{"id":"https://openalex.org/W2089344586","doi":"https://doi.org/10.1177/027836402320556359","title":"Morse Decompositions for Coverage Tasks","display_name":"Morse Decompositions for Coverage Tasks","publication_year":2002,"publication_date":"2002-04-01","ids":{"openalex":"https://openalex.org/W2089344586","doi":"https://doi.org/10.1177/027836402320556359","mag":"2089344586"},"language":"en","primary_location":{"id":"doi:10.1177/027836402320556359","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836402320556359","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5110224343","display_name":"Ercan U. Acar","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ercan U. Acar","raw_affiliation_strings":["Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048906141","display_name":"Howie Choset","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Howie Choset","raw_affiliation_strings":["Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111915942","display_name":"Alfred A. Rizzi","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alfred A. Rizzi","raw_affiliation_strings":["Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052981497","display_name":"P.N. Atkar","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Prasad N. Atkar","raw_affiliation_strings":["Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039128427","display_name":"Douglas Hull","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Douglas Hull","raw_affiliation_strings":["Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":2.8574,"has_fulltext":false,"cited_by_count":308,"citation_normalized_percentile":{"value":0.91775701,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"21","issue":"4","first_page":"331","last_page":"344"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980000257492065,"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/morse-code","display_name":"Morse code","score":0.8657544851303101},{"id":"https://openalex.org/keywords/discrete-morse-theory","display_name":"Discrete Morse theory","score":0.6053147315979004},{"id":"https://openalex.org/keywords/morse-theory","display_name":"Morse theory","score":0.5974425077438354},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5945510268211365},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5173336863517761},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5118076205253601},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.507422149181366},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4774932563304901},{"id":"https://openalex.org/keywords/degenerate-energy-levels","display_name":"Degenerate energy levels","score":0.46282702684402466},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.45501792430877686},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.4224669337272644},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.37231284379959106},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.37094035744667053},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34820348024368286},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30217447876930237},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.25401097536087036},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.19863268733024597}],"concepts":[{"id":"https://openalex.org/C140031139","wikidata":"https://www.wikidata.org/wiki/Q79897","display_name":"Morse code","level":2,"score":0.8657544851303101},{"id":"https://openalex.org/C170315498","wikidata":"https://www.wikidata.org/wiki/Q5282039","display_name":"Discrete Morse theory","level":3,"score":0.6053147315979004},{"id":"https://openalex.org/C156730297","wikidata":"https://www.wikidata.org/wiki/Q2296951","display_name":"Morse theory","level":2,"score":0.5974425077438354},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5945510268211365},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5173336863517761},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5118076205253601},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.507422149181366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4774932563304901},{"id":"https://openalex.org/C72319582","wikidata":"https://www.wikidata.org/wiki/Q584304","display_name":"Degenerate energy levels","level":2,"score":0.46282702684402466},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.45501792430877686},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.4224669337272644},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.37231284379959106},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.37094035744667053},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34820348024368286},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30217447876930237},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.25401097536087036},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.19863268733024597},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/027836402320556359","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836402320556359","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.957.6491","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.957.6491","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ijr.sagepub.com/content/21/4/331.full.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W178120358","https://openalex.org/W996287990","https://openalex.org/W1516027685","https://openalex.org/W1551360398","https://openalex.org/W1575763248","https://openalex.org/W1602929451","https://openalex.org/W1965096272","https://openalex.org/W1991219200","https://openalex.org/W2005314985","https://openalex.org/W2017128277","https://openalex.org/W2017709497","https://openalex.org/W2021392696","https://openalex.org/W2026762793","https://openalex.org/W2033013465","https://openalex.org/W2036147909","https://openalex.org/W2045155153","https://openalex.org/W2058510050","https://openalex.org/W2064020260","https://openalex.org/W2093385687","https://openalex.org/W2103120971","https://openalex.org/W2110144538","https://openalex.org/W2122841674","https://openalex.org/W2167427782","https://openalex.org/W2911302472","https://openalex.org/W2998023265","https://openalex.org/W4205343085","https://openalex.org/W4213199372","https://openalex.org/W4213368568","https://openalex.org/W4242811155","https://openalex.org/W4246003206"],"related_works":["https://openalex.org/W2037435271","https://openalex.org/W2775521775","https://openalex.org/W1891829570","https://openalex.org/W1595332435","https://openalex.org/W2486438463","https://openalex.org/W1981355470","https://openalex.org/W2166950906","https://openalex.org/W2548670722","https://openalex.org/W4300108961","https://openalex.org/W2013284908"],"abstract_inverted_index":{"Exact":[0],"cellular":[1,56],"decompositions":[2,28,57],"represent":[3],"a":[4,85,111,131,154],"robot's":[5],"free":[6,25,48,135],"space":[7,86],"by":[8,129],"dividing":[9],"it":[10],"into":[11],"regions":[12,22],"with":[13],"simple":[14,92],"structure":[15,83],"such":[16,98],"that":[17,162],"the":[18,21,24,65,82,89,119,123,127,159,164],"sum":[19],"of":[20,47,61,67,84,125,143],"fills":[23],"space.":[26,136],"These":[27],"have":[29],"been":[30],"widely":[31],"used":[32,42],"for":[33,43,114],"path":[34],"planning":[35],"between":[36],"two":[37],"points,":[38,81],"but":[39],"can":[40],"be":[41],"mapping":[44],"and":[45,147],"coverage":[46,115],"spaces.":[49],"In":[50,137,153],"this":[51,138],"paper,":[52,139,156],"we":[53,140,157],"define":[54],"exact":[55],"where":[58],"critical":[59,75,80],"points":[60,76],"Morse":[62,70,120,145],"functions":[63,71,146],"indicate":[64],"location":[66],"cell":[68],"boundaries.":[69],"are":[72,77,101],"those":[73],"whose":[74],"non-degenerate.":[78],"Between":[79],"is":[87],"effectively":[88],"same,":[90],"so":[91],"control":[93],"strategies":[94],"to":[95,109],"achieve":[96],"tasks,":[97],"as":[99],"coverage,":[100],"feasible":[102],"within":[103],"each":[104],"cell.":[105],"This":[106],"allows":[107],"us":[108],"introduce":[110],"general":[112],"framework":[113],"tasks":[116],"because":[117],"varying":[118],"function":[121],"has":[122],"effect":[124],"changing":[126],"pattern":[128],"which":[130],"robot":[132],"covers":[133],"its":[134],"give":[141],"examples":[142],"different":[144],"comment":[148],"on":[149],"their":[150],"corresponding":[151],"tasks.":[152],"companion":[155],"describe":[158],"sensor-based":[160],"algorithm":[161],"constructs":[163],"decomposition.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":23},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":33},{"year":2020,"cited_by_count":24},{"year":2019,"cited_by_count":31},{"year":2018,"cited_by_count":19},{"year":2017,"cited_by_count":14},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":12},{"year":2012,"cited_by_count":12}],"updated_date":"2026-07-25T15:57:00.446498","created_date":"2025-10-10T00:00:00"}