{"id":"https://openalex.org/W4285727175","doi":"https://doi.org/10.1145/3547145","title":"A Collective Adaptive Approach to Decentralised k-Coverage in Multi-robot Systems","display_name":"A Collective Adaptive Approach to Decentralised k-Coverage in Multi-robot Systems","publication_year":2022,"publication_date":"2022-06-30","ids":{"openalex":"https://openalex.org/W4285727175","doi":"https://doi.org/10.1145/3547145"},"language":"en","primary_location":{"id":"doi:10.1145/3547145","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3547145","pdf_url":null,"source":{"id":"https://openalex.org/S16632050","display_name":"ACM Transactions on Autonomous and Adaptive Systems","issn_l":"1556-4665","issn":["1556-4665","1556-4703"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Autonomous and Adaptive Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://pure.au.dk/portal/en/publications/9b04fe0c-17cd-4fd7-b7fa-076160c09409","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059198182","display_name":"Danilo Pianini","orcid":"https://orcid.org/0000-0002-8392-5409"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Danilo Pianini","raw_affiliation_strings":["Alma Mater Studiorum\u2014Universit\u00e0 di Bologna, Cesena (FC), Italy"],"raw_orcid":"https://orcid.org/0000-0002-8392-5409","affiliations":[{"raw_affiliation_string":"Alma Mater Studiorum\u2014Universit\u00e0 di Bologna, Cesena (FC), Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035226735","display_name":"Federico Pettinari","orcid":"https://orcid.org/0000-0003-3788-4295"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Federico Pettinari","raw_affiliation_strings":["Alma Mater Studiorum\u2014Universit\u00e0 di Bologna, Cesena (FC), Italy"],"raw_orcid":"https://orcid.org/0000-0003-3788-4295","affiliations":[{"raw_affiliation_string":"Alma Mater Studiorum\u2014Universit\u00e0 di Bologna, Cesena (FC), Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076032146","display_name":"Roberto Casadei","orcid":"https://orcid.org/0000-0001-9149-949X"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Roberto Casadei","raw_affiliation_strings":["Alma Mater Studiorum\u2014Universit\u00e0 di Bologna, Cesena (FC), Italy"],"raw_orcid":"https://orcid.org/0000-0001-9149-949X","affiliations":[{"raw_affiliation_string":"Alma Mater Studiorum\u2014Universit\u00e0 di Bologna, Cesena (FC), Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044584637","display_name":"Lukas Esterle","orcid":"https://orcid.org/0000-0002-0248-1552"},"institutions":[{"id":"https://openalex.org/I204337017","display_name":"Aarhus University","ror":"https://ror.org/01aj84f44","country_code":"DK","type":"education","lineage":["https://openalex.org/I204337017"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Lukas Esterle","raw_affiliation_strings":["Aarhus University Nordre Ringgade 1, Aarhus C, Denmark"],"raw_orcid":"https://orcid.org/0000-0002-0248-1552","affiliations":[{"raw_affiliation_string":"Aarhus University Nordre Ringgade 1, Aarhus C, Denmark","institution_ids":["https://openalex.org/I204337017"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8707,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.68197766,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"17","issue":"1-2","first_page":"1","last_page":"39"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"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/T12288","display_name":"Optimization and Search Problems","score":0.9994999766349792,"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/T10772","display_name":"Distributed systems and fault tolerance","score":0.9990000128746033,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/toolchain","display_name":"Toolchain","score":0.9776935577392578},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8663303852081299},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.7199865579605103},{"id":"https://openalex.org/keywords/reuse","display_name":"Reuse","score":0.6211549639701843},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.5705065727233887},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.526774525642395},{"id":"https://openalex.org/keywords/aggregate","display_name":"Aggregate (composite)","score":0.48066961765289307},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4484100043773651},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.44642966985702515},{"id":"https://openalex.org/keywords/component-based-software-engineering","display_name":"Component-based software engineering","score":0.4412154257297516},{"id":"https://openalex.org/keywords/software-development","display_name":"Software development","score":0.26762139797210693},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24120095372200012},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.20735996961593628},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.11167776584625244}],"concepts":[{"id":"https://openalex.org/C2777062904","wikidata":"https://www.wikidata.org/wiki/Q545406","display_name":"Toolchain","level":3,"score":0.9776935577392578},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8663303852081299},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.7199865579605103},{"id":"https://openalex.org/C206588197","wikidata":"https://www.wikidata.org/wiki/Q846574","display_name":"Reuse","level":2,"score":0.6211549639701843},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.5705065727233887},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.526774525642395},{"id":"https://openalex.org/C4679612","wikidata":"https://www.wikidata.org/wiki/Q866298","display_name":"Aggregate (composite)","level":2,"score":0.48066961765289307},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4484100043773651},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.44642966985702515},{"id":"https://openalex.org/C174683762","wikidata":"https://www.wikidata.org/wiki/Q609588","display_name":"Component-based software engineering","level":4,"score":0.4412154257297516},{"id":"https://openalex.org/C529173508","wikidata":"https://www.wikidata.org/wiki/Q638608","display_name":"Software development","level":3,"score":0.26762139797210693},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24120095372200012},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.20735996961593628},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.11167776584625244},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"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":3,"locations":[{"id":"doi:10.1145/3547145","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3547145","pdf_url":null,"source":{"id":"https://openalex.org/S16632050","display_name":"ACM Transactions on Autonomous and Adaptive Systems","issn_l":"1556-4665","issn":["1556-4665","1556-4703"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Autonomous and Adaptive Systems","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:publications/9b04fe0c-17cd-4fd7-b7fa-076160c09409","is_oa":true,"landing_page_url":"https://pure.au.dk/portal/en/publications/9b04fe0c-17cd-4fd7-b7fa-076160c09409","pdf_url":null,"source":null,"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Pianini, D, Pettinari, F, Casadei , R & Esterle, L 2022, 'A Collective Adaptive Approach to Decentralised k-Coverage in Multi-robot Systems', ACM Transactions on Autonomous and Adaptive Systems, vol. 17, no. 1-2, 4, pp. 1-39. https://doi.org/10.1145/3547145","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:cris.unibo.it:11585/903534","is_oa":true,"landing_page_url":"https://dl.acm.org/doi/10.1145/3547145","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"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/article"}],"best_oa_location":{"id":"pmh:oai:pure.atira.dk:publications/9b04fe0c-17cd-4fd7-b7fa-076160c09409","is_oa":true,"landing_page_url":"https://pure.au.dk/portal/en/publications/9b04fe0c-17cd-4fd7-b7fa-076160c09409","pdf_url":null,"source":null,"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Pianini, D, Pettinari, F, Casadei , R & Esterle, L 2022, 'A Collective Adaptive Approach to Decentralised k-Coverage in Multi-robot Systems', ACM Transactions on Autonomous and Adaptive Systems, vol. 17, no. 1-2, 4, pp. 1-39. https://doi.org/10.1145/3547145","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":99,"referenced_works":["https://openalex.org/W170020907","https://openalex.org/W1126974217","https://openalex.org/W1177360271","https://openalex.org/W1482175103","https://openalex.org/W1712132062","https://openalex.org/W1801319046","https://openalex.org/W1870456987","https://openalex.org/W1969161726","https://openalex.org/W1969839206","https://openalex.org/W1990911977","https://openalex.org/W1992287205","https://openalex.org/W1993505313","https://openalex.org/W1998085269","https://openalex.org/W2000030706","https://openalex.org/W2008734874","https://openalex.org/W2011301426","https://openalex.org/W2014854295","https://openalex.org/W2016153077","https://openalex.org/W2017150251","https://openalex.org/W2019300762","https://openalex.org/W2020329673","https://openalex.org/W2028107525","https://openalex.org/W2033264578","https://openalex.org/W2036137749","https://openalex.org/W2039048406","https://openalex.org/W2052774683","https://openalex.org/W2060303868","https://openalex.org/W2062502160","https://openalex.org/W2067625134","https://openalex.org/W2075569105","https://openalex.org/W2076260575","https://openalex.org/W2078734278","https://openalex.org/W2080197990","https://openalex.org/W2083632634","https://openalex.org/W2092709181","https://openalex.org/W2105561450","https://openalex.org/W2108004794","https://openalex.org/W2114684987","https://openalex.org/W2114936722","https://openalex.org/W2132442334","https://openalex.org/W2133286823","https://openalex.org/W2135749407","https://openalex.org/W2135992360","https://openalex.org/W2151082831","https://openalex.org/W2154730439","https://openalex.org/W2156003004","https://openalex.org/W2157165312","https://openalex.org/W2169036624","https://openalex.org/W2171117352","https://openalex.org/W2311371563","https://openalex.org/W2321785408","https://openalex.org/W2508656282","https://openalex.org/W2526319019","https://openalex.org/W2541133209","https://openalex.org/W2557827245","https://openalex.org/W2592935948","https://openalex.org/W2604239613","https://openalex.org/W2615547864","https://openalex.org/W2731659580","https://openalex.org/W2734601964","https://openalex.org/W2755597067","https://openalex.org/W2758604054","https://openalex.org/W2763505466","https://openalex.org/W2763582743","https://openalex.org/W2765710907","https://openalex.org/W2765762088","https://openalex.org/W2785685252","https://openalex.org/W2803956375","https://openalex.org/W2804891820","https://openalex.org/W2815208689","https://openalex.org/W2884484164","https://openalex.org/W2885579625","https://openalex.org/W2891785675","https://openalex.org/W2892186849","https://openalex.org/W2894836100","https://openalex.org/W2908544680","https://openalex.org/W2910127027","https://openalex.org/W2948036055","https://openalex.org/W2962760239","https://openalex.org/W2963033806","https://openalex.org/W2968840066","https://openalex.org/W2969978517","https://openalex.org/W2970562928","https://openalex.org/W2996504179","https://openalex.org/W3010724829","https://openalex.org/W3010953154","https://openalex.org/W3035013861","https://openalex.org/W3035773797","https://openalex.org/W3043898699","https://openalex.org/W3091045028","https://openalex.org/W3091619527","https://openalex.org/W3096005431","https://openalex.org/W3098900460","https://openalex.org/W3170039567","https://openalex.org/W3213314615","https://openalex.org/W4213239538","https://openalex.org/W4247023060","https://openalex.org/W4295021613","https://openalex.org/W6969038699"],"related_works":["https://openalex.org/W2013037783","https://openalex.org/W2909413202","https://openalex.org/W4385243142","https://openalex.org/W1999008563","https://openalex.org/W2561644314","https://openalex.org/W2912135124","https://openalex.org/W2794118724","https://openalex.org/W4206450104","https://openalex.org/W2883257033","https://openalex.org/W2265795076"],"abstract_inverted_index":{"We":[0,51],"focus":[1],"on":[2,39,56],"the":[3,43,57,79,92,95,104,117,168],"online":[4],"multi-object":[5],"k":[6,21],"-coverage":[7],"problem":[8],"(OMOkC),":[9],"where":[10],"mobile":[11,18,120],"robots":[12],"are":[13],"required":[14],"to":[15,76,100],"sense":[16],"a":[17,29,53,67,83,112,126],"target":[19],"from":[20],"diverse":[22],"points":[23],"of":[24,45,82,86,94,97,119,173,179],"view,":[25],"coordinating":[26],"themselves":[27],"in":[28,42,171],"scalable":[30],"and":[31,132,143,164,177],"possibly":[32],"decentralised":[33,46],"way.":[34],"There":[35],"is":[36],"active":[37],"research":[38],"OMOkC,":[40,101],"particularly":[41],"design":[44],"algorithms":[47,149],"for":[48,135,150],"solving":[49],"it.":[50],"propose":[52],"new":[54,63,148],"take":[55],"issue:":[58],"Rather":[59],"than":[60,167],"classically":[61],"developing":[62],"algorithms,":[64],"we":[65,102,124,139,152],"apply":[66],"macro-level":[68],"paradigm,":[69],"called":[70],"aggregate":[71,98,108],"computing":[72,99,109],",":[73],"specifically":[74],"designed":[75],"directly":[77],"program":[78],"global":[80],"behaviour":[81],"whole":[84],"ensemble":[85],"devices":[87],"at":[88],"once.":[89],"To":[90],"understand":[91],"potential":[93],"application":[96],"extend":[103],"Alchemist":[105],"simulator":[106],"(supporting":[107],"natively)":[110],"with":[111],"novel":[113],"toolchain":[114,129,145],"component":[115],"supporting":[116],"simulation":[118,133],"robots.":[121],"This":[122],"way,":[123],"build":[125],"software":[127,162],"engineering":[128],"comprising":[130],"language":[131],"tooling":[134],"addressing":[136],"OMOkC.":[137],"Finally,":[138],"exercise":[140],"our":[141],"approach":[142],"related":[144],"by":[146],"introducing":[147],"OMOkC;":[151],"show":[153],"that":[154],"they":[155],"can":[156],"be":[157],"expressed":[158],"concisely,":[159],"reuse":[160],"existing":[161],"components":[163],"perform":[165],"better":[166],"current":[169],"state-of-the-art":[170],"terms":[172],"coverage":[174],"over":[175],"time":[176],"number":[178],"objects":[180],"covered":[181],"overall.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}