{"id":"https://openalex.org/W2136752877","doi":"https://doi.org/10.1177/0278364910377245","title":"Multi-agent Cooperative Cleaning of Expanding Domains","display_name":"Multi-agent Cooperative Cleaning of Expanding Domains","publication_year":2010,"publication_date":"2010-08-31","ids":{"openalex":"https://openalex.org/W2136752877","doi":"https://doi.org/10.1177/0278364910377245","mag":"2136752877"},"language":"en","primary_location":{"id":"doi:10.1177/0278364910377245","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910377245","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/A5054642987","display_name":"Yaniv Altshuler","orcid":"https://orcid.org/0000-0002-3410-9587"},"institutions":[{"id":"https://openalex.org/I124227911","display_name":"Ben-Gurion University of the Negev","ror":"https://ror.org/05tkyf982","country_code":"IL","type":"education","lineage":["https://openalex.org/I124227911"]},{"id":"https://openalex.org/I58534130","display_name":"Deutsche Telekom (United Kingdom)","ror":"https://ror.org/00qxrgg46","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210093367","https://openalex.org/I58534130"]}],"countries":["GB","IL"],"is_corresponding":false,"raw_author_name":"Yaniv Altshuler","raw_affiliation_strings":["Technion, Technion City, Haifa, Israel, Deutsche Telekom Laboratories, Ben Gurion University of the Negev, Beer Sheva, Israel,","Technion, Technion City, Haifa, Israel, Deutsche Telekom Laboratories, Ben Gurion Universityof the Negev, Beer Sheva, Israel#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technion, Technion City, Haifa, Israel, Deutsche Telekom Laboratories, Ben Gurion University of the Negev, Beer Sheva, Israel,","institution_ids":["https://openalex.org/I124227911"]},{"raw_affiliation_string":"Technion, Technion City, Haifa, Israel, Deutsche Telekom Laboratories, Ben Gurion Universityof the Negev, Beer Sheva, Israel#TAB#","institution_ids":["https://openalex.org/I58534130"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045495604","display_name":"Vladimir Yanovski","orcid":null},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Vladimir Yanovski","raw_affiliation_strings":["Technion, Technion City, Haifa, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technion, Technion City, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087524328","display_name":"Israel A. Wagner","orcid":null},"institutions":[{"id":"https://openalex.org/I4210167297","display_name":"IBM Research - Haifa","ror":"https://ror.org/05rw9t746","country_code":"IL","type":"facility","lineage":["https://openalex.org/I1341412227","https://openalex.org/I4210114115","https://openalex.org/I4210167297"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Israel A Wagner","raw_affiliation_strings":["Technion, Technion City, Haifa, Israel, IBM Haifa Research Lab, Carmel Mountains, Haifa, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technion, Technion City, Haifa, Israel, IBM Haifa Research Lab, Carmel Mountains, Haifa, Israel","institution_ids":["https://openalex.org/I4210167297"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064933026","display_name":"Alfred M. Bruckstein\u22c6","orcid":"https://orcid.org/0000-0001-5669-0037"},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Alfred M Bruckstein","raw_affiliation_strings":["Technion, Technion City, Haifa, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technion, Technion City, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8643,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.87135775,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"30","issue":"8","first_page":"1037","last_page":"1071"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","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"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9966999888420105,"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":0.9962999820709229,"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/dirt","display_name":"Dirt","score":0.907221794128418},{"id":"https://openalex.org/keywords/impossibility","display_name":"Impossibility","score":0.7812484502792358},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.7581098079681396},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.6362054347991943},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5941348671913147},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5526311993598938},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.48091980814933777},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4497985541820526},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4040473997592926},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.39436814188957214},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3725210428237915},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23324811458587646},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2276725172996521}],"concepts":[{"id":"https://openalex.org/C2778582501","wikidata":"https://www.wikidata.org/wiki/Q555882","display_name":"Dirt","level":2,"score":0.907221794128418},{"id":"https://openalex.org/C2776261394","wikidata":"https://www.wikidata.org/wiki/Q315562","display_name":"Impossibility","level":2,"score":0.7812484502792358},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.7581098079681396},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.6362054347991943},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5941348671913147},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5526311993598938},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.48091980814933777},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4497985541820526},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4040473997592926},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.39436814188957214},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3725210428237915},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23324811458587646},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2276725172996521},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364910377245","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910377245","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.4399999976158142,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":86,"referenced_works":["https://openalex.org/W48808893","https://openalex.org/W109897091","https://openalex.org/W175238067","https://openalex.org/W281524667","https://openalex.org/W1491781725","https://openalex.org/W1504212531","https://openalex.org/W1509293712","https://openalex.org/W1510541072","https://openalex.org/W1516427227","https://openalex.org/W1519039476","https://openalex.org/W1524297525","https://openalex.org/W1525481342","https://openalex.org/W1555382172","https://openalex.org/W1566081062","https://openalex.org/W1585268453","https://openalex.org/W1592681245","https://openalex.org/W1594427586","https://openalex.org/W1603805323","https://openalex.org/W1606846033","https://openalex.org/W1966028333","https://openalex.org/W1966089223","https://openalex.org/W1986112535","https://openalex.org/W1989587773","https://openalex.org/W1994649922","https://openalex.org/W1999354963","https://openalex.org/W2016613339","https://openalex.org/W2019238673","https://openalex.org/W2022750663","https://openalex.org/W2027408697","https://openalex.org/W2028036472","https://openalex.org/W2030891972","https://openalex.org/W2033931769","https://openalex.org/W2035348168","https://openalex.org/W2049975267","https://openalex.org/W2055336889","https://openalex.org/W2058489548","https://openalex.org/W2059505795","https://openalex.org/W2060768315","https://openalex.org/W2067764213","https://openalex.org/W2070545326","https://openalex.org/W2072013063","https://openalex.org/W2082703988","https://openalex.org/W2084204985","https://openalex.org/W2087421501","https://openalex.org/W2091579301","https://openalex.org/W2093051821","https://openalex.org/W2101405656","https://openalex.org/W2103128941","https://openalex.org/W2106032942","https://openalex.org/W2106170647","https://openalex.org/W2107591285","https://openalex.org/W2107918847","https://openalex.org/W2108554593","https://openalex.org/W2108943074","https://openalex.org/W2119693819","https://openalex.org/W2120062331","https://openalex.org/W2124763987","https://openalex.org/W2126554879","https://openalex.org/W2133305628","https://openalex.org/W2141221474","https://openalex.org/W2142839172","https://openalex.org/W2149619235","https://openalex.org/W2151176393","https://openalex.org/W2151839674","https://openalex.org/W2155778482","https://openalex.org/W2156944801","https://openalex.org/W2158204271","https://openalex.org/W2158429682","https://openalex.org/W2168787512","https://openalex.org/W2168904841","https://openalex.org/W2171089256","https://openalex.org/W2176831213","https://openalex.org/W2281832220","https://openalex.org/W2330056579","https://openalex.org/W2335722411","https://openalex.org/W2546827442","https://openalex.org/W2553964525","https://openalex.org/W2615497679","https://openalex.org/W2618716983","https://openalex.org/W2912484913","https://openalex.org/W3149166261","https://openalex.org/W4205937065","https://openalex.org/W4230205695","https://openalex.org/W4234792859","https://openalex.org/W4245201238","https://openalex.org/W4253846243"],"related_works":["https://openalex.org/W2384156839","https://openalex.org/W2057213227","https://openalex.org/W4321602641","https://openalex.org/W2483334712","https://openalex.org/W2077604717","https://openalex.org/W2352212546","https://openalex.org/W195039303","https://openalex.org/W2157479968","https://openalex.org/W2394251275","https://openalex.org/W4241392912"],"abstract_inverted_index":{"Several":[0,149],"recent":[1],"works":[2],"considered":[3],"multi-a(ge)nt":[4],"robotics":[5],"in":[6,17,65,103,143],"static":[7],"environments.":[8],"In":[9],"this":[10,66],"work":[11,30],"we":[12],"examine":[13],"ways":[14],"of":[15,25,36,53,61,94,101,108,137],"operating":[16],"dynamic":[18,34,92],"environments,":[19],"where":[20],"changes":[21],"take":[22],"place":[23,76],"independently":[24],"the":[26,37,71,75,87,95,104,116,130,146,154],"agents\u2019":[27],"activity.":[28],"The":[29,91],"focuses":[31],"on":[32],"a":[33,41,50,98,135],"variant":[35,93],"cooperative":[38],"cleaners":[39],"problem,":[40],"problem":[42,96,117,131],"that":[43],"requires":[44],"several":[45],"simple":[46,62],"agents":[47,63],"to":[48,73,84,145],"clean":[49,86],"connected":[51],"region":[52],"\u201cdirty\u201d":[54],"pixels":[55],"inZ":[56],"2":[57],".":[58],"A":[59,126],"number":[60],"move":[64],"dirty":[67,89],"region,":[68],"each":[69],"having":[70],"ability":[72],"\u201cclean\u201d":[74],"it":[77],"is":[78,83,132],"located":[79],"in.":[80],"Their":[81],"goal":[82],"jointly":[85],"given":[88],"region.":[90],"involves":[97],"deterministic":[99],"expansion":[100],"dirt":[102],"environment,":[105],"simulating":[106],"spreading":[107],"contamination":[109],"or":[110],"fire.":[111],"Theoretical":[112],"lower":[113,147],"bounds":[114,152],"for":[115,129,153],"are":[118,157],"presented,":[119,133,159],"as":[120,122],"well":[121],"various":[123],"impossibility":[124],"results.":[125,164],"cleaning":[127],"protocol":[128,156],"and":[134],"wealth":[136],"experimental":[138,163],"results":[139],"testing":[140],"its":[141],"performance":[142],"comparison":[144],"bounds.":[148],"analytic":[150],"upper":[151],"proposed":[155],"also":[158],"accompanied":[160],"with":[161],"appropriate":[162]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
