{"id":"https://openalex.org/W2734527152","doi":"https://doi.org/10.1145/3067695.3084201","title":"Energy-efficient environment mapping via evolutionary algorithm optimized multi-agent localization","display_name":"Energy-efficient environment mapping via evolutionary algorithm optimized multi-agent localization","publication_year":2017,"publication_date":"2017-07-11","ids":{"openalex":"https://openalex.org/W2734527152","doi":"https://doi.org/10.1145/3067695.3084201","mag":"2734527152"},"language":"en","primary_location":{"id":"doi:10.1145/3067695.3084201","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3067695.3084201","pdf_url":null,"source":{"id":"https://openalex.org/S4363608771","display_name":"Proceedings of the Genetic and Evolutionary Computation Conference Companion","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Genetic and Evolutionary Computation Conference Companion","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11572/197306","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003503441","display_name":"Ahmed Hallawa","orcid":"https://orcid.org/0000-0003-3932-4873"},"institutions":[{"id":"https://openalex.org/I4210131829","display_name":"Aachener Centrum f\u00fcr Technologietransfer in der Ophthalmologie","ror":"https://ror.org/04gw0z407","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210131829"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Ahmed Hallawa","raw_affiliation_strings":["Chair of Integrated Signal Processing Systems, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Integrated Signal Processing Systems, Aachen, Germany","institution_ids":["https://openalex.org/I4210131829"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060288316","display_name":"Stephan Schlupkothen","orcid":"https://orcid.org/0000-0001-5660-2922"},"institutions":[{"id":"https://openalex.org/I4210131829","display_name":"Aachener Centrum f\u00fcr Technologietransfer in der Ophthalmologie","ror":"https://ror.org/04gw0z407","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210131829"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stephan Schlupkothen","raw_affiliation_strings":["Chair of Integrated Signal Processing Systems, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Integrated Signal Processing Systems, Aachen, Germany","institution_ids":["https://openalex.org/I4210131829"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007121933","display_name":"Giovanni Iacca","orcid":"https://orcid.org/0000-0001-9723-1830"},"institutions":[{"id":"https://openalex.org/I4210131829","display_name":"Aachener Centrum f\u00fcr Technologietransfer in der Ophthalmologie","ror":"https://ror.org/04gw0z407","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210131829"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Giovanni Iacca","raw_affiliation_strings":["Chair of Integrated Signal Processing Systems, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Integrated Signal Processing Systems, Aachen, Germany","institution_ids":["https://openalex.org/I4210131829"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050903837","display_name":"Gerd Ascheid","orcid":"https://orcid.org/0000-0003-4068-3558"},"institutions":[{"id":"https://openalex.org/I4210131829","display_name":"Aachener Centrum f\u00fcr Technologietransfer in der Ophthalmologie","ror":"https://ror.org/04gw0z407","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I4210131829"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gerd Ascheid","raw_affiliation_strings":["Chair of Integrated Signal Processing Systems, Aachen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Integrated Signal Processing Systems, Aachen, Germany","institution_ids":["https://openalex.org/I4210131829"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5003503441"],"corresponding_institution_ids":["https://openalex.org/I4210131829"],"apc_list":null,"apc_paid":null,"fwci":1.4955,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.78971534,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1721","last_page":"1726"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T10080","display_name":"Energy Efficient Wireless Sensor Networks","score":0.9986000061035156,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/computer-science","display_name":"Computer science","score":0.7397451400756836},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6651325225830078},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6180093884468079},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5889787077903748},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5827094912528992},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.49592122435569763},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4412727952003479},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4264928102493286},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.41812023520469666},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3635709881782532},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19406497478485107},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11784785985946655},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10339435935020447},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09176486730575562}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7397451400756836},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6651325225830078},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6180093884468079},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5889787077903748},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5827094912528992},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.49592122435569763},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4412727952003479},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4264928102493286},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.41812023520469666},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3635709881782532},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19406497478485107},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11784785985946655},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10339435935020447},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09176486730575562},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1145/3067695.3084201","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3067695.3084201","pdf_url":null,"source":{"id":"https://openalex.org/S4363608771","display_name":"Proceedings of the Genetic and Evolutionary Computation Conference Companion","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Genetic and Evolutionary Computation Conference Companion","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unitn.it:11572/197306","is_oa":true,"landing_page_url":"https://dl.acm.org/doi/10.1145/3067695.3084201","pdf_url":"http://hdl.handle.net/11572/197306","source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:zenodo.org:3501867","is_oa":true,"landing_page_url":"https://zenodo.org/record/3501867","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:iris.unitn.it:11572/197306","is_oa":true,"landing_page_url":"https://dl.acm.org/doi/10.1145/3067695.3084201","pdf_url":"http://hdl.handle.net/11572/197306","source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.550000011920929}],"awards":[{"id":"https://openalex.org/G6804535696","display_name":null,"funder_award_id":"665347","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320324232","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2734527152.pdf","grobid_xml":"https://content.openalex.org/works/W2734527152.grobid-xml"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W187546448","https://openalex.org/W1979273469","https://openalex.org/W1980200998","https://openalex.org/W2009271970","https://openalex.org/W2019368402","https://openalex.org/W2113623259","https://openalex.org/W2120117050","https://openalex.org/W2126105956","https://openalex.org/W2136333295","https://openalex.org/W2140242774","https://openalex.org/W2140733090","https://openalex.org/W2163016967","https://openalex.org/W2182892969","https://openalex.org/W2242399395","https://openalex.org/W2595648257","https://openalex.org/W4289773105"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W2383578611","https://openalex.org/W2987583674"],"abstract_inverted_index":{"Miniature":[0],"autonomous":[1],"sensory":[2],"agents":[3,67],"(MASA)":[4],"can":[5],"play":[6],"a":[7,47,107,119,149,175,190],"profound":[8],"role":[9],"in":[10],"the":[11,56,77,89,134,198],"exploration":[12,29],"of":[13,25,50,55,91,178],"hardly":[14],"accessible":[15],"unknown":[16],"environments,":[17],"thus,":[18],"impacting":[19],"many":[20],"applications":[21],"such":[22],"as":[23,133,183,189],"monitoring":[24],"underground":[26],"infrastructure":[27],"or":[28,37],"for":[30,167],"natural":[31],"resources,":[32],"e.g.":[33],"oil":[34],"and":[35,83,101,111,118,204],"gas,":[36],"even":[38],"human":[39],"body":[40],"diagnostic":[41],"exploration.":[42],"However,":[43],"using":[44],"MASA":[45],"presents":[46],"wide":[48],"range":[49,82],"challenges":[51],"due":[52],"to":[53,151,162,192],"limitations":[54],"available":[57],"hardware":[58],"resources":[59,165],"caused":[60],"by":[61],"their":[62,80],"scaled-down":[63],"size.":[64],"Consequently,":[65],"these":[66],"are":[68,115,160],"kinetically":[69],"passive,":[70],"i.e.":[71],"they":[72],"cannot":[73],"be":[74],"guided":[75],"through":[76],"environment.":[78],"Furthermore,":[79,172],"communication":[81],"rate":[84],"is":[85,103,123],"limited,":[86],"which":[87],"affects":[88],"quality":[90],"localization":[92,100],"and,":[93],"consequently,":[94],"mapping.":[95,171,194],"In":[96,125,154],"addition,":[97],"conducting":[98],"real-time":[99],"mapping":[102],"not":[104,116],"possible.":[105],"As":[106],"result,":[108],"Simultaneous":[109],"Localization":[110,137],"Mapping":[112,139],"(SLAM)":[113],"techniques":[114],"suitable":[117],"new":[120],"problem":[121],"definition":[122],"needed.":[124],"this":[126,155],"paper":[127],"we":[128,131,147,173,181,196],"introduce":[129],"what":[130],"dub":[132,182],"Centralized":[135],"Offline":[136],"And":[138],"(COLAM)":[140],"problem,":[141],"highlighting":[142],"its":[143],"key":[144],"elements,":[145],"then":[146],"present":[148,205],"model":[150,156,200],"solve":[152],"it.":[153],"evolutionary":[157],"algorithms":[158],"(EAs)":[159],"used":[161],"optimize":[163],"agents'":[164],"off-line":[166],"an":[168],"energy-efficient":[169],"environment":[170],"illustrate":[174],"modified":[176],"version":[177],"Vietoris-Rips":[179,186],"Complex":[180],"Trajectory":[184],"Incorporated":[185],"(TIVR)":[187],"complex":[188],"tool":[191],"conduct":[193],"Finally,":[195],"project":[197],"proposed":[199],"on":[201],"real":[202],"experiments":[203],"results.":[206]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-05-17T08:19:37.847499","created_date":"2017-07-21T00:00:00"}