{"id":"https://openalex.org/W2007760025","doi":"https://doi.org/10.1145/2245276.2245331","title":"A two-level approach for multi-robot coordinated exploration of unstructured environments","display_name":"A two-level approach for multi-robot coordinated exploration of unstructured environments","publication_year":2012,"publication_date":"2012-03-26","ids":{"openalex":"https://openalex.org/W2007760025","doi":"https://doi.org/10.1145/2245276.2245331","mag":"2007760025"},"language":"en","primary_location":{"id":"doi:10.1145/2245276.2245331","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2245276.2245331","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 27th Annual ACM Symposium on Applied Computing","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/A5089646749","display_name":"P.G.C.N. Senarathne","orcid":null},"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":true,"raw_author_name":"P. G. C. N. Senarathne","raw_affiliation_strings":["Nanyang Technological University, Singapore","Nanyang Technological University (Singapore)"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Nanyang Technological University (Singapore)","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083472752","display_name":"Danwei Wang","orcid":null},"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":"Danwei Wang","raw_affiliation_strings":["Nanyang Technological University, Singapore","Nanyang Technological University (Singapore)"],"affiliations":[{"raw_affiliation_string":"Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Nanyang Technological University (Singapore)","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5089646749"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":0.8236,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.73959748,"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":"274","last_page":"279"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994000196456909,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8924025893211365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6797523498535156},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5418832898139954},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4503360092639923},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3808291256427765},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37048694491386414}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8924025893211365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6797523498535156},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5418832898139954},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4503360092639923},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3808291256427765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37048694491386414}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/2245276.2245331","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2245276.2245331","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 27th Annual ACM Symposium on Applied Computing","raw_type":"proceedings-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/99121","is_oa":false,"landing_page_url":"http://hdl.handle.net/10220/12582","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":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1832534480","https://openalex.org/W2012806873","https://openalex.org/W2031369387","https://openalex.org/W2066005785","https://openalex.org/W2096360021","https://openalex.org/W2107667896","https://openalex.org/W2110949589","https://openalex.org/W2113739894","https://openalex.org/W2121734178","https://openalex.org/W2129853306","https://openalex.org/W2135524320","https://openalex.org/W2139338077","https://openalex.org/W2142924305","https://openalex.org/W2171702689","https://openalex.org/W3139610437","https://openalex.org/W6676887385"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"The":[0],"efficiency":[1,136],"of":[2,13,28,47,57,62,76,109,126],"Multi-Robot":[3],"Exploration":[4,18],"can":[5,23],"be":[6],"improved":[7],"by":[8,30],"having":[9],"a":[10,25,68,80,92,96,106,123],"balanced":[11,26,60,107,124],"distribution":[12,27,61,108,125],"robots":[14,29,33,111,128],"in":[15,37,112],"the":[16,38,59,63,87,110,113,127,130,134],"environment.":[17,39,114],"strategies":[19],"for":[20],"indoor/structured":[21],"environments":[22,42,48,78],"ensure":[24],"explicitly":[31],"assigning":[32],"to":[34,49,72,90,104],"distinct":[35,50],"regions":[36],"However,":[40],"unstructured":[41,77],"do":[43],"not":[44],"support":[45],"partitioning":[46],"regions,":[51],"thus":[52],"requires":[53],"an":[54],"alternative":[55],"way":[56],"ensuring":[58],"robots.":[64],"This":[65],"paper":[66],"presents":[67],"two":[69],"level":[70,89,98],"approach":[71,121],"multi-robot":[73],"coordinated":[74],"exploration":[75,135],"where":[79],"classical":[81],"coordination":[82,94,139],"method":[83],"is":[84,102],"employed":[85],"at":[86],"lower":[88],"provide":[91],"localized":[93,138],"while":[95],"higher":[97],"robot":[99],"repositioning":[100],"strategy":[101],"used":[103],"generate":[105],"Simulation":[115],"results":[116],"indicate":[117],"that":[118],"this":[119],"new":[120],"provides":[122],"over":[129,137],"environment":[131],"and":[132],"improves":[133],"strategies.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}