algorithm":[115,157],"based":[116],"on":[117,121],"dynamic":[118],"programming":[119],"traveling":[123],"salesman":[124],"reduction.":[126],"present":[128],"experimental":[129],"results":[130,141],"show":[132],"our":[134],"algorithm's":[135],"performance":[136],"superior":[138],"published":[140],"terms":[143],"quality":[146],"computational":[148],"time,":[149],"which":[150],"makes":[151],"it":[152],"possible":[153],"implement":[155],"AUV.":[160]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}